Heterogeneous modular robot for fire emergency dredging control of long and large tunnel

The invention relates to a heterogeneous modular robot for fire emergency dredging control of a long and large tunnel, and belongs to the field of intelligent robots. According to the robot, a disaster situation source position detection robot is carried on a robot moving carrier or independently stops at a preset working point position of a track and reaches the position near a fire source; the interactive evacuation guiding robot is installed on a robot moving carrier or independently integrated on a moving guide rail to complete recognition positioning and interactive guiding evacuation of trapped persons. The directional fire control robot is carried on the robot moving carrier and installed on a fire-fighting pipeline through a fire-fighting pipeline connector to recognize a fire source target, and a fire-fighting nozzle is adjusted through a two-dimensional rotary table for directional disaster control. The robot moving carrier serves as a bearing carrier of all the devices and moves on a moving guide r