JP5406663B2 - Fire source exploration system - Google Patents

Description

  The present invention relates to a fire source exploration system that quickly identifies a fire source that is a fire occurrence point based on an image captured by an infrared camera, and in particular, when an infrared camera includes a missing element (missing pixel). In particular, it relates to a fire source exploration system that prevents misreporting.

  In fire source exploration using an infrared camera, the location of a fire is detected based on temperature. Specifically, an area where a signal exceeding a preset alarm level (threshold) is obtained from a detection signal corresponding to a temperature obtained from an infrared camera by two-dimensionally scanning a certain monitoring area. Is detected as a fire source (see, for example, Patent Document 1).

  And when it is necessary to turn the infrared camera, the infrared camera is stopped at every angle narrower than the viewing angle of the infrared camera, the image is taken in, and the imaging area is overlapped, so that the fire in the surveillance area is overlapped. Existence is checked without omission. As an example, when the viewing angle of the infrared camera is 29 °, it is conceivable that the infrared camera is stopped every 26 ° that is narrower than the viewing angle to capture an image.

JP-A-5-1949

However, the prior art has the following problems.
An infrared camera used in a fire source exploration system includes a plurality of elements for detecting infrared light. However, in an actual product, not all of the plurality of elements are necessarily normal, and a missing element (missing pixel) may be included. In an infrared camera having such a missing element, it is generally compensated to output a detection result by an adjacent element.

  Therefore, there has been a problem that it is impossible to accurately detect the occurrence of a fire at a position imaged by a missing element. This problem is caused by imaging the same position with the same element (same pixel), and it is the same whether or not it involves a turning motion.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a fire source search system capable of preventing a misreport due to fire source search in a missing element of an infrared camera.

The fire source exploration system according to the present invention has a pixel value that exceeds a predetermined threshold value among a plurality of pixel values constituting the imaging data based on the imaging data acquired by the infrared camera as a signal corresponding to the temperature state of the monitoring area. A fire source exploration system that detects the position of the fire source by detecting the position of the camera, and is equipped with an infrared camera. When acquiring data, a plurality of first stop positions for stopping the electric swivel base on the forward path and a plurality of second stop positions for stopping the electric swivel base on the return path are set, and the same point is different between the forward path and the return path. based on the first stop position and a plurality of second stop positions of which are set as shift stop position 1 or more pixels to capture by, Before moving the electric swivel slide to a plurality of the first stop position in the forward From the infrared camera acquires the first image data subjected to fire determination process, then, from the infrared camera for each Before moving the electric swivel slide to a plurality of second stop position backward to obtain the second image pickup data fire A control unit that performs a determination process and identifies a fire source position.

  According to the fire source exploration system according to the present invention, in the same visual field range, based on the imaging data captured by changing the stop position of the infrared camera so as not to continuously capture the same spot with the same element, By performing the fire source search, it is possible to obtain a fire source search system capable of preventing the misreporting due to the fire source search in the missing element of the infrared camera.

1 is an overall configuration diagram of a water cannon system including a fire source search system according to Embodiment 1 of the present invention. It is explanatory drawing regarding the turning operation | movement of the conventional fire source search system. It is explanatory drawing regarding turning operation | movement of the fire source search system in Embodiment 1 of this invention. It is a processing flow which shows the flow of a series of operation | movement in the case of performing turning stop by the fire source search system in Embodiment 1 of this invention.

  Hereinafter, preferred embodiments of the fire source search system of the present invention will be described with reference to the drawings.

Embodiment 1 FIG.
FIG. 1 is an overall configuration diagram of a water cannon system including a fire source search system according to Embodiment 1 of the present invention. As shown in FIG. 1, in the first embodiment, for example, as a subsystem, two fire source exploration systems 10 </ b> L and 10 </ b> R are provided with respect to the monitoring area, and an upper water cannon system overall processing unit 20 is centrally controlled.

  The two fire source exploration systems 10L and 10R have the same function and perform the same operation. However, in response to a command from the cannon system overall processing unit 20, the left and right fire monitoring systems 10L and 10R are independently monitored at left and right alternately every predetermined time. The fire source exploration will be conducted. Therefore, the fire source search systems 10L and 10R can operate normally over a long period of time. Moreover, when one side fails, it is possible to prevent the entire system from going down by continuously operating the remaining one.

  The fire source exploration system 10L (10R) includes an overall processing unit 11, an infrared camera control unit 12, an electric swivel control unit 13, an infrared camera 14, and an electric swivel 15 on which the infrared camera 14 is mounted. Hereinafter, the fire source search system of the first embodiment will be described using the left fire source search system 10L. In addition, what included all the functions of the overall processing unit 11, the infrared camera control unit 12, and the electric swivel base control unit 13 corresponds to the control unit.

  First, a basic series of operations when the fire source detection system monitors normal fire source detection will be described. After receiving the fire source detection start command from the water cannon system overall processing unit 20, the overall processing unit 11 turns the electric turntable 15 to a desired position via the electric turntable control unit 13. As a result, the infrared camera 14 mounted on the electric turntable 15 can capture infrared light in a desired monitoring area.

  After completion of the movement of the infrared camera 14, the overall processing unit 11 activates the infrared camera 14 and acquires image data obtained by the infrared camera 14 via the infrared camera control unit 12. Further, the overall processing unit 11 identifies the fire source position by detecting a pixel value exceeding a predetermined threshold value from a plurality of pixel values constituting the imaging data.

  Next, based on the basic series of operations described above, a case where the infrared camera 14 is turned to perform a fire source search will be described. FIG. 2 is an explanatory diagram relating to a turning operation of a conventional fire source search system. FIG. 2A is a diagram showing the viewing angle θ1 of the infrared camera 14. An arrow indicated by a dotted line means the central axis of the viewing angle of the infrared camera 14.

  On the other hand, in FIG. 2B, in order to scan the entire viewing angle θ2 of the monitoring region that is larger than the viewing angle θ1 of the infrared camera 14, the infrared camera 14 is monitored while being turned and stopped at a plurality of positions. The case is shown schematically. FIG. 2B illustrates a case where the entire monitoring area is scanned by imaging the five directions D1 to D5 while stopping the turning of the infrared camera 14 every Δθ. Here, Δθ, which is a single turning angle, is set to an angle smaller than the viewing angle θ1 of the infrared camera 14, thereby overlapping adjacent imaging regions.

  However, assuming that the missing element is included in the infrared camera 14, when the imaging by scanning in the five directions of D1 to D5 is simply repeated in a reciprocating manner, the position imaged by the missing element is the same. Therefore, there is a problem that it is impossible to accurately detect the occurrence of a fire at that position. Therefore, a measure according to the present invention for solving such a problem will be described below.

FIG. 3 is an explanatory diagram relating to the turning operation of the fire source search system according to Embodiment 1 of the present invention. In FIG. 3, Df1 to Df5 (corresponding to arrows indicated by dotted lines) indicate stop positions when the infrared camera 14 is turned in the forward direction. On the other hand, Dr1 to Dr5 (corresponding to arrows indicated by solid lines) indicate stop positions when the infrared camera 14 is turned in the backward direction. And in this Embodiment 1, the operation | movement which stops turning the infrared camera 14 in order of the following (1)-(16) shall be repeated, and this order is a comprehensive stop part 11 as a stop order decided beforehand. It is assumed that it is stored in
(1) Df1 → (2) Df2 → (3) Df3 → (4) Df4 → (5) Df5 → (6) Dr4 → (7) Dr3 → (8) Dr2 → (9) Dr1 → (10) Df2 → (11) Df3 → (12) Df4 → (13) Dr5 → (14) Dr4 → (15) Dr3 → (16) Dr2

  That is, in the first embodiment, the turning stop position (Df1 to Df5) on the forward path and the turning stop position (Dr1 to Dr5) on the return path in each of the five stop stop position directions D1 to D5. The relationship is set as a stop position where the same position can be imaged by shifting by one element or more (for example, 1.5 °). As a result, the same point in the monitoring area can be captured by different elements in the forward path and the return path, and it is possible to prevent the same point from being continuously imaged by the missing element. In other words, according to this turning example, if the five directions D1 to D5 are reciprocated twice in the order of (1) to (16) described above, they will be caught by different elements at all turning stop positions, so there will be no reporting. In addition, the fire can be detected reliably.

  It should be noted that the amount of shifting the turning stop position on the forward path and the turning stop position on the return path need not be the same in the five directions D1 to D5. Adjacent imaging areas can be overlapped, and appropriate values can be individually used so that the same point is not continuously captured by the same element in the forward path and the backward path.

  Next, a series of operations when turning stop by the fire source search system of the first embodiment will be described using a processing flow. FIG. 4 is a process flow showing a flow of a series of operations when turning is stopped by the fire source search system according to Embodiment 1 of the present invention. However, in FIG. 4, in order to make the explanation easy to understand, a flow of one round from the fire source search at the first turning stop position to the turning movement to the next turning stop position is shown.

  First, in step S01, after receiving the fire source detection start command from the water cannon system overall processing unit 20, the overall processing unit 11 turns the electric swivel base 15 toward a desired monitoring area. A movement command is transmitted to the electric swivel base control unit 13.

  Next, in step S02, the electric swivel base control unit 13 performs movement control of the electric swivel base 15 based on the movement command from the overall processing unit 11. As a result, in step S03, the electric turntable 15 turns and moves to the first turn stop position within the desired monitoring area. Here, according to the example of FIG. 3, the description will be continued assuming that the first turning stop position is the first point Df1 in the forward path.

  Next, in step S <b> 04, the electric swivel base control unit 13 receives a movement completion signal from the electric swivel base 15. In addition, when the position control of the electric turntable 15 is performed in an open loop using a pulse motor or the like, the electric turntable control unit 13 itself generates a movement completion signal.

  Next, in step S05, the electric swivel base control unit 13 transmits a movement completion signal to the overall processing unit 11 as a response to the movement command in step S01. Thus, the infrared camera 14 can be turned to a predetermined turning stop position (Df1) in a desired monitoring area by aligning the electric turntable 15 through a series of steps S01 to S05. it can.

  Next, in step S06, the overall processing unit 11 transmits an inspection start command to the infrared camera control unit 12 in order to activate the infrared camera 14. Next, in step S <b> 07, the infrared camera control unit 12 activates the infrared camera 14 based on the inspection start command from the overall processing unit 11.

  Next, in step S08, the infrared camera 14 that has already been aligned with the predetermined turning stop position (Df1) in the desired monitoring area captures the direction of Df1 based on a command from the infrared camera control unit 12. . In step S <b> 09, the infrared camera control unit 12 acquires image data captured by the infrared camera 14.

  Next, in step S10, the infrared camera control unit 12 returns the imaging data acquired in step S09 to the overall processing unit 11 as a response to the inspection start command in step S06.

  Next, in step S11, the overall processing unit 11 that has received the imaging data stops the next turn according to a predetermined stop order (for example, equivalent to the stop order of (1) to (16) illustrated above). Determine the position. At this time, the turning stop position is set so that the same point is not continuously imaged by the same element in the forward path and the backward path in the visual field range in the same direction.

  In step S <b> 12, the overall processing unit 11 transmits a movement command to the electric turntable control unit 13 in order to turn the electric turntable 15 to the determined next turn stop position. This step S12 is equivalent to the previous step S01, and the turning movement to the next turning stop position is performed.

  Furthermore, in step S <b> 13, the overall processing unit 11 performs the above-described determination processing on the imaging data acquired from the infrared camera control unit 12 and performs fire source detection. In this way, it is possible to search for a fire source in a desired monitoring area by repeating the processes of steps S01 to S13 in accordance with a predetermined stop order.

  Although not shown in FIG. 4, in the end, for example, when the operation is switched from the fire source search system 10L to the fire source search system 10R, the overall processing unit 11 is determined in advance in step S11. By determining that the fire source search has been completed for all of the stop orders, a series of processes in the monitoring area is completed.

  In the above description using FIG. 2 and FIG. 3, in the case where the viewing angle θ2 of the monitoring area is larger than the viewing angle θ1 of the infrared camera 14, the viewing range (corresponding to D1 to D5) in multiple directions is taken as an example. For each, the relationship between the turning stop position (Df1 to Df5) on the forward path and the turning stop position (Dr1 to Dr5) on the return path is set as a stop position where the same position can be imaged by shifting by one element or more. ing. However, even when the viewing angle θ2 of the monitoring area is equal to or smaller than the viewing angle θ1 of the infrared camera 14 (that is, when the turning operation is unnecessary in the conventional technology), the same position can be imaged by shifting by one element or more 2 Similarly, by setting the stop position of the location, it is possible to prevent a misreport due to a fire source search in a missing element of the infrared camera 14.

  As described above, according to the first embodiment, based on the imaging data captured by changing the stop position of the infrared camera so that the same point is not continuously captured by the same element in the visual field range in the same direction. , Exploring fire sources. As a result, for example, even if a fire determination cannot be made because the fire determination process is performed with imaging data that includes a missing element at a position corresponding to the fire source in the forward view range, the fire source in the return view range. It is possible to make a fire determination by performing a fire determination process using imaging data in which a normal element is included in a position corresponding to, and it is possible to prevent a misreport due to a fire source search in a missing element of the infrared camera.

  In addition, if the viewing angle of the monitoring area is larger than the viewing angle of the infrared camera, and accompanied by a turning stop operation, do not continuously capture the same point with the same element in the visual field range in the same direction of the forward path and the backward path. By setting the rotation stop position of the infrared camera, it is possible to prevent the misreporting due to the fire source search in the missing element of the infrared camera without increasing the number of times of imaging and the processing time.

  In the above-described first embodiment, the stop order of (1) to (16) is set as the predetermined stop order. However, the order is not limited to this order. For example, two picked-up images that are shifted by a slight angle are sequentially placed at each turn stop position (corresponding to D1 to D5) in the order of Df1-> Dr1-> Df2-> Dr2-> Df3-> Dr3-> Df4-> Dr4-> Df5-> Dr5. The same effect can be obtained by setting the order so as to be acquired.

  10L, 10R Fire source exploration system, 11 general processing section, 12 infrared camera control section, 13 electric swivel control section, 14 infrared camera, 15 electric swivel.

Claims (3)

Based on imaging data acquired by an infrared camera as a signal corresponding to the temperature state of the monitoring area, a pixel value exceeding a predetermined threshold value is detected from a plurality of pixel values constituting the imaging data. A fire source exploration system that performs identification,
An electric swivel mounted with the infrared camera and capable of swiveling;
A plurality of first stop positions for stopping the electric swivel in the forward path when the electric swivel is swung in the monitoring area and the imaging data is acquired by the infrared camera, and the electric swivel in the return path A plurality of second stop positions to be stopped are set, and the plurality of first stop positions and the plurality of second stops set as stop positions shifted by one pixel or more so that the same point is captured by different elements on the forward path and the return path based on the position, performs fire determination process from the infrared camera the electric swivel base for each Before moving to the first stop position of the plurality in the forward acquire first imaging data, then the plurality of the return path characterized in that it comprises a second performs the infrared camera acquires the second imaging data fire determination process for each Before moving the electric swivel base to the stop position, the control unit for performing certain of the fire source position Fire source exploration system. The fire source exploration system according to claim 1,
Wherein the control unit is larger than the viewing angle of the monitoring area viewing angle of the infrared camera, a part of the imaging area of the adjacent ones overlap is allowed as preset the plurality of first stop position and the plurality of The fire source search system characterized in that the fire source position is specified while moving the electric swivel to the second stop position . The fire source exploration system according to claim 2,
The control unit is configured to identify the fire source position while sequentially stopping the electric swivel at the plurality of first stop positions on the forward path, and then sequentially stopping to the plurality of second stop positions on the return path. A fire source exploration system characterized by performing a fire source exploration over the entire monitoring area by specifying a fire source position.

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