Water-discharge fire extinguishing system

Abstract

To make it possible to accurately detect the location of a fire source and discharge water regardless of changes of the height of a monitored area.SOLUTION: A monitoring camera 12 (12-1) captures an image of a monitoring area such as a ball field or the like to be extinguished by the water discharge gun device 10 (10-1). When a fire occurs, a fire source F is specified from a two dimensional monitoring image of a monitoring camera 12 (12-1), a distance to the fire source F is detected from a distance image, and fire source coordinates (Xa, Ya, Za) of an imaging three dimensional coordinate system are detected and converted into fire source coordinates (Xb, Yb, Zb) of a water discharge three dimensional coordinate system. The water discharge gun device 10 (10-1) accesses the water discharge pressure detection table in which the water discharge pressure at which the fire-extinguishing water reaches each of the coordinate positions (Y, Z) of the vertical two dimensional coordinates is registered with the vertical two dimensional fire source coordinates (Yb, Zb) to detect and set the water discharge pressure, controls the water discharge pressure, and detects the horizontal turning angle from the horizontal two dimensional fire source coordinates (Xb, Zb) to change the water discharge direction.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a water discharge type fire extinguishing system that discharges fire extinguishing water from a water cannon device when a fire occurs in a monitoring area such as a stadium or an exhibition hall, and suppresses the fire by extinguishing it.

Background Art

[0002] Conventionally, for buildings having a large-scale space such as a stadium or an exhibition hall, and buildings having a high ceiling, the legal obligation to install sprinkler equipment such as water discharge type heads has been defined. Legally, it is classified into equipment using a movable head and equipment using a fixed head. Among these, as equipment using a movable head, a water discharge type fire extinguishing system combining a scanning type fire detector and a water cannon device is known as a representative example (Patent Document 1).

[0003] The scanning type fire detector constantly rotates by combining horizontal rotation and vertical rotation, and monitors the monitoring area in about 32 seconds for one round trip. When a fire occurs, the scanning type fire detector calculates the position information (θ, α) of the fire source indicating the location where the fire occurred based on the installation height, horizontal angle θ, and elevation angle (vertical angle) α from directly below, and selects one of a plurality of water cannon devices based on the position information of the fire source and directs it in the direction of the fire source. Subsequently, the water discharge pressure corresponding to the distance from the selected water cannon device to the fire source is automatically set, and water is automatically discharged after a certain delay time.

[0004] By the way, in such a water discharge type fire extinguishing system, as can be seen from calculating the fire source position from the installation height, horizontal angle, and vertical angle of the scanning type fire detector, the fire source position is calculated on the premise that the floor surface is flat. Therefore, when there is a structure having a height such as a check-in counter or an exhibition booth on the floor surface of the monitoring area, if a fire occurs in the structure on the floor surface, the fire source position calculated from the elevation angle (vertical angle) α will deviate far away because it is determined as the floor surface on its extension compared to the actual position.

[0005] To compensate for this weakness, first, the obligation to install a protection zone is legally defined. For the object or area to be protected, contour lines including the fixed objects installed therein are created and registered for each detector to correct the error in the fire source position. Here, the contour map is a map depicting the contour lines of the monitoring area visible at the scanning angle (θ, α) determined by the horizontal scanning angle θ and the vertical scanning angle α of the scanning type fire detector (Patent Document 2).

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, in such a conventional water discharge type fire extinguishing system, when there is a display booth temporarily installed in the protection zone or when there is a change in the height from the internal floor surface due to renovation, in order to improve the accuracy of specifying the fire source position, it is necessary to remake the contour map corresponding to the changed internal height each time. In order to accurately capture the fire source position and discharge the fire extinguishing water, there are problems of time and effort and increased operation costs.

[0008] An object of the present invention is to provide a water discharge type fire extinguishing system that can accurately detect the position of a fire source regardless of the height change in the monitoring area and enable water discharge.

Means for Solving the Problems

[0009] (Water discharge type fire extinguishing system) The present invention is a water discharge type fire extinguishing system that discharges fire extinguishing water from a water jet device to a predetermined monitoring area, an image processing unit that detects the coordinate position of a fire source indicating the fire occurrence location and the fire source distance to the fire source based on an image captured by an imaging device when a fire occurs in the monitoring area, When a fire occurs in the monitoring area, based on the coordinate position of the fire source, the water discharge direction of the water cannon device with respect to the fire source is detected, and the predetermined water discharge pressure at which the fire extinguishing water discharged from the water cannon device reaches the fire source is detected. A water discharge control unit that sets the water discharge direction and water discharge pressure in the water cannon device and discharges water, It is characterized by comprising.

[0010] (Configuration of the image processing unit and the water discharge control unit) The image processing unit An image generation unit that generates a two-dimensional monitoring image of the monitoring area captured by the imaging device and a distance image with distance information from the imaging device to the object in the monitoring area attached, When a fire occurs in the monitoring area, a fire source distance detection unit that identifies the fire source from the two-dimensional monitoring image and detects the fire source distance to the identified fire source from the distance image, Based on the fire source distance, the fire source coordinates (Xa, Ya, Za) in the imaging three-dimensional coordinate system with the imaging device as the origin (O1) are detected, and the fire source coordinates (Xa, Ya, Za) in the imaging three-dimensional coordinate system are converted into the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system with the water cannon device as the origin (O2). A coordinate processing unit, Comprising, The water discharge control unit A water discharge control information registration unit that registers the predetermined water discharge pressure at which the fire extinguishing water discharged from the water cannon device reaches each coordinate position corresponding to each coordinate position in the water discharge three-dimensional coordinate system of the monitoring area, A water discharge pressure detection unit that detects the water discharge pressure corresponding to the fire source from the water discharge control information registration unit based on the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system, A water discharge direction detection unit that detects the water discharge direction of the water cannon device with respect to the fire source based on the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system, A water discharge drive unit that sets the water discharge direction and water discharge pressure in the water cannon device and discharges water, Comprising.

[0011] (Water cannon device and water discharge control unit 1) The water spray gun device has the elevation angle (α) of the water spray gun fixed at a predetermined angle, and the horizontal water spray direction of the water spray gun can be changed by setting the horizontal turning angle (β). The water discharge control information registration unit registers a predetermined water discharge pressure at which the fire extinguishing water discharged from the water spray gun device reaches each of the arbitrary vertical two-dimensional coordinates (Ybi, Zbi) in the water discharge three-dimensional coordinate system. The water discharge pressure detection unit detects the water discharge pressure (P) corresponding to the vertical two-dimensional fire source coordinates (Yb, Zb) at the fire source coordinates (Xb, Yb, Zb) of the water discharge three-dimensional coordinate system from the water discharge control information registration unit. The water discharge direction detection unit detects the horizontal turning angle (β) of the water spray gun device pointing to the horizontal two-dimensional fire source coordinates (Xb, Yb) at the fire source coordinates (Xb, Yb, Zb) of the water discharge three-dimensional coordinate system. The water discharge driving unit sets the horizontal turning angle (β) and the water discharge pressure (P) to the water spray gun device and discharges water.

[0012] (Water spray gun device and water discharge control unit 2) The imaging device is arranged directly above the water spray gun device, and the elevation angle (α0) of the optical axis direction facing the monitoring area is fixed at a predetermined angle. The water spray gun device has the upward elevation angle (α) of the water spray gun fixed at a predetermined angle, and the horizontal water spray direction of the water spray gun can be changed by setting the horizontal turning angle (β). The water discharge control information registration unit registers a predetermined water discharge pressure at which the fire extinguishing water discharged from the water spray gun device reaches each of the vertical two-dimensional coordinates (Y, Z) of the height and horizontal distance from the monitoring surface in the water discharge three-dimensional coordinate system. Based on the fire source distance (L) from the imaging device to the fire source and the elevation angle (α1) from the imaging device to the fire source, the water discharge pressure detection unit detects the height (Y1) from the monitoring area surface to the fire source and the horizontal distance (Z1) from the water spray gun device to the fire source F, and detects the water discharge pressure (P) corresponding to the vertical two-dimensional fire source coordinates (Y1, Z1) of the height and horizontal distance from the water discharge control information registration unit. The water discharge direction detection unit detects the horizontal turning angle (β1) of the water spray gun device based on the horizontal distance (Z1) to the fire source F and the interval (K·Ny) between the fire source and the perpendicular line on the horizontal plane to the imaging optical axis obtained from the two-dimensional monitoring image. The water discharge driving unit discharges water by setting the horizontal turning angle (β1) and the water discharge pressure (P) for the water discharge gun device.

[0013] (Arrangement of imaging device and water discharge gun device) The imaging device is separately arranged above or directly above the vicinity of the water discharge gun device.

[0014] (Identification of ignition source) The ignition source distance detection unit identifies the ignition source by a specified operation on the monitoring screen displaying the two-dimensional monitoring image or by image processing of the two-dimensional monitoring image, and detects the ignition source distance from the distance image.

Advantages of the Invention

[0015] (Effect of water discharge type fire extinguishing system) The present invention is a water discharge type fire extinguishing system that discharges fire extinguishing water from a water discharge gun device in a predetermined monitoring area. When a fire occurs in the monitoring area, an image processing unit detects the coordinate position of the ignition source indicating the fire occurrence location and the ignition source distance to the ignition source based on the image captured by the imaging device, and when a fire occurs in the monitoring area, based on the coordinate position of the ignition source, detects the water discharge direction of the water discharge gun device with respect to the ignition source, and detects a predetermined water discharge pressure at which the fire extinguishing water discharged from the water discharge gun device reaches the ignition source, and a water discharge control unit that sets the water discharge direction and the water discharge pressure for the water discharge gun device and discharges water. Therefore, when a fire occurs on the floor surface of the monitoring area or on a structure installed on the floor surface, the ignition source distance from the monitoring image of the monitoring area captured by the imaging device is detected without being affected by whether it is the floor surface or a structure higher than the floor surface, and by setting the water discharge direction and the water discharge pressure for the water discharge gun device based on the ignition source distance and discharging water, even if there is a change in the height of the monitoring area, it is possible to accurately discharge water to the ignition source and suppress the fire.

[0016] For this reason, even if a structure such as a display booth is temporarily installed on the floor surface, it is not necessary to remake the contour map as in the past each time, and it is not necessary to change the system form even if the usage form of the monitoring area changes, making the operation and management of the system easy and reducing the operation cost.

[0017] In addition, by installing an imaging device such as a video camera that captures videos instead of the scanning type fire detector used in the conventional water discharge type fire protection system, it is possible to miniaturize the equipment. Furthermore, when harmony is required in the building design, it is possible to obtain the merit that the installed miniaturized imaging device is not conspicuous.

[0018] (Effect by the configurations of the image processing unit and the water discharge control unit 1) In addition, the image processing unit includes an image generation unit that generates a two-dimensional surveillance image of the surveillance area captured by the imaging device and a distance image with distance information from the imaging device to the object in the surveillance area, and when a fire occurs in the surveillance area, a fire source distance detection unit that identifies the fire source from the two-dimensional surveillance image and detects the fire source distance to the identified fire source from the distance image, and a coordinate processing unit that detects the fire source coordinates (Xa, Ya, Za) in the imaging three-dimensional coordinate system with the imaging device as the origin (O1) based on the fire source distance and converts the fire source coordinates (Xa, Ya, Za) in the imaging three-dimensional coordinate system into the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system with the water discharge gun device as the origin (O2). Therefore, when a fire occurs in the protected area, it is possible to accurately detect the position and the fire source distance of the fire source by processing the surveillance image captured by the imaging device.

[0019] In addition, the water discharge control unit includes a water discharge control information registration unit that registers, for each coordinate position in the water discharge three-dimensional coordinate system of the monitoring area, a predetermined water discharge pressure at which the fire extinguishing water discharged from the water discharge gun device reaches each coordinate position; a water discharge pressure detection unit that detects, based on the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system, the water discharge pressure corresponding to the fire source from the water discharge control information registration unit; a water discharge direction detection unit that detects, based on the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system, the water discharge direction of the water discharge gun device with respect to the fire source; and a water discharge drive unit that sets the water discharge direction and water discharge pressure in the water discharge gun device and discharges water. Therefore, in particular, the water discharge control information registration unit has, for each coordinate position in the subdivided monitoring area, the water discharge pressure required for the fire extinguishing water discharged from the water discharge gun device to reach it pre-registered as data obtained from water discharge experiments, design calculations, etc. The registered water discharge pressure data is data that is not affected by the floor surface or structures on the floor surface of the monitoring area, and can be uniquely obtained when the fire source position is specified. By setting and discharging water in the water discharge gun device in combination with the water discharge direction, even if there are changes in the height of the monitoring area, it is possible to accurately discharge water to the fire source and suppress and extinguish the fire.

[0020] (Effects of the water discharge gun device and the water discharge control unit) In addition, in the water jet gun device, the elevation angle (α) of the water jet gun is fixed at a predetermined angle, and the horizontal water jet direction of the water jet gun can be changed by setting the horizontal turning angle (β). The water jet control information registration unit registers a predetermined water jet pressure at which the fire extinguishing water discharged from the water jet gun device reaches each of the arbitrary vertical two-dimensional coordinates (Ybi, Zbi) in the water jet three-dimensional coordinate system. The water jet pressure detection unit detects the water jet pressure (P) corresponding to the vertical two-dimensional fire source coordinate (Yb, Zb) at the fire source coordinate (Xb, Yb, Zb) in the water jet three-dimensional coordinate system from the water jet control information registration unit. The water jet direction detection unit detects the horizontal turning angle (β) of the water jet gun device directed to the horizontal two-dimensional fire source coordinate (Xb, Yb) at the fire source coordinate (Xb, Yb, Zb) in the water jet three-dimensional coordinate system. The water jet drive unit sets the horizontal turning angle (β) and the water jet pressure (P) in the water jet gun device to perform water jetting. Thus, the fire source coordinate in the imaging three-dimensional coordinate system is detected by image processing of the monitoring image captured by the imaging device and converted into the fire source coordinate in the water jet three-dimensional coordinate system of the water jet gun device. Since the elevation angle of the water jet gun device is fixed and only the horizontal turning angle is changed, for each of the vertical two-dimensional coordinates that form a vertical plane within the water jet three-dimensional coordinate system in the water jet control information registration unit, the water jet pressure for the fire extinguishing water from the water jet gun device to reach is set. Since it suffices to use two-dimensional coordinates, the registration of the water jet pressure with respect to the coordinate position in the water jet control information registration unit becomes simple, and the memory table configuration therefor, for example, the configuration of the look-up table, can also be simplified. In addition, since the water jet direction of the water jet gun device only requires detection and setting of the horizontal turning angle with respect to the fire source, the control of the water jet gun device becomes simple, the processing time from the detection of the fire to the start of water jetting is shortened, and rapid start of water jetting is enabled.

[0021] (Effect of the water jet gun device and the water jet control unit 2) In addition, the imaging device is arranged directly above the water cannon device, and the imaging optical axis towards the monitoring area is fixed. The water cannon device has a fixed elevation angle of the water cannon, and the water discharge direction of the water cannon in the horizontal direction can be changed by setting the horizontal turning angle. The water discharge control information registration unit registers a predetermined water discharge pressure at which the fire extinguishing water discharged from the water cannon device reaches the fire source corresponding to the horizontal distance (Z1) from the imaging device to the fire source and the height (Y1) of the fire source from the monitoring area surface. The water discharge pressure detection unit detects the height (Y1) and the horizontal distance (Z1) of the fire source based on the distance (L) from the imaging device to the fire source and the elevation angle (α1) from the imaging device to the fire source, and detects the water discharge pressure (P) corresponding to the height (Y1) and the horizontal distance (Z1) from the water discharge control information registration unit. The water discharge direction detection unit detects the horizontal turning angle (β1) of the water cannon device based on the horizontal distance (Z1) and the interval (K·Ny) between the fire source and the perpendicular line in the horizontal plane to the imaging optical axis obtained from the two-dimensional monitoring image. The water discharge drive unit sets the horizontal turning angle (β1) and the water discharge pressure (P) for the water cannon device and discharges water, so that, similar to the case of the water discharge control unit 1, even if there is a change in the height of the monitoring area, it is possible to accurately discharge water to the fire source and suppress the fire.

[0022] (Effect of the arrangement of the imaging device and the water cannon device) In addition, since the imaging device is arranged separately above or directly above the water cannon device, the imaging device can be installed at any position in the vicinity as long as it is not affected by the water discharge of the water cannon device, which makes it possible to increase the degree of freedom in installing the imaging device for imaging the monitoring area.

[0023] (Effect of identifying the fire source) In addition, the fire source distance detection unit detects the fire source distance from the distance image by specifying an operation on the monitoring screen displaying the two-dimensional monitoring image or by image processing of the two-dimensional monitoring image to identify the fire source. For example, a two-dimensional image of the monitoring area where a fire has been detected is displayed on the monitor screen of the monitoring center, and the monitor touches and identifies the fire source on the screen with a finger or a pen, etc., so that it is possible to surely identify the fire source or the location where the fire source is located and discharge water. Also, during the regular inspection of the fire extinguishing system, by specifying an operation on the monitor screen with a pseudo fire source at the location to be the target of the test water discharge, it is possible to easily and simply conduct an actual water discharge test of discharging water from the water cannon device to the specified test water discharge target.

[0024] In addition, the fire source distance detection unit can automatically identify the fire source from the image and automatically discharge water by identifying the fire source through image processing of the two-dimensional image and detecting the fire source distance from the distance image.

Brief Description of the Drawings

[0025]

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Mode for Carrying Out the Invention

[0026] Hereinafter, embodiments of the water discharge type fire extinguishing system according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited by the following embodiments.

[0027] [Basic Concept of Embodiment] First, the basic concept of the embodiment will be described. The embodiment generally relates to a water discharge type fire extinguishing system that discharges fire extinguishing water from a water discharge gun device to a predetermined monitoring area.

[0028] Here, the "water discharge type fire extinguishing system" is a fire extinguishing system installed in a predetermined monitoring area such as a large-scale space or a building with a high ceiling, and is composed of a water discharge gun device, an imaging device, an image processing unit, and a water discharge control unit, and is a concept including the "water discharge type fire extinguishing equipment". Further, the "monitoring area" is an area inside a building or the like that monitors a fire, and includes concepts such as a fire extinguishing target area, a fire extinguishing target section, a protection area, and a protection section.

[0029] In addition, the "water cannon device" is installed in the monitoring area and can change the water discharge direction of the water cannon. By directing the water cannon towards the fire source, fire extinguishing water is sprayed onto the fire source by water discharge to extinguish and suppress the fire. Here, the "water cannon" discharges (fires) a fire extinguishing agent such as pressurized water from a nozzle. Also, "being able to change the water discharge direction of the water cannon" means changing the horizontal swivel angle and vertical swivel angle of the water cannon to change the water discharge direction. However, in the embodiment, the water cannon has a fixed elevation angle (α) at a predetermined angle without changing the vertical swivel angle, and the water discharge direction in the horizontal plane of the water cannon can be changed by setting the horizontal swivel angle (β).

[0030] In addition, the "imaging device" is installed in the monitoring area and images the installed monitoring area, including a television camera that images videos such as an ITV camera, and includes the concept of a surveillance camera.

[0031] In addition, the "image processing unit" detects the coordinate position of the fire source indicating the fire occurrence location and the fire source distance to the fire source based on the image captured by the imaging device when a fire occurs in the monitoring area.

[0032] In addition, the "water discharge control unit" detects the water discharge direction of the water cannon device with respect to the fire source based on the coordinate position of the fire source when a fire occurs in the monitoring area, and detects a predetermined water discharge pressure at which the fire extinguishing water discharged from the water cannon device reaches the fire source, and sets the water discharge direction and water discharge pressure to the water cannon device to discharge water.

[0033] Therefore, when a fire occurs on the floor surface of the monitoring area or on a structure installed on the floor surface, the fire source distance from the monitoring image of the monitoring area captured by the imaging device is detected without being affected by whether it is the floor surface or a structure higher than the floor surface. By setting the water discharge direction and water discharge pressure to the water cannon device based on the fire source distance and discharging water, it is possible to accurately discharge water to the fire source to extinguish and suppress the fire.

[0034] In addition, even if structures such as exhibition booths are temporarily installed on the floor surface, there is no need to remake the contour map each time as in the past, which facilitates the operation and management of the system and enables reduction of operation costs.

[0035] Furthermore, by installing an imaging device such as a video camera that captures video instead of the scanning type fire detector used in the conventional water discharge type fire protection system, it is possible to miniaturize the equipment. Moreover, when harmony is required in architectural design, it is possible to obtain the merit that the installed miniaturized imaging device is not conspicuous.

[0036] More specifically, the image processing unit is composed of an image generation unit, a fire source distance detection unit, and a coordinate processing unit.

[0037] Here, the "image generation unit" generates a two-dimensional surveillance image of the surveillance area captured by the imaging device and a distance image with distance information from the imaging device to the object in the surveillance area.

[0038] In this case, the "two-dimensional surveillance image of the surveillance area" is an image of the surveillance area captured by the imaging device, which is displayed on the monitor screen to enable artificial grasping of the situation of the surveillance area. Also, the "distance image of the surveillance area" is an image in which each pixel constituting the two-dimensional surveillance image is given distance information to the object corresponding to the pixel.

[0039] The method for generating such a "distance image" is arbitrary. For example, a method (PSF method) of analyzing the correspondence between the blur color and size and the distance appearing in the aberration map based on the point spread function (PSF) of the camera lens to measure the distance to the object, or a method such as the FOT method (Time of Flight) of detecting the reflected light of the pulsed light irradiated from the camera to the object and detecting the distance from the flight time of the light is used. The distance from the imaging device to the object is detected by the distance image generated by one imaging device.

[0040] In addition, the "fire source distance detection unit" is configured to identify a fire source from a two-dimensional surveillance image when a fire occurs, and detect the fire source distance to the identified fire source from a distance image.

[0041] In addition, the "coordinate processing unit" is configured to detect the fire source coordinates (Xa, Ya, Za) in the imaging three-dimensional coordinate system with the imaging device as the origin (O1) based on the fire source distance, and convert the fire source coordinates (Xa, Ya, Za) in the imaging three-dimensional coordinate system into the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system with the water discharge gun device as the origin (O2), which is based on the conversion of the three-dimensional coordinate space by known Euler angles.

[0042] In addition, there are a first embodiment and a second embodiment for the "water discharge control unit". First, the "water discharge control unit 1" as the first embodiment is composed of a water discharge control information registration unit, a water discharge pressure detection unit, a water discharge direction detection unit, and a water discharge drive unit. Here, the "water discharge control information registration unit" registers the predetermined water discharge pressure at which the fire extinguishing water discharged from the water discharge gun device reaches each of the coordinate positions corresponding to each of the coordinate positions in the water discharge three-dimensional coordinate system of the monitoring area.

[0043] In the embodiment, as the water discharge gun device, the elevation angle (α) of the water discharge gun is fixed at a predetermined angle, and the water discharge direction around the horizontal direction of the water discharge gun can be changed by setting the horizontal turning angle (β). Based on such a water discharge gun device, the "water discharge control information registration unit" registers the predetermined water discharge pressure at which the fire extinguishing water discharged from the water discharge gun device reaches each of the arbitrary vertical two-dimensional coordinates (Ybi, Zbi) in the water discharge three-dimensional coordinate system. More specifically, the "water discharge control information registration unit" pre-registers, for each coordinate position in the subdivided monitoring area, the water discharge pressure required for the fire extinguishing water discharged from the water discharge gun device to reach, as data obtained from water discharge experiments, design calculations, etc. For example, it has a memory table configuration or a look-up table configuration in which the water discharge pressure is registered using each of the vertical two-dimensional coordinates (Ybi, Zbi) as a binary address.

[0044] In addition, the "water discharge pressure detection unit" detects the water discharge pressure corresponding to the fire source from the water discharge control information registration unit based on the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system. More specifically, it detects the water discharge pressure (P) corresponding to the vertical two-dimensional fire source coordinates (Yb, Zb) at the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system from the water discharge control information registration unit.

[0045] In addition, the "water discharge direction detection unit" detects the water discharge direction of the water discharge gun device with respect to the fire source based on the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system. More specifically, it detects the horizontal turning angle (β) of the water discharge gun device directed at the horizontal two-dimensional fire source coordinates (Xb, Yb) at the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system.

[0046] In addition, the "water discharge drive unit" sets the water discharge direction and water discharge pressure in the water discharge gun device to perform water discharge. More specifically, it sets the horizontal turning angle (β) detected by the water discharge direction detection unit and the water discharge pressure (P) detected by the water discharge pressure detection unit in the water discharge gun device to perform water discharge.

[0047] In addition, the "imaging device" is separately arranged near or directly above the "water discharge gun device". Therefore, as long as the imaging device is at a position not affected by the water discharge of the water discharge gun device, it can be installed at any nearby position, which makes it possible to increase the freedom of installation of the imaging device for imaging the monitoring area.

[0048] In addition, the "fire source distance detection unit" identifies the fire source through a specified operation on the monitoring screen displaying the two-dimensional monitoring image or through image processing of the two-dimensional monitoring image, and detects the fire source distance from the distance image. For example, the "fire source distance detection unit" displays a two-dimensional image of the monitored area where a fire has been detected on the monitor screen of the monitoring center. By allowing the monitor operator to touch and identify the fire source on the screen with a finger or a pen, etc., it is possible to accurately identify the fire source or the location where the fire source is located and perform water discharge. Also, during the regular inspection of the fire extinguishing system, by specifying and operating a location to be the target of test water discharge on the monitor screen as a pseudo fire source, it is possible to easily and simply conduct an actual water discharge test of discharging water from the water cannon device to the specified test water discharge target.

[0049] In addition, the "fire source distance detection unit" can automatically identify the fire source from the image and perform automatic water discharge by identifying the fire source through image processing of the two-dimensional image and detecting the fire source distance from the distance image.

[0050] The water discharge type fire extinguishing system of the second embodiment has an installation form in which the imaging device is arranged directly above the water cannon device and the imaging optical axis directed towards the monitored area is fixed. Here, "the imaging device is arranged directly above the water cannon device" means that the imaging point of the imaging device is located on the extension line from the horizontal turning axis of the water cannon device. Also, for the water cannon device, the elevation angle of the water cannon is fixed, and the water discharge direction around the horizontal direction of the water cannon can be changed by setting the horizontal turning angle.

[0051] In addition, the "water discharge control unit 2" in the water discharge type fire extinguishing system of the second embodiment is composed of a water discharge control information registration unit, a water discharge pressure detection unit, a water discharge direction detection unit, and a water discharge drive unit.

[0052] Here, the "water discharge control information registration unit" registers a predetermined water discharge pressure at which the fire extinguishing water discharged from the water cannon device reaches the fire source corresponding to the horizontal fire source distance (Z1) from the imaging device to the fire source and the fire source height (Y1) from the monitored area surface to the fire source.

[0053] In addition, the "water discharge pressure detection unit" detects the height of the fire source (Y1) and the horizontal distance of the fire source (Z1) based on the distance from the imaging device to the fire source (L) and the elevation angle (α1) of the imaging device with respect to the fire source, and detects the water discharge pressure (P) corresponding to the height of the fire source (Y1) and the horizontal distance of the fire source (Z1) from the water discharge control information registration unit.

[0054] The "water discharge direction detection unit" detects the horizontal turning angle (β1) of the water discharge gun device based on the horizontal distance of the fire source (Z1) and the distance (K·Ny) between the fire source obtained from the two-dimensional surveillance image and the perpendicular line in the horizontal plane with respect to the imaging optical axis. Furthermore, the "water discharge driving unit" sets the horizontal turning angle (β1) and the water discharge pressure (P) in the water discharge gun device and discharges water.

[0055] Therefore, based on the distance from the fire source (L) and the elevation angle (α1) of the imaging device with respect to the fire source, the height from the monitoring area surface to the fire source and the horizontal distance from the water discharge gun device to the fire source are detected, and the corresponding water discharge pressure is set in the water discharge gun device for water discharge. Thus, similar to the case of the water discharge control unit 1 in the first embodiment, even if there is a change in the height of the monitoring area, it is possible to accurately discharge water to the fire source to extinguish and suppress the fire.

[0056] Hereinafter, specific embodiments will be described. In the specific embodiments shown below, a case will be described where only the horizontal turning angle of the "water discharge gun device" can be changed, the "imaging device" is a "monitoring camera", the "three-dimensional coordinate system with the imaging device as the origin" is an "imaging three-dimensional coordinate system", and the "three-dimensional coordinate system with the water discharge gun device as the origin" is a "water discharge three-dimensional coordinate system".

[0057] [Specific content of the embodiment] The fire hydrant device will be described in more detail. The content will be described separately as follows. a. Outline of the water discharge type fire extinguishing system b. Functional configuration of the water discharge type fire extinguishing system b1. Image generation unit b2. Fire source distance detection unit b3. Coordinate processing unit b4. Detection of the fire source coordinates in the imaging three-dimensional coordinate system b5. Fire source coordinates in the water discharge three-dimensional coordinate system c. Water discharge control unit c1. Water discharge control information registration unit c2. Water discharge pressure detection unit c3. Water discharge direction detection unit c4. Water discharge drive unit d. Fire extinguishing control of water discharge type fire extinguishing system e. Second embodiment of water discharge type fire extinguishing system e1. Outline of water discharge control e2. Detection of elevation angle of monitoring camera e3. Detection of fire source height Y3 and horizontal distance Z3 of fire source f. Modification example of the present invention

[0058] [a. Outline of water discharge type fire extinguishing system] The outline of the water discharge type fire extinguishing system will be described. In this description, reference is made to FIG. 1 showing the configuration of the water discharge type fire extinguishing system, FIG. 2 showing a plan view of an indoor stadium or a dome-shaped stadium where the water discharge type fire extinguishing system is installed, FIG. 3 showing a cross-sectional view of an indoor stadium or a dome-shaped stadium where the water discharge type fire extinguishing system is installed, and FIG. 4 showing a water gun device.

[0059] Here, in the description of FIGS. 3 and 4, the X - Y - Z directions are orthogonal to each other. Specifically, when the front of the water gun device is viewed from the water discharge direction, the left - right direction is the X direction, the up - down direction is the Y direction, and the front - back direction is the Z direction. Also, the +X side in the X direction is the right side, the -X side is the left side, the +Y side in the Y direction is the upper side, the -Y side is the lower side, the +Z side in the Z direction is the front side, and the -Z side is the rear side. This is the same for the X - Y - Z directions in FIGS. 7, 8, and 11.

[0060] As shown in FIG. 1, the water discharge type fire extinguishing system of this embodiment uses large - space facilities such as indoor stadiums, dome - shaped stadiums, and exhibition halls as the fire - extinguishing target areas. For example, four water gun devices 10(10 - 1) to 10(10 - 4) are installed, and four monitoring cameras 12(12 - 1) to 12(12 - 4) are installed corresponding to the fire - extinguishing target areas assigned to each of the water gun devices 10(10 - 1) to 10(10 - 4).

[0061] For the water discharge gun devices 10(10-1) to 10(10-4), water discharge gun control panels 14(14-1) to 14(14-4) and local operation panels 16(16-1) to 16(16-4) are provided. The surveillance cameras 12(12-1) to 12(12-4) and the water discharge gun control panels 14(14-1) to 14(14-4) are connected by signal lines to a central control panel 18 installed in the surveillance center. A central operation console 20 equipped with a monitor device is provided for the central control panel 18.

[0062] Also, a pump 22 is provided in the pump room, and the pump 22 is controlled by a pump control panel 24. The water distribution pipe 25 from the pump 22 is connected to the water discharge gun devices 10(10-1) to 10(10-4) via water discharge pressure control valves 13(13-1) to 13(13-4) and inspection gate valves 11(11-1) to 11(11-4) that function as water discharge pressure control valves. An air compressor 26 is provided in the pump room and is connected to the water discharge gun devices 10(10-1) to 10(10-4) by an air pipe 28.

[0063] The central control panel 18 monitors for fires from the surveillance images captured by each of the surveillance cameras 12(12-1) to 12(12-4). When a fire is detected from the surveillance images of the surveillance cameras 12(12-1) to 12(12-4), it displays the fire occurrence area on the central operation console 20 and issues an alarm. It also selects one of the water discharge gun devices 10(10-1) to 10(10-4) corresponding to the fire source indicating the location of the detected fire, for example, the water discharge gun device 10(10-1), and transmits water discharge setting information including the horizontal turning angle and water discharge pressure (target value) corresponding to the fire source.

[0064] At this time, when the automatic mode is set, for example, the central control panel 18 starts the pump 22 to supply pressurized fire extinguishing water, horizontally turns the water discharge gun device 10(10-1) to the horizontal turning angle where the fire was detected, sets the nozzle to point at the fire source and starts water discharge. Then, it controls the pressure of the water discharge pressure control valve 13(13-1) so that the water discharge pressure (target value) is set according to the distance to the fire source, and discharges the fire extinguishing water towards the fire source.

[0065] At the same time, compressed air is supplied from the air compressor 26 to the water cannon device 10 (10-1), and the compressed air is sprayed around the fire-extinguishing water in the nozzle of the water cannon device 10 (10-1), causing the water cannon device 10 (10-1) to spray fire-extinguishing water over a long distance and a wide range with low water discharge pressure and a small amount of water discharge.

[0066] Fig. 2 shows an example of an indoor ball game stadium in which a water discharge type fire extinguishing system is installed, and Fig. 3 shows a cross section of the installation location of the water cannon device 10 (10-1) and the surveillance camera 12 (12-1) in Fig. 2. As shown in Fig. 2, the ground area in the center of the indoor ball game stadium in which the water discharge type fire extinguishing system is installed is the monitored area (area to be extinguished) 30, and four water cannons 10 (10-1) to 10 (10-4) are arranged at a predetermined height behind the surrounding spectator seats, surrounding the monitored area 30.

[0067] Additionally, surveillance cameras 12(12-1)-12(12-4) are installed at high positions behind the water cannons 10(10-1)-10(10-4) on the stand side. It is desirable to install the surveillance cameras 12(12-1)-12(12-4) at as high a position as possible on the spectator seating side so that they can overlook the monitored area 30 from diagonally above. Placing the surveillance cameras 12(12-1)-12(12-4) at such high positions makes it possible to minimize changes in the objects captured by the surveillance cameras 12(12-1)-12(12-4) depending on the distance from them.

[0068] As shown in FIG. 3, in the event of a fire breaking out in the monitoring area 30 where the monitoring surface 3010 is the ground portion, for example, a fire source F is detected from a monitoring image captured by the monitoring camera 12 (12-1) by image processing by the central control panel 18 as described above, the horizontal rotation angle and water discharge pressure (target value) are set in the water cannon device 10 (10-1), and a signal is sent to the water cannon control panel 14 (14-1), which then opens the water discharge pressure control valve 13 (13-1) and controls the water discharge pressure, and fire-extinguishing water is sprayed toward the fire source F to suppress the fire.

[0069] As shown in Fig. 4, the water jetting gun device 10 (10-1) has a horizontal swivel base 62 mounted on a pedestal 60, and the horizontal swivel base 62 is driven to swivel horizontally by the drive of a horizontal swivel motor 64. A water distribution pipe 25 from the pump 22 shown in Fig. 1 is raised and connected from below to the horizontal swivel base 62 via the pedestal 60.

[0070] At the upper part of the horizontal swivel section 62, a long-range nozzle 70 is fixed at a predetermined elevation angle α via a curved nozzle pipe. The elevation angle α of the long-range nozzle 70 is arbitrary, but for example, it is 20°.

[0071] Air hoses 76 from an air pipe 28 are connected to both sides of the base side of the long-range nozzle 70, and pressurized air is sent into the fire extinguishing water supplied to the long-range nozzle 70 to form an air flow that wraps around the fire extinguishing water discharged from the long-range nozzle 70, thereby maintaining the fire extinguishing water discharged from the long-range nozzle 70 in a rod shape to ensure the discharge distance and suppress the scattering of the fire extinguishing water.

[0072] A short-range nozzle 72 is mounted below the base of the long-range nozzle 70. A nozzle cover 74 is mounted on the short-range nozzle 72, and the nozzle cover 74 can be removed by the force of the water discharged from the short-range nozzle 72 to enable water discharge. The nozzle cover 74 is connected by a chain or the like and will not fall off even if it comes off during water discharge.

[0073] For the long-range nozzle 70, as a horizontal swivel control mechanism, a horizontal swivel motor 64 and an encoder 66 are provided, and the horizontal swivel section 62 is horizontally swiveled by the horizontal swivel motor 64 so as to reach the set horizontal scanning angle β, and the long-range nozzle 70 is directed at the fire source in the horizontal plane. A pressure sensor 68 detects the water discharge pressure and is used to control the pressure by opening and closing a water discharge pressure control valve 13 (13-1) for pressure control shown in Fig. 1 so as to maintain the set water discharge pressure (target value).

[0074] [b. Functional configuration of the water discharge type fire extinguishing system] The functional configuration of the water discharge type fire extinguishing system will be described. In this description, refer to Fig. 5 showing the functional configuration of the water discharge type fire extinguishing system. Note that Fig. 5 shows the functional configuration of the central control panel 18 for the water discharge gun device 10(10-1), imaging device 12(12-1), water discharge gun device 10(10-1) and local operation panel 16(16-1) shown in Fig. 1, and the functional configuration of the central control panel 18 for the water discharge gun devices 10(10-2) to 10(10-4), imaging devices 12(12-2) to 12(12-4), water discharge gun control panels 14(14-2) to 14(14-4) and local operation panels 16(16-2) to 16(16-4) shown in Fig. 1 is the same.

[0075] As shown in Fig. 5, the central control panel 18 is provided with an image processing unit 32, a central control unit 50 and a transmission unit 52. The central control panel 18 is composed of a computer circuit including a CPU, a memory and various input / output ports, and the functions of the image processing unit 32 are realized by the execution of a program by the CPU.

[0076] When a fire occurs in the assigned area of the monitoring area 30, the image processing unit 32 detects the coordinate position of the fire source indicating the fire occurrence location and the fire source distance to the fire source based on the image captured by the monitoring camera 12(12-1). As an example, it is composed of an image generation unit 34, a fire source distance detection unit 36 and a coordinate processing unit 38.

[0077] Corresponding to the water discharge drive unit 48 of the water discharge gun control panel 14(14-1), the water discharge gun device 10(10-1) is provided with a horizontal turning control unit 54 and a water discharge pressure control unit 56. Here, the horizontal turning control unit 54 includes the horizontal turning table 62, horizontal turning motor 64 and encoder 66 shown in Fig. 4, and the water discharge pressure control unit 56 includes the water discharge pressure control valve 13(13-1) shown in Fig. 1 and the pressure sensor 68 shown in Fig. 4.

[0078] Also, as shown in FIG. 5, the water discharge gun control panel 14 (14-1) is provided with a water discharge control unit 40 and a water discharge control information registration unit 42. The water discharge control unit 40 includes a water discharge pressure detection unit 44, a water discharge direction detection unit 46, and a water discharge drive unit 48. When a fire occurs in the assigned area of the monitoring area 30, the water discharge control unit 40 detects the water discharge direction of the water discharge gun device 10 (10-1) with respect to the fire source based on the coordinate position of the fire source, and detects a predetermined water discharge pressure (target value) at which the fire extinguishing water discharged from the water discharge gun device 10 (10-1) reaches the fire source. Then, the water discharge direction and the water discharge pressure are set for the water discharge gun device 10 (10-1) and water is discharged.

[0079] (b1. Image generation unit) Next, the image generation unit 34 provided in the image processing unit 32 of the central control panel 18 will be described. The image generation unit 34 generates a two-dimensional monitoring image of the monitoring area captured by the monitoring camera 10 (10-1) and a distance image with distance information from the monitoring camera 10 (10-1) to the object in the monitoring area added thereto.

[0080] The two-dimensional monitoring image generated by the image generation unit 34 is a monitoring image captured in a state where the imaging axis is fixed toward the center of its own assigned area where the monitoring camera 12 (12-1) is assigned in the monitoring area, and the entire area of the assigned area is included. It is a moving image displayed on the monitor provided on the central operation console 20 of the monitoring center shown in FIG. 1. Note that the moving image may be a series of still images at a predetermined interval.

[0081] Next, the generation of the distance image by the image generation unit 34 will be described. The distance image is an image with distance information from the monitoring camera 10 (10-1) to the object in the monitoring area added thereto. Although the method for generating such a distance image is arbitrary, for example, a PSF method is used in which the distance to the object is measured by analyzing the correspondence between the blurring color and size and the distance appearing in the aberration map based on the point spread function (PSF) of the camera lens.

[0082] Conventionally, the DfD (Depth from Defocus) method is known as a technique for estimating distance using the defocus information of an image captured by a single camera. In the DfD method, two or more images are required to distinguish between the front and back of the in-focus position. On the other hand, chromatic aberration always exists in a camera lens that combines multiple lenses. By using this chromatic aberration as a clue to distinguish between the front and back of the in-focus position, the distance can be measured from a single image.

[0083] To analyze the characteristics of aberration, the point spread function (PSF) is used. The point spread function is a function that represents how the light (point light source) generated from a single point of the subject spreads and forms an image after passing through the camera lens (the shape and color tint of the blur). The point spread function varies depending on the distance and in-plane position of the subject with respect to the camera lens. This correspondence between the point spread function and the distance and in-plane position is called the aberration map. Then, by analyzing the correspondence with the distance by characterizing the color tint and size of the blur that appears in the images of subjects with various colors and contours according to the aberration map, the distance to the subject can be measured, and a distance image with distance information assigned to each pixel can be generated. In the distance image with distance information assigned to each pixel, a color corresponding to the distance is assigned, and when it is displayed on the monitor screen, a color image with different colors according to the distance is displayed.

[0084] When generating a distance image by the PSF method, the surveillance camera 10 (10-1) uses a color video camera structured to change the blur of the captured image for each color with two-color color apertures of cyan and yellow. In this case, the two-dimensional surveillance image can directly use the color image in frame units captured by the color video camera structured to generate the distance image by the PSF method.

[0085] Also, as another method for generating a distance image, the ToF method (Time of Flight) can be used. The ToF method detects the reflected light of the pulsed light irradiated from the camera to the object and detects the distance from the flight time of the light. In this case, in order to distinguish from sunlight, illumination light, etc., the ToF image sensor applies a predetermined modulation to the emitted light that is invisible to the human eye.

[0086] Therefore, by using the surveillance camera 10(10 - 1) of the present embodiment as a video camera equipped with a ToF image sensor, a distance image can be generated in units of frames. In the distance image in this case, which is also a distance image with distance information assigned to each pixel, a color corresponding to the distance is assigned. When displayed on the monitor screen, a color image with different colors according to the distance is displayed. Also, the two-dimensional surveillance image can use the image before the distance information captured by the ToF image sensor is added as it is. Note that the generation of the distance image is not limited to the PSF method or the ToF method, and an appropriate method capable of shooting a moving image can be used.

[0087] (b2. Fire source distance detection unit) Next, the fire source distance detection unit 36 provided in the image processing unit 32 of the central monitoring panel 18 will be described. The fire source distance detection unit 36, for example, when a fire occurs in the assigned area of the surveillance camera 10(10 - 1) in the surveillance area, identifies the fire source indicating the fire occurrence location from the two-dimensional surveillance image specified by the image generation unit 34, and also detects the fire source distance from the surveillance camera 10(10 - 1) to the fire source from the distance image generated by the image generation unit 34.

[0088] The identification of the fire source by the fire source distance detection unit 36 will be described in more detail. The methods for identifying the fire source from the two-dimensional surveillance image include a manual method in which a surveillance operator identifies the fire source by looking at the monitor image and an automatic method in which the fire source is identified by image processing of the two-dimensional surveillance image.

[0089] In the manual method for identifying the fire source, when a two-dimensional surveillance image of the monitored area where a fire has occurred is displayed on the touch panel monitor screen of the central operation console 20, for example, when an operator uses a fingertip, a pen, etc. to specify the fire source on the screen, control is performed to transmit information indicating the specified fire source, for example, a coordinate position signal indicating the specified fire source position on the two-dimensional screen of the monitor, to the fire source distance detection unit 36. Therefore, the fire source distance detection unit 36 receives the coordinate position signal indicating the fire source position transmitted from the monitor side and identifies the fire source on the two-dimensional surveillance image.

[0090] In the automatic method for identifying the fire source, when a control instruction signal based on the occurrence of a fire in the monitored area is received from a disaster prevention receiving panel or the like, the fire source is identified by image processing of the two-dimensional surveillance image input from the surveillance camera 10(10-1) or the like at that time. Although the identification of the fire source by image processing of the two-dimensional surveillance image is optional, for example, a fire source image obtained by removing the background including illumination from the temporal difference image of the two-dimensional surveillance image is generated, the fire source area is detected by generating a contour corresponding to the luminance, and the center of the fire source area is identified as the fire source, etc.

[0091] (b3. Coordinate processing unit) Next, the coordinate processing unit 38 provided in the image processing unit 32 of the central monitoring panel 18 will be described. In this description, reference will be made to FIG. 6 showing the fire source coordinates in the two-dimensional surveillance image, FIG. 7 showing the imaging three-dimensional coordinate system for detecting the fire source coordinates from the fire source distance, and FIG. 8 showing the relationship between the imaging three-dimensional coordinate system of the surveillance camera and the water discharge three-dimensional coordinate system of the water discharge gun device.

[0092] Here, FIG. 6(A) shows the fire source coordinates in the two-dimensional surveillance image, and FIG. 6(B) shows the conversion characteristics between the fire source distance and the distance between one pixel. Also, FIG. 8(A) shows the relationship between the imaging three-dimensional coordinate system and the water discharge three-dimensional coordinate system, and FIG. 8(B) shows the case where the origin of the water discharge three-dimensional coordinate system coincides with the origin of the imaging three-dimensional coordinate system.

[0093] The coordinate processing unit 38 detects the fire source coordinates (Xa, Ya, Za) in the imaging three-dimensional coordinate system with the monitoring camera 12 (12-1) etc. as the origin based on the fire source distance, and converts the fire source coordinates (Xa, Ya, Za) into the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system with the water discharge gun device as the origin.

[0094] (b4. Detection of fire source coordinates in the imaging three-dimensional coordinate system) The detection of the fire source coordinates in the imaging three-dimensional coordinate system by the coordinate processing unit 38 will be described. As the first coordinate calculation function, the coordinate processing unit 38 detects the fire source coordinates (Xa, Ya) in the imaging three-dimensional coordinate system at the fire source distance (L) based on the fire source coordinates (x, y) specified on the two-dimensional monitoring image.

[0095] As shown in FIG. 6(A), the two-dimensional monitoring image 80 is a two-dimensional coordinate system with the imaging center (screen center) where the imaging axis is located as the origin O3, and the position of the fire source F indicating the fire occurrence location on the screen is specified as the fire source coordinates F(x, y).

[0096] Here, if the number of horizontal pixels from the origin O3 of the image center of the two-dimensional monitoring image 80 to the fire source coordinates F(x, y) is Nx, and the number of vertical pixels is Ny, then based on the characteristic 82 of a predetermined distance conversion magnification K indicating the actual distance at the fire source distance (L) corresponding to the distance between one pixel on the two-dimensional monitoring image 80 shown in FIG. 6(B), the fire source coordinates (Xa, Ya) in the imaging three-dimensional coordinate system are Xa = K·Nx Ya = K·Ny calculated as. Note that the characteristic 82 of the distance conversion magnification K in FIG. 6(B) is a linear characteristic, but it is not limited to this, and includes cases where it is an appropriate curve characteristic.

[0097] Next, the detection of the Za value of the fire source coordinates in the imaging three-dimensional coordinate system will be described. FIG. 7 shows the imaging three-dimensional coordinate system 90 with the surveillance camera 12(12-1) as the origin O1. Considering a dotted-line rectangular parallelepiped with the fire source F at the fire source distance (L) as the diagonal vertex, among the fire source coordinates F(Xa, Ya, Za), the coordinate values Xa and Ya have already been detected. Since the coordinate value Za can be obtained by finding the length of the line segment O1,Q, for the right triangle O1,F,Q, it is calculated by the following formula.

[0098]

Equation

[0099] In this way, the fire source coordinates F(Xa, Ya, Za) in the imaging three-dimensional coordinate system are detected.

[0100] (b5. Fire source coordinates in the water discharge three-dimensional coordinate system) Subsequently, the coordinate transformation for converting the fire source coordinates in the imaging three-dimensional coordinate system by the coordinate processing unit 38 into the fire source coordinates in the water discharge three-dimensional coordinate system will be described.

[0101] As the second coordinate calculation function, the coordinate processing unit 38 converts the fire source coordinates F(Xa, Ya, Za) detected in the imaging three-dimensional coordinate system 90 into the fire source coordinates F(Xb, Yb, Zb) in the water discharge three-dimensional coordinate system with the water discharge gun device 10(10-1) as the origin.

[0102] FIG. 8(A) shows the positional relationship between the imaging three-dimensional coordinate system 90 and the water discharge three-dimensional coordinate system 100 in the real space. Here, there are differences in the three-dimensional distances Lx, Ly, and Lz between the origin O1 of the imaging three-dimensional coordinate system 90 and the origin O2 of the water discharge three-dimensional coordinate system 100. These distances are constants uniquely determined based on the arrangements of the surveillance camera 12(12-1) and the water discharge gun device 10(10-1) with respect to the surveillance area, as shown in FIGS. 2 and 3.

[0103] In order to convert the fire source coordinates F(Xa, Ya, Za) in the imaging three-dimensional coordinate system 90 to the fire source coordinates F(Xb, Yb, Zb) in the water discharge three-dimensional coordinate system 100, as shown in Fig. 8(B), first, assume a virtual space where the origins O1 and O2 of the two are made to coincide, and convert the fire source coordinates F(Xa, Ya, Za) in the imaging three-dimensional coordinate system 90 to the fire source coordinates F(Xbv, Ybv, Zbv) in the water discharge three-dimensional coordinate system 100 in the virtual space.

[0104] For this reason, in the virtual space of Fig. 8(B), the rotation angles for making the coordinate axes X, Y, and Z of the imaging three-dimensional coordinate system 90 coincide with the coordinate axes X, Y, and Z of the water discharge three-dimensional coordinate system 100 are obtained as Euler angles. The Euler angles are the pitch angle φ around the X-axis, the azimuth angle θ around the Y-axis, and the roll angle ψ around the Z-axis, and are uniquely determined as constants from the arrangement relationship between the imaging three-dimensional coordinate system 90 and the water discharge three-dimensional coordinate system 100 in the real space.

[0105] When the imaging three-dimensional coordinate system 90 is taken as the airframe coordinate system and the water discharge three-dimensional coordinate system 100 is taken as the earth coordinate system, the fire source coordinates F(Xa, Ya, Za) of the imaging three-dimensional coordinate system 90 in the virtual space of Fig. 8(B) are converted to the fire source coordinates F(Xbv, Ybv, Zbv) of the water discharge dimensional coordinate system 100 by the following formula based on the Euler angles (φ, θ, ψ).

[0106]

Equation

[0107] Note that when the monitoring camera 12(12 - 1) is arranged directly above the water discharge gun device 10(10 - 1), since the X-axes of the imaging three-dimensional coordinate system 90 and the water discharge three-dimensional coordinate system 100 coincide, the roll angle ψ around the Z-axis is ψ = 0°, and the following formula is obtained.

[0108]

Equation

[0109] Subsequently, as a third coordinate calculation function, the coordinate processing unit 38 converts the fire source coordinates F(Xbv, Ybv, Zbv) of the water discharge three-dimensional coordinate system 100 in the virtual space of FIG. 8(B) into the fire source coordinates F(Xb, Yb, Zb) of the water discharge three-dimensional coordinate system 112 in the real space of FIG. 8(A).

[0110] Here, since there are differences in the three-dimensional distances Lx, Ly, and Lz between the origin O1 of the imaging three-dimensional coordinate system 90 and the origin O2 of the water discharge three-dimensional coordinate system 100 as described above, the fire source coordinates F(Xb, Yb, Zb) of the water discharge three-dimensional coordinate system 100 in the real space are Xb = Xbv - Lx Yb = Ybv - Ly Zb = Zbv - Lz (However, Lx, Ly, and Lz are positive or negative values according to the moving directions on each coordinate axis) and are calculated as such.

[0111] [c. Water discharge control unit] Subsequently, the water discharge control unit 40 provided in the water discharge gun control panel 14(14 - 1) of FIG. 5 will be described. When a fire occurs in the assigned area of the surveillance camera 10(10 - 1) within the surveillance area, for example, the water discharge control unit 40 detects the water discharge direction of the water discharge gun device 10(10 - 1) with respect to the fire source based on the fire source coordinates (Xb, Yb, Zb) of the water discharge three-dimensional coordinate system obtained by the coordinate processing unit 38, and detects a predetermined water discharge pressure for causing the fire extinguishing water discharged from the water discharge gun device 10(10 - 1) to reach the fire source, and sets the water discharge direction and the water discharge pressure (target value) in the water discharge gun device 10(10 - 1) to cause water discharge. As an example, it is composed of a water discharge control information registration unit 42, a water discharge pressure detection unit 44, a water discharge direction detection unit 46, and a water discharge drive unit 48.

[0112] (c1. Water discharge control information registration unit) First, the water discharge control information registration unit 42 will be described. In this description, refer to FIG. 9 showing the water discharge characteristics indicating the relationship between the water discharge distance of the water discharge gun device and the water discharge distance, and FIG. 10 showing the water discharge pressure detection table registered based on FIG. 9.

[0113] The water discharge control information registration unit 42 creates table information, for example, a water discharge pressure detection table, in which it registers (stores) in a memory the predetermined water discharge pressure at which the fire extinguishing water discharged from the water discharge gun device reaches each of the coordinate positions in the three-dimensional coordinate system of the water discharge in the monitored area.

[0114] More specifically, the water discharge control information registration unit 42 creates a water discharge pressure detection table in which it registers the predetermined water discharge pressure at which the fire extinguishing water discharged from the water discharge gun device 10(10-1) reaches each of the vertical two-dimensional coordinates (Y, Z) corresponding to each of the vertical two-dimensional coordinates (Y, Z) in the three-dimensional coordinate system (X, Y, Z) of the water discharge.

[0115] The creation of the water discharge pressure detection table by the water discharge control information registration unit 42 is described as follows. First, a water discharge characteristic diagram that specifies the relationship between the water discharge pressure and the water discharge distance of the water discharge gun device 10(10-1) shown in FIG. 9 is obtained. The water discharge characteristic diagram in FIG. 9 shows the water discharge trajectories W1 to W16 obtained from the design data and the water discharge experiment of the water discharge gun device in a two-dimensional coordinate system of a vertical plane with the Z-axis as the water discharge distance and the Y-axis as the height, and the water discharge pressures for obtaining the water discharge trajectories W1 to W16 are set as P1 to P16.

[0116] Here, the water discharge range up to a water discharge distance of 20 m is the water discharge range of the short-range nozzle 72 shown in FIG. 4, and the water discharge pressure P1 is the minimum water discharge pressure, which is, for example, 1.0 MPa. The water discharge range of more than 20 m is the original water discharge distance by the long-range nozzle 70 shown in FIG. 4, and the maximum water discharge distance exceeds 90 m. The water discharge pressure P2 is, for example, 2.0 MPa, and the maximum water discharge pressure P16 is, for example, 9.0 MPa, and it increases in units of 0.5 MPa in between.

[0117] For such water discharge trajectories W1 to W16, the vertical coordinate system Y-Z is divided into predetermined coordinate units, for example, coordinate units of 1 meter, and the boundaries of the water discharge area shown in a stepped manner along the water discharge trajectories W1 to W16 are set and divided into set pressure ranges P1 to P16.

[0118] Based on such a water discharge characteristic diagram of FIG. 9, the water discharge control information registration unit 42 creates a water discharge pressure detection table 110 shown in FIG. 10 and registers (stores) it in the memory. The water discharge pressure detection table 110 in FIG. 10 shows, as part of the table content, the registration status of water discharge pressures P1 to P16 for coordinates in the range of heights 0 to -5 m and -10 to -20 m as the Y coordinate and water discharge distances 10, 20,... 90 m and coordinates in units of 10 m as the Z coordinate.

[0119] (c2. Water discharge pressure detection unit) Subsequently, the water discharge pressure detection unit 44 provided in the water discharge control unit 40 will be described. The water discharge pressure detection unit 44 detects the water discharge pressure (target value) of the water discharge gun device 10 (10-1) for allowing the fire extinguishing water to reach the fire source based on the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system.

[0120] In the embodiment, since the elevation angle (vertical scanning angle) α of the water discharge gun device 10 (10-1) is fixed and only the horizontal turning angle β is changeable, the water discharge pressure detection unit 44 designates the vertical two-dimensional fire source coordinates (Yb, Zb) at the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system as the binary address of the table for the water discharge pressure detection table 110 generated by the water discharge control information registration unit 42, and detects it by reading the corresponding water discharge pressure (target value) P.

[0121] (c3. Water discharge direction detection unit) Subsequently, the water discharge direction detection unit 46 provided in the water discharge control unit 40 will be described. The water discharge direction detection unit 46 detects the water discharge direction of the water discharge gun device 10 (10-1) with respect to the fire source based on the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system detected by the image processing unit 32. In the embodiment, since the elevation angle (vertical scanning angle) α of the water discharge gun device 10 (10-1) is fixed and only the horizontal turning angle β is changeable, more specifically, it detects the horizontal turning angle β of the water discharge gun device 10 (10-1) that points to the horizontal two-dimensional fire source coordinates (Xb, Yb) at the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system detected by the image processing unit 32. Here, the horizontal turning angle β of the water discharge gun device 10 (10-1) is given by the following formula based on the horizontal two-dimensional fire source coordinates (Yb, Zb).

[0122]

Number

[0123] When it is desired to detect the height Y1 from the monitoring surface 3010 of the monitoring area 30 to the fire source F, if the fire source coordinates F are (Xa, Ya, Za) and the installation height of the monitoring camera 12(12 - 1) is Y0, then Y1 = Y0 - Ya can be detected as such.

[0124] (c4. Water discharge driving part) Subsequently, the water discharge driving part 48 provided in the water discharge control part 40 will be described. For this description, refer to Fig. 11 showing the water discharge state of the water discharge gun device. Note that Fig. 11(A) shows the water discharge state on the horizontal plane, and Fig. 11(B) shows the water discharge state on the vertical plane. Also, this description takes the fire extinguishing control by the water discharge gun device 10(10 - 1) as an example.

[0125] The water discharge driving part 48 is for setting the water discharge direction in the water discharge gun device 10(10 - 1) and discharging water. More specifically, as shown in Fig. 11(A), it sets the horizontal turning angle β detected by the water discharge direction detecting part 46 in the water discharge gun device 10(10 - 1). That is, the water discharge driving part 48 transmits a control signal of the horizontal turning angle β to the horizontal turning control part 54 of the water discharge gun device 10(10 - 1) shown in Fig. 5. The water discharge gun device 10(10 - 1) shown in Fig. 4 turns the horizontal turning table 62 by the horizontal turning motor 64 to drive the long - throw nozzle 70 to the horizontal turning angle β, and directs the water discharge axis 120 of the water discharge gun device 10(10 - 1) to the fire source coordinates F(Xb, Zb).

[0126] Further, the water discharge driving unit 48 sets a water discharge pressure (target value) in the water discharge gun device 10 (10-1) and discharges water. More specifically, as shown in FIG. 11(B), the water discharge pressure P detected by the water discharge pressure detection unit 44 is set in the water discharge gun device 10 (10-1). That is, the water discharge driving unit 48 sets the horizontal pressure P detected by the water discharge pressure detection unit 44 as the target pressure in the water discharge pressure control unit 56 of the water discharge gun device 10 (10-1) shown in FIG. 5, opens the water discharge pressure control valve 13 (13-1) shown in FIG. 1, and controls the water discharge pressure control valve 13 (13-1) so that the detected pressure detected by the pressure sensor 68 of the water discharge gun device 10 (10-1) in FIG. 4 becomes the target pressure P. As shown in FIG. 11(B), the fire extinguishing water discharged from the water discharge gun device 10 (10-1) is discharged so as to be sprayed from above onto the fire source coordinates F (Yb, Zb) at an arbitrary height.

[0127] [d. Fire extinguishing control of water discharge type fire extinguishing system] Subsequently, the fire extinguishing control of the water discharge type fire extinguishing system will be described. In this description, reference is made to FIG. 12, which is a flowchart showing the fire extinguishing control according to the functional configuration of the water discharge type fire extinguishing system in FIG. 5.

[0128] The image generation unit 34 provided in the image processing unit 32 of the central control panel 18 reads the monitoring image of its own assigned area assigned in the monitoring area imaged by the monitoring camera 10 (10-1) (step S1), and generates a two-dimensional monitoring image and a distance image (step S2).

[0129] Subsequently, when it is determined that a fire has occurred by image processing of the two-dimensional monitoring image or the like (step S3), the fire source distance detection unit 36 detects the fire source position (coordinates) on the two-dimensional monitoring image 80 as shown in FIG. 6(A) from the image processing of the two-dimensional monitoring image (step S4), and detects the fire source distance based on the distance information assigned to the fire source position on the monitoring screen (step S5).

[0130] Subsequently, the coordinate processing unit 38 detects the fire source coordinates F(Xa, Ya, Za) in the imaging three-dimensional coordinate system (step S6), and then converts them into the fire source coordinates F(Xb, Yb, Zb) in the water discharge three-dimensional coordinate system (step S7). Subsequently, the water discharge pressure detection unit 44 of the water discharge control unit 40 accesses the water discharge pressure detection table 110 shown in FIG. 10 generated by the water discharge control information registration unit 42 using the vertical two-dimensional fire source coordinates F(Yb, Zb) as a binary address, reads out and detects the corresponding water discharge pressure (target value) P (step S8).

[0131] Subsequently, the water discharge direction detection unit 46 detects the horizontal turning angle β for directing the water discharge gun device 10(10-1) to the horizontal two-dimensional fire source coordinates F(Xb, Zb) (step S9). Then, the water discharge drive unit 48 drives the horizontal turning of the water discharge gun device 10(10-1) to the horizontal turning angle β to direct the water discharge direction to the fire source coordinates (step S10), and also sets the water discharge pressure P for the fire extinguishing water to reach the fire source coordinates in the water discharge gun device 10(10-1), opens the water discharge pressure control valve 13(13-1) and controls the pressure to the set water discharge pressure P by the water discharge pressure control valve 13(13-1) (step S11), and discharges water toward the fire source (step S12).

[0132] During water discharge, it is determined whether a predetermined water discharge stop condition is satisfied (step S13). For example, when it is determined that the water discharge stop condition is satisfied, such as by the water discharge stop operation of the local operation panel 16(16-1) after the operator confirms the extinguishment of the fire, the water discharge pressure control valve 13(13-1) is closed and the water stops (step S14), and it returns to the reading of the first monitoring image (step S1).

[0133] [e. Second Embodiment of Water Discharge Type Fire Extinguishing System] Next, a second embodiment of the water discharge type fire extinguishing system will be described. In this description, reference is made to FIG. 13 schematically showing a second embodiment of the water discharge control system, FIG. 14 showing an imaging three-dimensional coordinate system for detecting the elevation angle from the fire source distance, FIG. 15 showing the imaging three-dimensional coordinate system of FIG. 14 in a two-dimensional coordinate system viewed from the vertical plane and the horizontal plane, FIG. 16 showing a water discharge pressure detection table used in the second embodiment, and FIG. 17 showing the water discharge state by the water discharge pressure set by the fire source height and the fire source horizontal distance. Note that FIG. 15(A) shows a two-dimensional coordinate system viewed from the horizontal plane, and FIG. 15(B) shows a two-dimensional coordinate system viewed from the horizontal plane. Also, the water discharge pressure detection table in FIG. 16 and the water discharge state in FIG. 17 are exemplified when the water discharge gun device is installed at a height of 10 m from the monitoring surface.

[0134] (e1. Outline of water discharge control) In the water discharge type fire extinguishing system of this embodiment, as shown in FIG. 13, a monitoring camera 12(12-1) is fixedly arranged directly above the water discharge gun device 10(10-1). In the water discharge control of this embodiment, based on the fire source distance L from the monitoring camera 12(12-1) to the fire source F and the elevation angle α1 from the monitoring camera 12(12-1) to the fire source F, the fire source height Y1 from the monitoring surface 3010 of the monitoring area 30 to the fire source F and the fire source horizontal distance Z1 from the water discharge gun device 10(10-1) to the fire source F are detected, and the corresponding water discharge pressure P is obtained by referring to the water discharge pressure detection table 110 shown in FIG. 16 according to the fire source height Y1 and the fire source horizontal distance Z1. By setting this water discharge pressure P to the water discharge gun device 10(10-1) and discharging water, a water discharge pattern shown in FIG. 17 for discharging fire extinguishing water to the fire source F with the fire source height Y1 and the fire source horizontal distance Z1 is generated.

[0135] The functional configuration for realizing the water discharge control of the second embodiment is the same as that of the first embodiment shown in FIG. 5. The coordinate processing unit 38 provided in the image processing unit 32 of the central control panel 18 has a configuration unique to the second embodiment, and the rest is basically the same as that of the first embodiment.

[0136] (e1. Detection of the elevation angle of the monitoring camera) As shown in Fig. 13, in order to detect the fire source height Y1 and the fire source horizontal distance Z1 of the fire source F in this embodiment, it is necessary to obtain the elevation angle α1 viewed from the imaging point a with respect to the fire source F reflected in the image of the monitoring area imaged by the monitoring camera 10(10-1).

[0137] Here, the monitoring camera 12(12-1) shown in Fig. 13 shows, as an example, the case where the fire source F is located on the fixed camera optical axis 1210. However, actually, as shown in Fig. 14, the fire source F may exist at an arbitrary position deviated from the camera optical axis 1210. The camera optical axis 1210 belongs to the same vertical plane as the horizontal axis 1220.

[0138] The monitoring camera 12(12-1) detects the fire source distance L from the origin O1 shown in Fig. 14 to the fire source F to the fire source F by the image generation unit 34 and the fire source distance detection unit 36 of Fig. 5 from the monitoring image, in the same manner as in the first embodiment described above. Also, as shown in Fig. 6, the length of the line segment QR is detected as (K·Nx) from the number of pixels on the screen, and the line segment QR is the same as the line segment SF.

[0139] Therefore, the angle α2 that becomes ∠(S, O1, F) is, as apparent from Fig. 14(A), α2 = sin -1 (k·Nx / L) and is as follows.

[0140] Here, if the elevation angle of the fixed camera optical axis 1210 is α0 for the elevation angle α1 with respect to the fire source F, α1 = α0 - α2 = α0 - sin -1 (k·Nx / L) and is as follows. Therefore, since the elevation angle α0 is a constant (fixed value), if the fire source distance L and the length (K·Nx) of the line segment SF are obtained, the elevation angle α1 from the monitoring camera 12(12-1) with respect to the fire source F can be uniquely obtained.

[0141] As another form of the method for detecting the elevation angle α1 of the monitoring camera 12(12-1) with respect to the fire source F, a horizontal turning part and a vertical turning part may be provided in the monitoring camera 12(12-1), and it may be controlled so that the fire source F is positioned at the center on the screen. In this case, the elevation angle α1 by the vertical turning part may be detected by an elevation angle detector such as a rotary encoder.

[0142] (e2. Detection of the fire source height Y1 and the fire source horizontal distance Z1) Next, the detection of the fire source height Y1 and the fire source horizontal distance Z1 in the second embodiment by the coordinate processing unit 38 in FIG. 5 will be described. As shown in FIG. 13, the height Y2 from the monitoring camera 12(12-1) to the fire source F is based on the fire source distance L and the elevation angle α1, Y2 = Lcos(α1) and is calculated as such.

[0143] Here, since the height Y0 from the ground of the monitoring area 30 to the monitoring camera 12(12-1) is a known fixed value, the height Y1 from the ground of the monitoring area 30 to the fire source F is, Y1 = Y0 - Y2 = Y0 - Lcos(α1) and is uniquely determined as such.

[0144] Also, the horizontal distance Z1 from the monitoring camera 12(12-1) to the fire source F is based on the fire source distance L and the elevation angle α1, Z1 = Lsin(α1) and is calculated as such.

[0145] When the fire source height Y1 and the fire source horizontal distance Z1 are detected in this way, the water discharge pressure P is obtained by referring to the water discharge pressure detection table 110 in FIG. 16 based on these. For example, if the fire source height Y1 = 5m and the fire source horizontal distance Z1 = 50m, the water discharge pressure P6 is obtained. Here, the water discharge pressure detection table 110 in FIG. 16 represents the Y coordinate of the water discharge pressure detection table 110 shown in FIG. 10 as the fire source height Y1 and the Z coordinate as the fire source horizontal distance Z1.

[0146] The discharge pressure P6 obtained in this way is set in the water discharge gun device 10(10-1) shown in FIG. 4. When the discharge pressure is controlled to maintain the set pressure P6, the discharge pattern of the discharge pressure P6 shown in FIG. 17 is obtained. This discharge pattern includes a fire source F existing at a fire source height Y1 = 5 m and a fire source horizontal distance Z1 = 50 m. By discharging water at the fire source F reliably, fire extinguishing and suppression can be achieved.

[0147] (e3. Detection of the fire source horizontal angle β1) Next, the detection of the fire source horizontal angle β1 for directing the water discharge gun device 10(10-1) toward the fire source in the second embodiment by the coordinate processing unit 38 in FIG. 5 will be described. As shown in FIG. 15(B), when viewing the imaging three-dimensional coordinate system 90 from the horizontal plane including the horizontal axis 1220, the fire source horizontal angle β1 of the point S (the point overlapping the fire source F when viewed from the horizontal plane) is the angle of the origin O1 in the triangle (Q, O1, S).

[0148] Here, since the line segment O1·S is the already detected fire source horizontal distance Z1, and the line segment QS is (K·Ny) obtained in FIG. 6, the fire source horizontal angle β1 is β1 = sin -1 (K·Ny / Z1) and is detected as such. The fire source horizontal angle β1 becomes the horizontal turning angle for directing the water discharge gun device 10(10-1) toward the fire source F.

[0149] In addition, when the monitoring camera 12(12-1) is provided with a horizontal turning unit and a vertical turning unit and is configured to control so that the fire source F is located at the center on the screen, the horizontal turning angle β1 by the horizontal turning unit when the optical axis of the monitoring camera 12(12-1) is directed toward the fire source F may be detected by an angle detector such as a rotary encoder and set as the horizontal turning angle of the water discharge gun device 10(10-1).

[0150] [e. Modification example of the present invention] A modification example of the water discharge type fire extinguishing system according to the present invention will be described. The water discharge type fire extinguishing system according to the present invention includes the following modifications in addition to the above-described embodiments.

[0151] (Manual operation of the water discharge gun device) In the above-described embodiment, the horizontal turning angle β of the water cannon device 10(10-1) is obtained from the fire source coordinates, and the water cannon device is automatically directed to the fire source for water discharge. However, since the two-dimensional image of the monitored area where the fire has occurred is displayed on the monitor of the central operation console 20, for example, a water cannon operation unit for manually operating the horizontal turning angle β of the water cannon device 10(10-1) is provided on the local operation panel 16(16-1), and by switching from the automatic water discharge mode to the manual water discharge mode, the monitor can operate the water cannon device 10(10-1) while looking at the monitor screen to discharge water to the fire source.

[0152] (Change in elevation angle) In the above-described embodiment, the horizontal turning angle of the water cannon device can be changed, and the elevation angle (vertical turning angle) is fixed. However, if necessary, the elevation angle (vertical turning angle) may be made changeable. As the structure for changing the elevation angle of this water cannon device, for example, the structure described in Japanese Patent Application Laid-Open No. 2017-221478 can be used. Further, when the elevation angle of the water cannon device is changed, since the water discharge characteristic diagram shown in FIG. 9 is different, a water discharge characteristic diagram corresponding to the changed elevation angle is obtained, and based on this, the water discharge pressure detection table shown in FIG. 10 is created, and when a fire is detected, the water discharge pressure (target value) for reaching the fire source with the fire extinguishing water is detected by accessing the binary address with the vertical two-dimensional coordinates (Yb, Zb).

[0153] (Others) Further, the present invention includes appropriate modifications that do not impair its object and advantages, and furthermore, is not limited by the numerical values shown in the above-described embodiment.

Explanation of reference numerals

[0154] 10(10-1)~10(10-2): Water cannon device 11(11-1)~11(11-4): Inspection gate valve 12(12-1)~12(12-4): Imaging device 13(13-1)~13(13-4): Water discharge pressure control valve 14(14-1)~14(14-4): Water cannon control panel 16(16-1)~16(16-4): Local operation panel 18: Central control panel 20: Central operation console 22: Pump 24: Pump control panel 25: Water distribution pipe 26: Air compressor 28: Air pipe 30: Monitoring area 3010: Monitoring surface 32: Image processing unit 34: Image generation unit 36: Fire source distance detection unit 38: Coordinate processing unit 40: Water discharge control unit 42: Water discharge control information registration unit 44: Water discharge pressure detection unit 46: Water discharge direction detection unit 48: Water discharge drive unit 50: Central control unit 52: Transmission unit 54: Horizontal rotation control unit 56: Water discharge pressure control unit 60: Stand 62: Horizontal rotation table 64: Horizontal rotation motor 66: Encoder 68: Pressure sensor 70: Long-throw riser 72: Short-throw nozzle 74: Nozzle cover 80: Two-dimensional monitoring image 90: Imaging three-dimensional coordinate system 100: Water discharge three-dimensional coordinate system 110: Water discharge pressure detection table 120: Water discharge axis

Claims

1. A water discharge type fire extinguishing system that discharges fire extinguishing water from a water cannon device to a predetermined monitoring area, when a fire breaks out in the monitoring area, an image processing unit that detects the coordinate position of a fire source indicating the fire occurrence location and the fire source distance to the fire source based on an image captured by an imaging device; when a fire breaks out in the monitoring area, based on the coordinate position of the fire source, a water discharge control unit that detects the water discharge direction of the water cannon device with respect to the fire source and a predetermined water discharge pressure at which the fire extinguishing water discharged from the water cannon device reaches the fire source, and sets and discharges the water discharge direction and the water discharge pressure to the water cannon device; A water discharge type fire extinguishing system characterized by comprising the above.

2. In the water discharge type fire extinguishing system according to Claim 1, the image processing unit includes: an image generation unit that generates a two-dimensional monitoring image of the monitoring area captured by the imaging device and a distance image provided with distance information from the imaging device to an object in the monitoring area; when a fire breaks out in the monitoring area, a fire source distance detection unit that identifies the fire source from the two-dimensional monitoring image and detects the fire source distance to the identified fire source from the distance image; a coordinate processing unit that detects the fire source coordinates (Xa, Ya, Za) in an imaging three-dimensional coordinate system with the imaging device as the origin (O1) based on the fire source distance, and converts the fire source coordinates (Xa, Ya, Za) in the imaging three-dimensional coordinate system into the fire source coordinates (Xb, Yb, Zb) in a water discharge three-dimensional coordinate system with the water cannon device as the origin (O2); and includes, the water discharge control unit includes: a water discharge control information registration unit that registers a predetermined water discharge pressure at which the fire extinguishing water discharged from the water cannon device reaches each of the coordinate positions corresponding to each of the coordinate positions in the water discharge three-dimensional coordinate system of the monitoring area; a water discharge pressure detection unit that detects the water discharge pressure corresponding to the fire source from the water discharge control information registration unit based on the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system; a water discharge direction detection unit that detects the water discharge direction of the water cannon device with respect to the fire source based on the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system; a water discharge drive unit that sets and discharges the water discharge direction and the water discharge pressure to the water cannon device; A water discharge type fire extinguishing system characterized by comprising the above.

3. In the water discharge type fire extinguishing system according to Claim 2, the water cannon device has an elevation angle (α) of the water cannon fixed at a predetermined angle, and the water discharge direction around the horizontal axis of the water cannon can be changed by setting a horizontal turning angle (β). The water discharge control information registration unit registers a predetermined water discharge pressure at which the fire extinguishing water discharged from the water discharge gun device reaches each of the arbitrary vertical two-dimensional coordinates (Ybi, Zbi) in the water discharge three-dimensional coordinate system. The water discharge pressure detection unit detects the water discharge pressure (P) corresponding to the vertical two-dimensional fire source coordinates (Yb, Zb) at the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system from the water discharge control information registration unit. The water discharge direction detection unit detects the horizontal turning angle (β) of the water discharge gun device directed to the horizontal two-dimensional fire source coordinates (Xb, Yb) at the fire source coordinates (Xb, Yb, Zb) in the water discharge three-dimensional coordinate system. The water discharge driving unit is characterized in that it sets the horizontal turning angle (β) and the water discharge pressure (P) in the water discharge gun device and discharges water, which is a water discharge type fire extinguishing system.

4. In the water discharge type fire extinguishing system according to claim 2, The imaging device is disposed directly above the water discharge gun device, and the imaging optical axis directed to the monitoring area is fixed. The water discharge gun device has a fixed elevation angle of the water discharge gun, and the water discharge direction around the horizontal axis of the water discharge gun can be changed by setting the horizontal turning angle. The water discharge control information registration unit registers a predetermined water discharge pressure at which the fire extinguishing water discharged from the water discharge gun device reaches the fire source corresponding to the horizontal fire source distance (Z1) from the imaging device to the fire source and the fire source height (Y1) from the monitoring area surface to the fire source. The water discharge pressure detection unit detects the fire source height (Y1) and the horizontal fire source distance (Z1) based on the fire source distance (L) from the imaging device to the fire source and the elevation angle (α1) from the imaging device to the fire source, and detects the water discharge pressure (P) corresponding to the fire source height (Y1) and the horizontal fire source distance (Z1) from the water discharge control information registration unit. The water discharge direction detection unit detects the horizontal turning angle (β1) of the water discharge gun device based on the horizontal fire source distance (Z1) and the interval (K・Ny) between the fire source and the perpendicular line in the horizontal plane to the imaging optical axis obtained from the two-dimensional monitoring image. The water discharge driving unit is characterized in that it sets the horizontal turning angle (β1) and the water discharge pressure (P) in the water discharge gun device and discharges water, which is a water discharge type fire extinguishing system.

5. In the water discharge type fire extinguishing system according to claim 2, The imaging device is characterized in that it is separately disposed above or directly above the vicinity of the water discharge gun device, which is a water discharge type fire extinguishing system.

6. In the water discharge type fire extinguishing system according to claim 2, The fire source distance detection unit is characterized in that it detects the fire source distance from the distance image by specifying an operation on a monitoring screen displaying the two-dimensional monitoring image or by identifying the fire source through image processing of the two-dimensional monitoring image in a water discharge type fire extinguishing system.

Images