Special robot cooperative auxiliary rescue control method for building fire fighting

The invention discloses a specialized robot cooperative auxiliary rescue control method for building fire fighting. According to the method, the characteristics of flame mass center displacement and flame roughness are introduced in the real fire source judgment process, so that the problem that the moving flame cannot be accurately recognized in the indoor environment is solved. In addition, a multi-sensor fusion recognition algorithm is adopted, and the recognition misjudgment rate is greatly reduced. When the building fire-fighting robots are dispatched, the side items of the fire source convex hull are adjusted according to the number K of the building fire-fighting robots, so that a more convenient and reasonable robot spraying station position is achieved. The invention provides a complete, safe and rapid emergency fire extinguishing scheme for discovering a suspected fire source, judging the authenticity and category of the fire source and dispatching the building fire-fighting robot to extinguish fire