With an electronic device like a smoke alarm, carbon monoxide (CO) alarm, or furnace alarm, no one, including me, can stand in a room and tell what direction a chirp is coming from. Pure tones similar to the chirp cannot be traced that way.
Also, the sprinkler head is really just an end to a pipe that is plugged to stop the water from flowing out. Because there are no electronics in the sprinkler head, the sprinkler head is incapable of making an electronic chirp.
To locate the device making the chirping sound, the only way is to walk around and put your ear within a foot or half a meter of a device and listen. If the chirping sound is much louder at that location, you have found the chirping device. If the chirp doesn't sound louder, the device that is making the chirp is somewhere else.
Keep looking, until you have found the device.
Also, the device may be chirping because the battery is dead. Replacing the battery will fix the battery problems. On the other hand, some devices, like a CO alarm has life expectancy, and it may be chirping to indicate that the CO alarm, itself, needs replacement.
Replace the battery first; replacing the battery is less expensive. Replace the device if replacing the battery doesn't fix the chirp.