JP2000076568A - Fire detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely detect a fire source by distinguishing flame in a monitored image from flame reflection. SOLUTION: Two or more cameras 1a, 1b, 1c,... are arranged at two or more places to photograph monitored areas. An image detecting processing part 8 detects a fire source position from two or more flame images included in respective monitored images photographed by the two or more cameras 1a, 1b, 1c,... based on the principle of triangulation and only when the fire source position detected by the part 8 exists within a preliminarily set monitored range, a fire deciding part 9 decides as the fire source due to a fire.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fire detecting apparatus for detecting a fire source by extracting a flame image from a monitoring image of a camera.

[0002]

2. Description of the Related Art Conventionally, a fire detecting device having a two-dimensional image pickup device such as a CCD camera or a two-dimensional array has been known.

In such a fire detection device, for example, a monitoring image captured by a CCD camera is stored in a memory, and a predetermined luminance in the stored monitoring image is extracted by judging a pixel region as a flame region and extracting the luminance. The determined flame area is determined to be the source of fire.

[0004]

However, in such a conventional fire detection device, if the reflected light of the flame is reflected on a wall or floor close to the fire source, whether the light is from the fire source or the reflection. Is difficult to distinguish.

In order to distinguish a flame from other light sources, 4.3 μm generated by the resonance radiation of CO 2, which is a feature of the flame, is used.
There is a method of using a bandpass filter that passes only wavelengths near m. In the case of light reflection, light reflected from an object is divided into a specular reflection component in which radiated light is directly reflected and a diffuse reflection component emitted once after being absorbed on the object surface. Since the diffuse reflection component has a spectral distribution indicating the material of the object, it can be distinguished by a bandpass filter.

However, since the specular reflection component has the same spectral distribution as that of the light from the light source, the specular reflection component increases as the angle of the reflection surface becomes smaller, and the flame and the reflection of the flame cannot be distinguished by the bandpass filter.

[0007] A linear polarization filter is attached to the front surface of the lens using the property that a part of the specular reflection component becomes polarized. If the angle of the polarization of the reflected light and the angle of the polarization filter match, the polarization portion of the specular reflection component is removed. can do. But,
The direction of polarization was different between the floor surface and the wall surface and could not be removed at the same time.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to provide a fire detection device that reliably detects a fire source by distinguishing between flames and the reflection of the flames contained in a monitoring image. I do.

[0009]

In order to achieve this object, the present invention is configured as follows.

[0010] The fire detection device of the present invention is disposed at two or more different points and has two or more cameras for capturing images of a monitoring range, and two or more cameras included in each of the monitoring images captured by the two or more cameras. An image processing unit that detects the position of the fire source based on the principle of triangulation from images of more than one fire source, and a boundary position such as a floor surface or a wall surface that divides the monitoring range is set in advance, and the image processing unit detects the fire position. When the source position is inside the set boundary position, it is determined as a fire source due to a fire, and when the source position is outside the set boundary range, the fire determination unit is excluded as a fire source due to reflection from the processing target.

According to such a fire detecting apparatus of the present invention, only a fire source located within a monitoring range is determined as a fire source for a fire source position obtained from a monitoring image based on the principle of triangulation, so that a floor or a wall can be detected. In this way, it is possible to prevent the flame reflected by the above from being erroneously determined as a fire source.

According to another aspect of the present invention, two or more cameras are disposed at two or more different points and capture monitoring images of a fire source in a monitoring range, and are directed to a fire source position in the monitoring range. A spot light projection unit for irradiating a spot light, and an image processing unit for detecting a fire source position based on the principle of triangulation from two or more fire source images included in each of monitoring images captured by two or more cameras. In the state where the spot light is irradiated from the spot light projection unit to the fire source position detected by the image processing unit, 2
If the position of the flame image and the spot light image of the monitoring image taken by more than one camera match, it is determined as a fire source due to fire, and if the position is shifted, it is determined as a fire source due to reflection, and the processing target And a fire determination unit characterized by being excluded from

In this case as well, by judging only a fire source within the monitoring range as a fire source, it is possible to reliably prevent a flame reflected on a floor or a wall from being erroneously judged as a fire source.

According to still another aspect of the present invention, two or more cameras are provided at two or more different points and capture monitoring images of a fire source within a monitoring range. Based on the principle of triangulation, based on the principle of triangulation, a ranging unit that is arranged and measures the distance to an object present in the monitoring range, and from two or more fire source images included in each of the monitoring images captured by two or more cameras. When the distance is measured by directing the distance measuring device to the image processing unit that detects the source position and the fire source position detected by the image processing unit, and the measured distance of the image processing unit matches the measured distance of the distance measuring device. Is determined as a fire source due to a fire, and if they do not match, a fire determination unit is excluded as a fire source due to reflection from the processing target.

Also in this case, by judging a fire source based on the distance measurement, it is possible to reliably prevent a flame reflected on a floor or a wall from being erroneously judged as a fire source.

[0016]

FIG. 1 shows a first embodiment of a fire detection device according to the present invention. The fire detection device detects the position of a flame image included in a monitoring image based on the principle of triangulation, and detects the position of a flame or reflection caused by a fire. It is characterized by judging whether it is a flame.

In FIG. 1, a fire detection device according to a first embodiment includes a left camera 1, a right camera 2, a left image memory 6,
It comprises a right image memory 7, an image processing unit 8, and a fire determination unit 9. The left camera 1 and the right camera 2 have monitoring ranges 10L and 10R, respectively, and monitor the flame 3 as a detection target in the monitoring space.

As shown in FIG. 2, the left camera 1 and the right camera 2 are arranged so that the camera optical axes 1a and 2a are parallel or intersect with the monitoring section.
The left camera 1 and the right camera 2 are directed toward the monitoring space while maintaining the relative relationship between
Images of L and 10R are taken.

The monitoring space shown in FIG. 2 is divided by a wall 4a and a floor 4b. A fire occurs in this monitoring space, and a flame 3 exists. A wall reflection flame 5a is reflected on the wall 4a facing the flame 3 due to the fire. Also, a floor reflection flame 5b due to the flame 4 is reflected on the floor 4b. Therefore, when the surveillance space is photographed by the left camera 1 and the right camera 2, the flame 3, the wall reflection flame 5a, and the floor reflection flame 5
The three flame images b are included.

The monitoring images of the monitoring ranges 10L and 10R taken simultaneously by the left camera 1 and the right camera 2 in FIG.
After being written into each of the left image memory 6 and the right image memory 7, it is read by the image processing unit 8, and the position of the fire source is detected based on the principle of triangulation from a pair of fire source images included in each monitoring image. I do.

In FIG. 2, the positions of the fire sources detected by the image processing unit 8 are the flame 3, the wall reflection flame 5a, and the floor reflection flame 5a.
The three fire source positions b are detected. The position of one or more fire source images detected by the image processing unit 8 is determined by the fire determination unit 9.
Given to. In the fire determination unit 9, coordinate information of a boundary position such as the wall 4 a or the floor 4 b in the monitoring space of FIG. 2 is set in advance, and the fire source position detected by the image processing unit 8 is set in advance on the wall 4 a or the floor. If it is inside the set boundary position of 4b, it is determined that the fire is caused by a fire. On the other hand, when the detected fire source position exceeds the set boundary range, it is excluded from the processing target as a fire source due to reflection.

FIG. 3 is an explanatory diagram of a process of detecting the position of a fire source using the principle of triangulation by the image processing unit 8 of FIG.
In FIG. 3, if the camera position corresponding to the imaging surface of the left camera 1 in FIG. 1 is F1 and the camera position corresponding to the imaging surface of the right camera 2 is F2, the interval between the camera positions F1 and F2 is, for example, the distance d. It is predetermined.

In the left image 11L and the right image 11R taken by the camera optical axes 1a and 2a arranged from the camera positions F1 and F2, fire source images P1 and P2 of a fire source position P of a flame due to a fire are shown. Suppose that it was reflected in the position of. In this case, the fire source position P in the actual monitoring space is defined by an extension of a straight line connecting the camera position F1 and the fire source position P1 on the left image 11L, the camera position F2 and the fire source position P2 on the right image 11R. It is given as an intersection on the extension of the connected straight line.
Therefore, the three-dimensional coordinates (X, Y, Z) of the fire source position P can be obtained based on the principle of triangulation.

For the sake of simplicity, the camera optical axes 1a and 2a are completely parallel and the camera positions F1 and F2
Is the same, the coordinates of the fire source position P1 in the left image 11L are (x1, y1), and the coordinates of the fire source position P2 in the right image 11R are (x2,
y2). The left image 11 of the camera positions F1 and F2
L, the focal length for the right image 11R is f. In this case, the three-dimensional coordinates (X, Y, Z) of the fire source position P in the monitoring space
Is given by the following equation.

[0025]

(Equation 1) FIG. 4 is an explanatory diagram of a discrimination process for distinguishing the flame 3 of FIG. 2 from the wall reflection flame 5a by the fire determination unit 9 of FIG. That is, FIG. 4 is a plan view of FIG. 2, and the optical axis of the left camera 1 and the right camera 2 is obtained from the detection result of the fire source position P (X, Y, Z) based on the triangulation principle of FIG. Flame in direction 3
And the distance between the wall reflection flame 5a is Z.

Assuming that the position of the wall 4a in the monitoring space is set as a distance in the X-axis direction with respect to the camera optical axis 1a of the left camera 1, for example, a set boundary distance from the camera optical axis 1a to the wall surface 4a. Is Xth. Therefore, based on the fire source position coordinates based on the triangulation of the flame 3,
The distance X0 in the X-axis direction from the camera optical axis 1a is obtained, and the X-axis relative to the camera optical axis 1a is determined from the fire source position detected on the wall reflection flame 5a based on the principle of triangulation.
Obtain the axial distance Xr.

The distance X0 of the flame 3 and the distance Xr of the wall reflecting flame 5a thus determined are compared with a preset boundary distance Xth of the wall 4a. The distance X0 of the flame 3 is the wall 4a
Is smaller than the set boundary distance Xth, it is understood that the flame 3 is in the monitoring space. On the other hand, the distance Xr of the wall reflecting flame 5a exceeds the set boundary distance Xth of the wall 4a,
It can be seen that it exists outside the monitoring range.

As described above, since there is no flame outside the monitoring range, the flame 5a having the distance Xr is excluded from the processing target as the flame due to the reflection, and only the flame 3 is determined to be a fire flame. Process.

FIG. 5 is an explanatory diagram of a judgment process by the fire judgment unit 9 of FIG. 1 for distinguishing the flame 3 and the floor reflection flame 5b in the monitoring space of FIG. In FIG. 5 as well, based on the principle of triangulation in FIG. 3, the fire source position is detected for the floor reflection flame 5b of the floor 4b in addition to the fire source 3.

In the fire judging section 9 shown in FIG. 1, for example, the optical axes 1a and 1a of the left camera 1 and the right camera 2 viewed from the side.
Based on 2a, set the distance to floor 4b Set boundary distance Yth
Is registered in advance. In this state, if the fire source positions of the flame 3 and the floor reflection flame 5b can be detected, the camera optical axis 1
The distance Y0 to flame 3 and the floor reflection flame 5b based on a and 2a
The distance Yr to the floor 4 b
Is compared with the set boundary distance Yth.

In this case, since the distance Y0 to the flame 3 is smaller than the set boundary distance Yth, it can be determined that the flame 3 is a flame caused by a fire in the monitoring range. On the other hand, the distance Yr of the flame 5b exceeds the set boundary distance Yth, and exists below the floor 4b. Such a set boundary distance Yt
h, the flame 5b above the floor 4
Since this is the floor reflection flame 5b due to b, it is excluded from the processing target.

Next, the fire detection process of the first embodiment of FIG. 1 will be described with reference to the flowcharts of FIGS. Here, steps S1 in FIG. 6 to step S10 in FIG. 7 are the process of detecting the position of the fire source by the image processing unit 8 in FIG.
Steps S11 to S14 in FIG. 7 correspond to a fire determination process by the fire determination unit 9 in FIG.

First, in step S1 of FIG. 6, for example, the right image photographed by the right camera 2 and stored in the right image memory 7 is taken into the image processing section 8, and in step S2, a pixel which may be a fire source is set to 1 (White pixel), and a pixel having no possibility of a fire source is set to 0 (black pixel). Subsequently, in step S3, a region of a pixel set to 1 as a possibility of a fire source is set as a pixel object, and labeling for assigning a unique number to each object is performed.

FIG. 8 is a processed image in steps S1 to S3 of FIG. First, FIG. 8A shows an original image obtained by reading the right image, for example, and includes a flame image 12a and a wall reflection flame image 1
2b and the floor reflection image 12c are shown. In the original image of FIG. 8 (A), 1 (white pixel) is set for each pixel in the possibility of a fire source due to a fire, and 0 (black pixel) is set in the case of no possibility of a fire source. FIG.
(B) is a binarized image.

In the case where an infrared camera is used as a camera, the possibility of a fire is determined for a pixel having a temperature equal to or higher than a predetermined temperature, for example. You have to. In the case of a normal camera, since the luminance is high due to the emitted light of the flame, pixels having a luminance equal to or higher than a predetermined luminance may be determined as having a possibility of fire.

In this case, it is possible to enhance the accuracy of the determination by determining the possibility of a fire by capturing the fluctuation, the presence / absence of the movement, the movement of the center of gravity, and the like, which are characteristics unique to the flame. Further, in the case of a color camera, the color of the flame at the time of fire may be determined in addition to the luminance. That is, since the color of the flame at the time of a fire is usually red (diffusion flame), for example, if the color image is RGB data, it is determined that a pixel of the RGB component that becomes red is likely to have a fire. What is necessary is just to set 1 (white pixel).

By the binarization as shown in FIG. 8B, the binarized images 13a and 13b filled with 1 can be recognized as fire source images. Subsequently, as shown in FIG. 8C, the binarized images 13a and 13b in FIG.
For the binarized images 13a and 13b set to (white pixels), labeling images 14a, 14b, and 14c are generated as objects 1, 2, and 3, respectively.

Such binarization and labeling of the captured image are similarly performed on the left image in steps S4 to S6 in FIG. Subsequently, one object is focused on the right screen and the left screen on which labeling has been completed, the right center of gravity of the object focused on the right image is measured in step S8, and the left center of gravity of the object focused on the left image is measured in step S9. Perform measurement.

In steps S8 and S9, the position of the fire source of the object of interest is specified. That is, the coordinate positions of the fire source positions P1 and P2 on the images in the left image 11L and the right image 11R in FIG. 3 are obtained. Then step S
In 3, the three-dimensional position of the fire source position P in the monitoring range is calculated based on the principle of triangulation shown in FIG.

Next, the process proceeds to step S11, for example, as shown in FIG.
As shown in FIG. 5, it is determined whether or not the distance is within the monitoring range by comparison with preset boundary distances Xth and Yth for the wall 4a and the floor 4b which are set in advance. If it is within the monitoring range, the process proceeds to step S12, and the object to be processed at present is determined to be a fire source due to a fire.

If it is not within the monitoring range in step S11, the process proceeds to step S13, where it is checked whether or not all the objects have been judged.
7, the center of gravity of the next object is measured to determine the three-dimensional position, and it is determined in step S11 whether or not the object is within the monitoring range.

Therefore, if the object to be processed is within the monitoring range, a fire determination is immediately made. If the object that may be a fire source is not actually caused by a fire, the object is not within the monitoring range in step S13, and when all objects have been determined, the non-fire is determined in step S4. Is determined.

FIG. 9 is a block diagram of a second embodiment of the fire detecting device according to the present invention. In the second embodiment, a spot light is applied to the fire source position determined from the monitoring image, and it is determined from the state of the image irradiated with the spot light whether it is a flame due to a fire or a reflection image of the flame. It is characterized by the following.

In FIG. 9, the left camera 1, the right camera 2, the left image memory 6, and the right image memory 7 are the same as those in the embodiment of FIG. 1, but in the second embodiment, a spot light projection unit is further provided. 15, a projection control unit 16, a left image processing unit 17,
A right image processing unit 18 and a fixed unit 19 are provided. The left image processing unit 17 and the right image processing unit 18 detect a fire source position based on the principle of triangulation, similarly to the image processing unit 8 of FIG.
That is, the fire source position is detected by the same processing as steps S1 to SS10 in FIGS. 6 and 7.

As shown in the plan view of FIG. 10, the spot light projection unit 15 is rotatably disposed above, for example, the left camera 1 of the left camera 1 and the right camera 2 in which the camera optical axes are arranged in parallel. I have. The spot light projection unit 15 is, for example, a laser emitting device, and can control the direction of its directivity so that the spot light 20 can be applied to, for example, the position of the fire source 3 in the monitoring range.

FIG. 10 using this spot light projection unit 15
The process of discriminating the flame 3 from the flame 4a reflected on the wall 4a is as follows. First, the left image processing unit 17 in FIG.
Captures the image of the monitoring range 10L taken by the left camera 1 from the left image memory 6, and detects the positions of the flame 3 and the wall reflection flame 5a on the left screen based on the principle of triangulation.

When the positions of the flame 3 and the wall reflection flame 5a can be detected from the image captured by the left camera 1, the optical axis of the spotlight projection unit 15 is directed toward the flame 3 toward the optical axis 15a.
The flame 3 is irradiated with a spot light 20. When images taken by the left camera 1 and the right camera 2 in a state where the spot light 20 is irradiated to the flame 3 are captured, FIG.
(B).

The flame image 2 is included in the left image 26L of FIG.
7L and the wall reflection flame image 28L are reflected, and the flame image 27
L is the spot light 30 irradiated by the spot light projection unit 15
The bright spot of L is reflected. The flame image 27R and the wall reflection flame image 28R are also reflected in the right image 26R of FIG.
The bright spot of the spot light 30R emitted from the spot light projection unit 15 is reflected in the flame image 27R.

Next, in FIG. 10, the beam axis is directed by controlling the direction of the optical axis of the spot light projection unit 15 to the wall surface reflection flame 5a like the optical axis 15b. However, the irradiation of the spot light by the optical axis 15b impinges on the wall 4a and becomes the spot light 23. When images captured by the left camera 1 and the right camera 2 are captured in a state where the spot light is irradiated by the optical axis 15b, the images are as shown in FIGS.

First, in the left image 26L of FIG. 12 (A), since the wall reflection flame 5a and the spot light 23 hitting the wall 4a are located on a straight line of the optical axis 15b from the spot light projection unit 15. The bright spot of the spot light 31L is reflected in the portion of the wall reflection image 28L.

On the other hand, in the right image 26R of FIG. 12B, as shown in FIG. 10, the optical axis 25 of the wall-side reflection flame 5a viewed from the right camera 2 and the spot light 23 hitting the wall 4a are viewed. The optical axis 24 is shifted. Therefore, FIG.
In the right image of (B), the bright spot of the spot light 31R is reflected at a position shifted to the left side of the wall reflection flame image 28R.

Therefore, as shown in FIGS. 11A and 11B, the same flame images 27L, 27R on the left and right screens 26L, 26R.
When the spot lights 30L and 30R coincide with R,
It is determined that the flame actually exists in the monitoring range.

On the other hand, as shown in FIGS.
If the spot light 30L matches the flame image 28L on the left and right screens 26L and the spot light 31R is displaced from the same flame image 28R on the right screen 26R, the displaced flame image 2
8R can be discriminated as not a flame due to a fire but a flame due to wall reflection, and can be excluded from the processing target.

FIG. 10 exemplifies the discrimination of the flame 3 and the wall reflection flame 5a in the monitoring space of FIG. 2 by spot light irradiation as an example. Similarly, by detecting each flame position, sequentially irradiating the spot light and viewing the image, if the spot light is reflected at a position shifted from the flame image, it is determined that the flame image is due to reflection. May be excluded from the processing target.

FIG. 13 shows a third example of the fire detecting device according to the present invention.
This embodiment is characterized in that laser distance measurement is performed instead of projection of spot light in the second embodiment of FIG.

In FIG. 13, the left camera 1, right camera 2, left image memory 6, and right image memory 7 are the same as the left image processing unit 17 and right image processing unit 18 in the second embodiment shown in FIG. Laser distance measuring unit 3 instead of spot light projection function
2. A distance measurement control unit 33 and a fire determination unit 34 corresponding to laser distance measurement are provided.

The left image processing unit 17 and the right image processing unit 18
Similar to the image processing unit 8 in FIG. 1, the position of the fire source is detected based on the principle of triangulation. That is, step S in FIGS.
The fire source position is detected by the same processing as in 1 to SS10. The laser distance measuring unit 32 irradiates the object with laser light,
The distance is directly detected based on the propagation time. The laser distance measuring unit 32 is three-dimensionally rotatable on the installation side of the left camera 1 and the right camera 2 in which the camera optical axes are arranged in parallel, as shown in, for example, a plan view of the monitoring space in FIG. I have.

The discriminating process for discriminating a flame using the laser distance measuring section 32 and its reflected flame will be described as follows. First, the left image processing unit 17 and the right image processing unit 18 take images with the left camera 1 and the right camera 2 and
Then, the left image and the right image stored in the right image memory 7 are fetched, and after performing binarization and labeling as shown in FIG. 8, the position of the center of gravity is determined. Based on the principle of triangulation in FIG. Detected.

When the fire source position is obtained for each image, the fire source position information is stored in the distance measurement control unit 33.
The laser distance measuring unit 32 is directionally controlled for each fire source position to measure the distance to the fire source. That is, in FIG. 14, first, the laser distance measuring unit 32 is directed to the flame 3 like the optical axis 35, and the distance L1 to the flame 3 is measured. Subsequently, the optical axis 36 is directed to the wall reflection flame 5a to measure the distance. In this case, the optical axis 36 of the laser distance measuring unit 32 hits the wall 4a at the point 38, and the measured distance L2 is the distance L2 to the wall reflecting flame 5a.
Shorter.

The measurement distances L1 and L2 of the flame 3 and the wall reflection flame 5a by the laser distance measuring unit 32 are given to the fire judging unit 34, and are obtained by the left image processing unit 17 and the right image processing unit 18 based on the principle of triangulation. Laser distance measuring unit 3 calculated from fire source position
2 is compared with the calculated distance. In this case, the distance measured by the laser ranging distance and the detection position obtained by the triangulation are the same for the flame 3 but are not the same for the wall reflecting flame 5a, and the mismatched fire source is assumed to be caused by reflection without using a fire. Exclude from processing.

This laser distance measurement is based on the example of discriminating the flame 3 and the wall reflection flame 5a as viewed in a plane in the monitoring space of FIG. 2, but the flame 3 and the floor reflection flame 5b are processed in the same manner. The floor reflection flame 5b can be excluded from the processing target.

FIG. 15 shows a fourth embodiment of the present invention.
In the fourth embodiment, three or more cameras 1a, 1b, 1
, 1d,... are adopted. For example, in the first embodiment shown in FIGS.
When a, 1b, and 1c are installed, the images captured by the cameras 1a and 1b are processed by the image processing unit 8, and the image of the camera 1c is captured by the image processing unit 8, and the result is determined by the fire determination unit 9. Determine the location of the fire. The judgment in this case is
This is possible by the method described in the first embodiment of FIGS.

In this case, a three-dimensional image can be obtained by arranging the cameras 1a, 1b, 1c three-dimensionally. Further, by arranging the flame 3 so as to surround it, an image can be viewed without fail.

Next, even if the number of cameras is increased to four or five, the above three
It is possible to determine the fire position by using the same method as in the case of the stand.

When an even number of cameras are arranged, for example, taking four cameras 1a to 1d as examples, image processing is performed by the cameras 1a and 1b, and image processing is performed by the cameras 1c and 1d. A fire determination may be made by further performing image processing on the result of the image processing.

Next, in the second embodiment shown in FIGS.
When three or more cameras are installed as described above, image processing is performed based on the camera provided with the spotlight projection unit 15. For example, when three cameras 1a to 1c are installed and the spot light projection unit 15 is attached to the camera 1b, first, image processing is performed by the camera 1a and the camera 1b, and then image processing is performed by the camera 1b and the camera 1c. What is necessary is just to process and make a fire judgment.

Further, when four cameras 1a to 1d are installed, the spot light projection unit 15 is also connected to the camera 1b.
And a fire determination is performed based on the result of the image processing of the cameras 1b and 1d in addition to the image processing results of the three cameras 1a to 1c. Hereinafter, the same processing is performed for five or more cameras.

As another method, when the number of cameras installed is an even number, a spotlight projection unit 15 is attached to each pair of cameras, and an image is formed for each pair of cameras as in the second embodiment of FIGS. The processing may be performed, and the fire determination may be performed by integrating the respective results.

In the third embodiment shown in FIGS. 13 and 14, when three or more cameras are installed as shown in FIG. 15, even when three or more cameras are installed in the second embodiment, the spotlight projection unit is used. By employing the laser distance measuring unit 32 instead of 15, the fire position can be determined in a similar manner.

The fire detecting device of the present invention may be fixedly installed in the monitoring range or may be installed movably.

[0071]

As described above, according to the present invention, the position of a fire source is obtained based on the principle of triangulation from monitoring images of two or more cameras whose optical axes are arranged substantially in parallel.
By judging only those within the monitoring range as fire sources by comparing with a predetermined monitoring range, irradiating spot light, or laser ranging, etc., flames reflected on walls and floors etc. It is possible to reliably prevent the erroneous determination of a fire, and to appropriately and reliably perform a response process associated with fire detection such as fire extinguishing based on detection of a fire source position.

[Brief description of the drawings]

FIG. 1 is a block diagram of a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of a camera arrangement with respect to a monitoring range in FIG. 1;

FIG. 3 is an explanatory diagram of position detection of a flame image by the image processing unit in FIG. 1;

FIG. 4 is an explanatory diagram of determination processing for flame reflection on a wall by the fire determination unit in FIG. 1;

FIG. 5 is an explanatory diagram of a determination process for flame reflection on the floor by the fire determination unit in FIG. 1;

FIG. 6 is a flowchart of a fire detection process of FIG. 1;

FIG. 7 is a flowchart of the fire detection process of FIG. 1 following FIG. 6;

FIG. 8 is an explanatory diagram of an original image, a binarized image, and a labeling image by the image processing unit in FIG. 1;

FIG. 9 is a block diagram of a second embodiment of the present invention using spot light irradiation.

FIG. 10 is an explanatory diagram of a process for distinguishing a flame and a reflection of the flame by irradiation of a spot light.

FIG. 11 is an explanatory diagram of a monitoring image when a spot light is applied to the flame in FIG.

FIG. 12 is an explanatory diagram of a monitoring image when a reflection of a flame is irradiated with a spot light in FIG. 11;

FIG. 13 is a block diagram of a third embodiment of the present invention using laser ranging.

FIG. 14 is an explanatory diagram when the distance between the flame and the reflection of the flame is measured by laser in FIG. 13;

FIG. 15 is a block diagram of a fourth embodiment of the present invention.

[Explanation of symbols]

 1: Left camera 1a to 1d: Camera 2: Right camera 3: Flame 4a: Wall 4b: Floor 5a: Wall reflective flame 5b: Floor reflective flame 6: Left image memory 7: Right image memory 8: Image processing unit 9, 19 , 34: fire determination unit 10L, 10R: monitoring range 11L: left image 11R: right image 12a, 27L, 27R: flame image 12b, 28L, 28R: wall reflection flame image 12c: floor reflection flame image 13a, 13b: two Valued images 14a to 14b: labeling image 15: spot light projection unit 16: projection control unit 17: left image processing unit 18: right image processing unit 20, 22: light beam 21, 23: spot light 24, 25: camera light Axis 30L, 30R, 31L, 31R: Spot light image 32: Laser distance measuring unit 33: Distance measuring control unit 35, 36: Laser beam 37, 38: Distance measuring position

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Claims (3)

[Claims] 1. Two or more cameras arranged at two or more different points and capturing images of a monitoring range, and two or more fire source images included in each of the monitoring images captured by the two or more cameras From the image processing unit that detects the position of the fire source based on the principle of triangulation from the floor surface that divides the monitoring range, the boundary position such as a wall surface is set in advance, the fire source position detected by the image processing unit is the A fire determination unit that determines a fire source due to a fire when the position is inside the set boundary position, and excludes a fire source from the processing target as a fire source due to reflection when the distance exceeds the set boundary range. apparatus. 2. Two or more cameras arranged at two or more different points and capturing a monitoring image of a fire source in a monitoring range, and a spot light for irradiating a spot light toward a fire source position in the monitoring range. A projection unit, an image processing unit that detects a fire source position based on the principle of triangulation from two or more fire source images included in each of the monitoring images captured by the two or more cameras, and the image processing unit In a state where the detected light source position is irradiated with spot light from the spot light projecting unit, if the flame image of the monitoring image captured by the two or more cameras and the position of the spot light image match, the fire caused by the fire A fire determining unit that determines a fire source due to reflection when the position is shifted, and excludes the fire source from the processing target when the position is shifted. 3. Two or more cameras which are arranged at two or more different points and capture monitoring images of a fire source in a monitoring range, and objects which are arranged on the two or more cameras and exist in the range. A distance measuring unit that measures a distance to the image processing unit; and an image processing unit that detects a fire source position based on the principle of triangulation from two or more fire source images included in each of the monitoring images captured by the two or more cameras. And, the distance is measured by directing the distance measuring device to the fire source position detected by the image processing unit, and when the measured distance matches the measurement distance of the image processing unit, it is determined that the fire source due to fire, And a fire determination unit that excludes from the processing target as a fire source due to reflection when they do not match.