To quickly extinguish a fire generated by a flash of gasoline due to an accident of vehicle without using human power by injecting the fire extinguisher agent with an injection pattern corresponding to a range of fire to a fire generated position expanded in the predetermined range inside of a tunnel.

When a vehicle accident is generated in a tunnel and a fire is generated by a flash of the gasoline, which is flowed out, a fire robot 1 waiting in the tunnel 1 receives the address signal of a fire alarm. Continuously, the robot 1 moves to a position near the position, in which a fire is generated, and computes distance and direction to the fire generated position. The robot 1 travels to a position within a range of fire fighting, and detects the range of the fire generated position with CCD cameras 11, 12 so as to form an injection pattern. The fire extinguisher agent is supplied, and shape of an injection port is determined, and the fire extinguisher agent is injected from an injection nozzle. Thereafter, the robot 1 extinguishes a fire near the robot 1, and moves to a position within a range of fire fighting, and injects the fire extinguisher agent. The robot 1 repeats the traveling and stop, and injects the fire extinguisher agent when the robot 1 stops so as to securely extinguish the fire.