Abstract: In this paper the designing for the vision and signal processing system of fire control robot.The system is a pocket apparatus with which a fireman can rapidly pinpoint the source of a fire.It can determine the location of the fire and can measure distance to the flame. Here,the method for range finding is ratio radiometry,in which the ratio of the radiometric signals derived from each of the two measurement spectral bands is related to the distance of the flame. A new type of infrared detector and the single-chip microcomputer technique have been employed.Experiment is carried out and the errors are analyed.