Fire scene vision construction system and working method

The invention discloses a fire scene vision construction system and a working method, and belongs to the technical field of fire-fighting robots. The system comprises an environment sensing robot and a matched AR fire fighting helmet, wherein the robot comprises a crawler device, a chassis cabin and a main body cabin; the chassis cabin is fixedly provided with a protective shell, an electric motor, a power supply and a motion control panel, and the main body cabin is provided with a protective shell, a 4D millimeter wave radar sensor, a UWB sensor and a miniature mainboard. The AR fire fighting helmet comprises a power supply, a UWB sensor, a miniature mainboard and an AR display. According to the invention, a cross-modal millimeter-wave radar signal semantic segmentation algorithm, a UWB high-precision rapid mapping algorithm and a man-machine cooperative motion control algorithm are operated on the miniature mainboard in the main body cabin, and a segmentation result is processed by the miniature mainboard