Garbage pit fire extinguishing system

Abstract

To accurately pinpoint the ignition location. [Solution] The waste pit fire extinguishing system comprises: a distance measuring sensor that measures the distance to the surface of the waste accumulated in the storage pit using electromagnetic waves; an identification unit that stores the measurement results of the distance measuring sensor and identifies the three-dimensional coordinates of the surface based on the stored measurement results; a temperature distribution detection means that detects the temperature distribution of the waste by imaging the infrared rays emitted by the waste; and a setting unit that acquires the three-dimensional coordinates and the temperature distribution and sets the coordinates of the arrival position of the fire extinguishing agent based on the acquired three-dimensional coordinates and the temperature distribution.

Description

Technical Field

[0001] The present invention relates to a garbage pit fire extinguishing system.

Background Art

[0002] Patent Document 1 discloses a fire monitoring system that monitors for ignition in a pit where garbage is stored at a waste treatment plant. This fire monitoring system takes a picture of the pit from above with an infrared camera to obtain a thermal image showing the temperature distribution of the garbage. This fire monitoring system moves a crane three-dimensionally when moving the garbage to the incinerator and receives height information of the garbage from a crane control device. This height information can be detected, for example, from the length of a rope that suspends the crane when the bucket of the lowered crane touches the garbage. Then, the fire monitoring system corrects the thermal image obtained by the infrared camera based on the height information of the garbage received by the crane, thereby identifying the area where ignition has occurred in the pit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The height of the waste stored in the pit may change due to factors such as waste being dumped by garbage trucks, movement within the pit by cranes, movement to the incinerator by cranes, and the collapse of waste due to movement. Therefore, after detecting the height of waste at a certain position using the crane's height at a given time, the height of the waste at that position may change over time. In such cases, the invention of Patent Document 1 will result in a waste height that differs from the height detected by the crane, making the correction inaccurate and potentially preventing the accurate identification of the ignition location. Furthermore, the invention of Patent Document 1 obtains the waste height from height information received from the crane control device, and in the horizontal direction, it can only grasp the ignition area with a resolution of 3 to 5 m square or more, depending on the size of the bucket. Therefore, when attempting to supply fire extinguishing agent to the ignition location based on the identified ignition area, it is not possible to supply the fire extinguishing agent to the ignition location with high accuracy.

[0005] The present invention has been made in view of the above, and aims to accurately identify the ignition location. [Means for solving the problem]

[0006] The waste pit fire extinguishing system according to the present invention comprises: a distance measuring sensor that measures the distance to the surface of waste accumulated in a storage pit using electromagnetic waves; an identification unit that stores the measurement results of the distance measuring sensor and identifies the three-dimensional coordinates of the surface based on the stored measurement results; a temperature distribution detection means that detects the temperature distribution of the waste by imaging infrared rays emitted by the waste; and a setting unit that acquires the three-dimensional coordinates and the temperature distribution and sets the coordinates of the arrival position of the fire extinguishing agent based on the acquired three-dimensional coordinates and the temperature distribution.

[0007] A waste pit fire extinguishing system according to one aspect of the present invention includes a smoke detection unit that detects the location of smoke generated in the storage pit based on an image captured by an imaging unit that images the surface of the waste, and a setting unit that acquires the location of the smoke and sets the coordinates of the arrival position of the fire extinguishing agent based on the acquired three-dimensional coordinates, the temperature distribution and the location of the smoke.

[0008] A waste pit fire extinguishing system according to one aspect of the present invention has an operating unit operated by an operator, and the setting unit acquires the three-dimensional coordinates at predetermined intervals and changes the predetermined interval according to the operation performed by the operating unit.

[0009] A waste pit fire extinguishing system according to one aspect of the present invention comprises a fire extinguishing agent supply unit that supplies a fire extinguishing agent to the waste, and a supply control unit that controls the fire extinguishing agent supply unit so that the fire extinguishing agent is supplied to coordinates set by the setting unit.

[0010] In a waste pit fire extinguishing system according to one aspect of the present invention, if a predetermined time has elapsed since the fire extinguishing agent supply unit released the fire extinguishing agent and there is a position in the temperature distribution that is above a predetermined temperature, the setting unit may set a new coordinate for the arrival position of the fire extinguishing agent according to the difference between the set coordinate and the coordinate where the temperature has decreased since before the fire extinguishing agent was released. [Effects of the Invention]

[0011] According to the present invention, the ignition location can be accurately determined. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 shows the overall configuration of the waste pit fire extinguishing system according to the embodiment. [Figure 2] Figure 2 is a block diagram showing the configuration of the system control unit. [Figure 3] Figure 3 is a functional block diagram of the system control unit. [Figure 4] Figure 4 is a flowchart showing the processing flow executed by the system control unit. [Figure 5] Figure 5 shows an example of a high-temperature location in a storage pit. [Figure 6] Figure 6 shows an example of target coordinates for the water entry position in the storage pit. [Figure 7]Figure 7 shows an example of target coordinates for the water entry position in a storage pit. [Modes for carrying out the invention]

[0013] Embodiments of the present invention will be described in detail below with reference to the attached drawings. However, the present invention is not limited to the embodiments described below. Furthermore, in the drawings, the same or corresponding elements are appropriately denoted by the same reference numerals. It should also be noted that the drawings are schematic, and the dimensional relationships of each element may differ from those in reality. Even between drawings, there may be parts where the dimensional relationships and ratios differ.

[0014] [Embodiment] Figure 1 shows the configuration of a waste pit fire extinguishing system 1 according to an embodiment of the present invention. The waste pit fire extinguishing system 1 is a system that detects and extinguishes a fire that occurs in a storage pit P where waste is stored at a waste incineration facility where waste is incinerated.

[0015] The storage pit P is a waste pit for storing waste R deposited by a garbage truck (not shown). The storage pit P is of a predetermined depth and has a rectangular shape when viewed from above. The crane mechanism 8 is, for example, an overhead crane and includes a bucket 8a, a rope 8b, a crane girder (not shown), and a trolley. The crane girder is stretched near the ceiling of the storage pit P. The trolley is configured to be able to travel on the crane girder and to raise and lower the rope 8b. The rope 8b includes, for example, a support rope for supporting the bucket 8a and an opening / closing rope for opening and closing the bucket 8a. The bucket 8a has multiple claws, and can grasp and release waste R by opening and closing the claws with the opening / closing rope. Note that the bucket 8a may also be configured without an opening / closing rope, such as a hydraulic system.

[0016] The crane mechanism 8 is used for stirring the waste R and transporting the waste R to an incinerator (not shown). Stirring the waste R is an operation of grasping a part of the waste R existing in the storage pit P with the bucket 8a and moving it to another location in the storage pit P. When the waste R contains a plurality of different types of waste, the state in which the same type of waste is unevenly distributed can be made uniform by stirring.

[0017] The crane control device 50 is a device that controls the crane mechanism 8. The crane control device 50 controls the horizontal position, vertical position of the bucket 8a, the opening and closing of the claws of the bucket 8a, etc.

[0018] The distance measuring sensor 7, which is an example of the distance measuring unit, is a sensor that performs three-dimensional distance measurement using, for example, the technology of LiDAR (Light Detection And Ranging). The distance measuring sensor 7 is installed above the storage pit P so that the entire surface of the waste R can be measured. The number of distance measuring sensors 7 installed above the storage pit P is one or more. The distance measuring sensor 7 measures the distance to the surface of the waste R stored in the storage pit P in association with the two-dimensional XY coordinates in the horizontal direction of the storage pit P. The distance measuring sensor 7 is connected to the sensor control device 20 and outputs the measurement result to the sensor control device 20.

[0019] A sensor control device 20, which is an example of a specific part, is a device that controls a distance measuring sensor 7. The sensor control device 20 controls the distance measuring sensor 7 so that the distance measuring sensor 7 performs measurements at a predetermined cycle. The sensor control device 20 stores the measurement results sent from the distance measuring sensor 7. Further, the sensor control device 20 calculates the three-dimensional coordinates of the surface of the garbage R in the storage pit P based on the stored measurement results. As shown in FIG. 6, the origin Po of these three-dimensional coordinates is, for example, the position of one of the four vertices of the rectangular bottom surface of the storage pit P. The sensor control device 20 can calculate the three-dimensional coordinates of the surface of the garbage R by, for example, the technique disclosed in Japanese Patent No. 7459582 and map the three-dimensional coordinates of the surface of the garbage R. The sensor control device 20 transmits the three-dimensional coordinates of the surface of the garbage R to the system control device 10 in response to a request from the system control device 10. In the present embodiment, the resolution of the surface shape of the garbage R obtained by the distance measuring sensor 7 is 10 times the resolution of the conventional method of grasping the height of the garbage by the rope length of the crane mechanism 8.

[0020] When the distance measuring sensor 7 is a LiDAR, the electromagnetic waves used are typically near infrared rays, infrared rays, etc. Cameras and the like are difficult to image in dark places, but with LiDAR, it is possible to measure distances even in dark places. Also, the dimensions of objects that can be detected by LiDAR are those larger than the wavelength. Since the electromagnetic waves emitted from LiDAR have a high beam density, high coherence, and an extremely short wavelength, they are easily reflected even when irradiating small objects. Therefore, LiDAR can easily measure the time from when it emits electromagnetic waves toward the garbage R to when it receives the electromagnetic waves reflected by the garbage R. As a result, LiDAR can easily and accurately measure the distance to the surface and the surface layer of the garbage R stored in the storage pit P. Also, by measuring the distance with LiDAR or the like, the time responsiveness can be on the order of msec, so the measurement interval can be shortened, and the distance from LiDAR to the garbage R can be measured almost continuously.

[0021] Furthermore, when the bucket 8a is moving within the storage pit P, if there is only one ranging sensor such as a LiDAR, the electromagnetic waves from one of the LiDARs may be blocked by the bucket 8a and not irradiate the waste R at a predetermined location. In this case, by providing multiple ranging sensors 7, i.e., multiple LiDARs, it is possible to ensure that electromagnetic waves emitted from at least one of the LiDARs can irradiate the waste R without being blocked by the bucket 8a. Therefore, even when the bucket 8a is moving within the storage pit P, the distance to the waste R can be measured from at least one of the multiple LiDARs, making it possible to measure the height of the waste R within the storage pit P immediately and with a higher probability, even while the bucket 8a is moving, compared to when only one ranging sensor 7 is used.

[0022] An example of a temperature distribution detection means is an infrared camera 6, which detects and visualizes infrared radiation emitted by an object. The infrared camera 6 is installed above the storage pit P. The infrared camera 6 is installed so as to be able to image the entire surface of the waste R. The infrared camera 6 images the inside of the storage pit P and outputs an infrared image representing the temperature distribution inside the storage pit P to the system control device 10.

[0023] One example of an imaging unit is the surveillance camera 5, which images the inside of the storage pit P. The surveillance camera 5 is installed above the storage pit P so as to be able to image the entire surface of the waste R. The surveillance camera 5 images the surface of the waste R inside the storage pit P and outputs the image data of the surface of the waste R to the smoke detection control device 30. Multiple surveillance cameras 5 are installed to image the entire surface of the waste R. If there are multiple surveillance cameras 5, each camera may be installed in a location spaced apart from the others. Note that there may be only one surveillance camera 5.

[0024] A smoke detection control device 30, which is an example of a smoke detection unit, is a control device that detects smoke generated by a fire in the storage pit P and the location of the smoke generation based on image data transmitted from the surveillance camera 5. The smoke detection control device 30 detects the presence or absence of smoke generated by a fire in the storage pit P using, for example, the technology described and disclosed in Japanese Patent Publication No. 7120209. Furthermore, if the smoke detection control device 30 detects smoke, it detects the location of the smoke generation using stereo camera technology based on image data transmitted from multiple surveillance cameras 5. In response to a request from the system control device 10, the smoke detection control device 30 transmits information on the smoke detection result and information on the location of the smoke generation to the system control device 10.

[0025] The water cannon 3 is a device that supplies water, which is an example of a fire extinguishing agent, to the waste R in the storage pit P. The water cannon 3 is supplied with water via an electric valve 3a that controls the pressure of the water discharged. The water cannon 3 is connected to a water cannon control device 40, and the direction of the nozzle that discharges water is controlled by the water cannon control device 40. Note that the fire extinguishing agent is not limited to water and may also contain chemical agents.

[0026] Pump 4 is a pump that supplies water to be discharged onto the waste R. Pump 4 supplies water stored in a water tank (not shown) to the electric valve 3a. Pump 4 is connected to a water gun control device 40, and the supply of water to the electric valve 3a is controlled by the water gun control device 40.

[0027] The water cannon control device 40 is a device that controls the discharge of water onto the waste R by the water cannon 3. The water cannon control device 40 controls the pump 4 so that water is supplied to the water cannon 3. The water cannon control device 40 also controls the direction of the nozzle of the water cannon 3 based on information transmitted from the system control device 10. The water cannon 3 and the water cannon control device 40 are an example of a fire extinguishing agent supply unit according to the present invention.

[0028] Figure 2 is a block diagram showing the configuration of the system control device 10. The system control device 10 is a device equipped with the function of detecting high-temperature locations within the storage pit P and the function of controlling the water cannon 3 so that water is discharged to the high-temperature locations.

[0029] The system control unit 10 is configured with a processor 101, memory 102, storage 103, communication interface 104, operation unit 105, and display unit 106, all connected to a bus 107. The memory 102 is, for example, RAM (Random Access Memory) and is composed of volatile or non-volatile memory. The memory 102 serves as a workspace for the processor 101 when performing calculations and stores the results of the processor 101's calculations. The storage unit 103, an example of a storage unit, is composed of ROM (Read Only Memory) and an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The ROM of the storage unit 103 stores programs used by the processor 101 to perform calculations. The auxiliary storage device of the storage unit 103 stores data used by the processor 101 to perform calculations. The communication interface 104 is configured to include a communication module that performs information communication via wired or wireless connection. The communication interface 104 communicates with the sensor control device 20, smoke detection control device 30, water cannon control device 40, and crane control device 50 via a communication network (not shown). The communication interface 104 is connected to the infrared camera 6 and acquires infrared images output by the infrared camera 6. The operation unit 105 has input devices such as a keyboard or mouse for operating the system control device 10. The display unit 106 is, for example, a display device that displays a screen for operating the system control device 10.

[0030] The processor 101 is, for example, a CPU (Central Processing Unit), which reads a program from the storage 103 and executes it using the memory 102 as a workspace. The execution of the program by the processor 101 enables the functions of the system control unit 10.

[0031] Figure 3 is a functional block diagram showing the functions realized by the system control device 10 when the processor 101 executes a program. The acquisition unit 101a acquires the 3D coordinates of the surface of the waste R transmitted by the sensor control device 20, the infrared image output by the infrared camera 6, and the information transmitted by the smoke detection control device 30. The setting unit 101b sets the coordinates of the arrival position of the fire extinguishing agent discharged by the water cannon 3 based on the 3D coordinates acquired by the acquisition unit 101a and the coordinates of the high-temperature position in the infrared image. The supply control unit 101c controls the water cannon control device 40 so that the fire extinguishing agent is supplied to the coordinates set by the setting unit 101b.

[0032] Next, the processing flow executed by the system control device 10 will be explained. Figure 4 is a flowchart showing the processing flow executed by the system control device 10. The measurement results measured by the distance measuring sensor 7 are sent to the sensor control device 20. Based on the measurement results sent from the distance measuring sensor 7, the sensor control device 20 calculates and stores the three-dimensional coordinates of the surface of the waste R. The system control device 10 obtains the three-dimensional coordinates of the surface of the waste R stored in the sensor control device 20 from the sensor control device 20 (step S101).

[0033] Next, the system control device 10 acquires information on the smoke detection result and the smoke generation location from the smoke detection control device 30 (step S102). Here, if the smoke detection control device 30 does not detect the generation of smoke, the system control device 10 acquires information indicating that no smoke is being generated. Also, if the smoke detection control device 30 detects the generation of smoke, the system control device 10 acquires information indicating that smoke is being generated and the smoke generation location. Next, the system control device 10 acquires an infrared image representing the temperature distribution inside the storage pit P from the infrared camera 6 (step S103). Note that the acquisition of the 3D coordinates of the surface of the waste R, the acquisition of information on the smoke detection result and the smoke generation location, and the acquisition of the infrared image are not limited to the order of steps S101 to S103 described above, and may be performed in any other order. Furthermore, the acquisition of the 3D coordinates of the surface of the waste R, the acquisition of information on the smoke detection result and the smoke generation location, and the acquisition of the infrared image may be performed in parallel.

[0034] Next, the system control device 10 performs in parallel the following: determining whether smoke is being generated in the storage pit P (step S104) and determining whether there are any high-temperature locations in the storage pit P that are above a predetermined temperature (step S105). Here, if the system control device 10 has obtained information from the smoke detection control device 30 in step S102 indicating that no smoke is being generated, it determines that no smoke is being generated. If the system control device 10 has obtained information from the smoke detection control device 30 in step S102 indicating that smoke is being generated, it determines that smoke is being generated.

[0035] Furthermore, the system control device 10 determines that there are no high-temperature locations if there are no locations with a temperature above a predetermined temperature in the infrared image, and determines that there are high-temperature locations if there are locations with a temperature above a predetermined temperature in the infrared image. The predetermined temperature is, for example, 120°C, but is not limited to this temperature and may be other temperatures.

[0036] Next, the system control device 10 determines whether smoke is being generated and / or a high-temperature area is present in the storage pit P (step S106). For example, the operator has pre-set by operating the control unit 105 whether the determination condition for step S106 is "smoke is being generated and a high-temperature area is present" or "smoke is being generated or a high-temperature area is present," and the system control device 10 makes the determination based on the setting made by the operator using the control unit 105.

[0037] The system control device 10 has set "smoke is generated AND there is a high-temperature location" as the judgment condition for step S106. For example, if it is determined in step S104 that no smoke is generated, if it is determined in step S105 that there is no high-temperature location, or if it is determined in step S104 that no smoke is generated AND in step S105 that there is no high-temperature location (step S106: NO), it counts a predetermined time (step S109) and moves the process to step S101. The time counted in step S109 is, for example, 5 to 10 seconds, but is not limited to this time. Furthermore, the time counted in step S109 may be changed by the operator of the system control device 10 operating the operation unit 105.

[0038] The system control device 10 has set "smoke is generated and there is a high-temperature location" as the judgment condition for step S106. If it is determined in step S104 that smoke is being generated and in step S105 that there is a high-temperature location (step S106: YES), the system control device 10 sets the coordinates of the landing position of the water discharged by the water cannon 3 (step S107).

[0039] If the system control unit 10 has determined that smoke is being generated or that there is a high-temperature area in step S106, and has determined that smoke is being generated in step S104 or that there is a high-temperature area in step S105 (step S106: YES), then it moves the process to step 107. If the system control unit 10 has determined that smoke is not being generated in step S104 and that there is no high-temperature area in step S105 (step S106: NO), then it moves the process to step S109.

[0040] When setting the coordinates of the water landing position, the system control device 10 identifies the XY coordinates of position IP, for example, in an infrared image of the storage pit P viewed from above, if the temperature of position IP shown in Figure 5 is above a predetermined temperature. Next, the system control device 10 identifies the Z coordinate of the surface of the waste R, which lies on the vertical line of these XY coordinates, based on the three-dimensional coordinates of the surface of the waste R obtained from the sensor control device 20, as shown in Figure 6. The system control device 10 sets the coordinates of position SP, identified by these XY and Z coordinates, as the coordinates of the water landing position, which is the arrival position of the fire extinguishing agent. The system control device 10 also identifies the Z coordinate of the smoke generation position, obtained in step S102, based on the three-dimensional coordinates of the surface of the waste R obtained from the sensor control device 20. The system control device 10 sets the XY coordinates of the smoke generation position and the position identified by these Z coordinates as the coordinates of the water landing position, which is the arrival position of the fire extinguishing agent discharged by the water cannon 3.

[0041] Next, the system control device 10 instructs the water cannon control device 40 to discharge water (step S108). Here, the system control device 10 transmits water discharge instruction information and the target coordinates of the water landing position set in step S107 to the water cannon control device 40. Upon receiving the water discharge instruction information, the water cannon control device 40 controls the pump 4 so that water for discharge onto the waste R is supplied to the electric valve 3a. Also, upon receiving the target coordinates of the water landing position, the water cannon control device 40 controls the direction of the nozzle of the water cannon 3 so that the water discharged from the water cannon 3 reaches the received target coordinates.

[0042] According to this embodiment, the XY coordinates of the high-temperature location in the storage pit P can be identified. Furthermore, since water is discharged from the water cannon 3 to the surface of the waste R which lies on the vertical line of the XY coordinates identified as the high-temperature location, the water flows to the high-temperature location which lies on the vertical line of this surface location. If ignition has not occurred, ignition can be prevented, and if ignition has occurred, the fire can be extinguished quickly. In addition, according to this embodiment, since water is discharged from the water cannon 3 to the XYZ coordinates identified as the location where smoke is generated, if ignition has not occurred at the location where smoke is generated, ignition can be prevented, and if ignition has occurred, the fire can be extinguished quickly.

[0043] [Differentiation] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above and can be implemented in various other forms. For example, the present invention may be implemented by modifying the embodiments described above as follows. The embodiments described above and the following modifications may be combined with each other. The present invention is also included in configurations that appropriately combine the components of each embodiment and each modification described above. Furthermore, further effects and modifications can be easily derived by those skilled in the art. Therefore, broader embodiments of the present invention are not limited to the embodiments and modifications described above, and various modifications are possible.

[0044] The system control unit 10 may also include the functions of a sensor control unit 20, a smoke detection control unit 30, and a water cannon control unit 40. In this configuration, the system control unit 10 acquires measurement results from the distance measuring sensor 7 and acquires image data transmitted from the surveillance camera 5. In this configuration, the system control unit 10 also controls the water cannon 3 and the pump 4.

[0045] In the embodiment described above, the system control device 10 uses both the coordinates of the smoke generation location and the coordinates of the high-temperature location as target coordinates for the landing position of the water discharged by the water cannon 3. However, only one of these coordinates may be used as the target coordinates.

[0046] In the embodiment described above, the system control device 10 sets the coordinates of the landing position if there is a position with a predetermined temperature (120°C) or higher in the infrared image. However, the coordinates of the landing position may be set by a condition other than the condition of a predetermined temperature or higher. For example, the system control device 10 acquires infrared images from the infrared camera 6 at a predetermined period and stores the acquired infrared images. The system control device 10 may compare infrared images moving forward and backward on the time axis and, for example, set a position that has risen above the predetermined temperature as a high-temperature position and set this high-temperature position as the coordinates of the landing position. Here, the predetermined temperature is, for example, 30°C, but it is not limited to 30°C and may be other temperatures.

[0047] In the embodiment described above, the system control device 10 may display the location of high temperature or the location of smoke generation within the storage pit P on the display unit 106.

[0048] In the embodiment described above, the water cannon control device 40 may be configured to include an operating unit for controlling the direction of the water cannon nozzle, allowing the operator to manually move the water cannon 3 in response to operations performed on the operating unit.

[0049] In the embodiment described above, the system control device 10 may divide the storage pit P into multiple regions AR1 to AR8 horizontally, as shown in Figure 7, and determine the Z coordinates of each region AR1 to AR8 based on the three-dimensional coordinates of the surface of the waste R obtained from the sensor control device 20. When the storage pit P is divided into multiple regions horizontally in this way, the water cannon control device 40 may control the water cannon 3 so that water is discharged into the region containing the coordinates set in step S106. Note that when dividing the storage pit P into multiple regions horizontally, it is not limited to the 2x4 division shown in the figure, but may be divided into more regions.

[0050] In the embodiment described above, the system control device 10 may acquire infrared images even after water discharge from the water cannon 3 has started, and if there is a location with a temperature above a predetermined temperature even after a predetermined time has elapsed since water discharge, it may change the coordinates of the landing position of the water discharged by the water cannon 3. In this modified case, the system control device 10 may identify the coordinates of the location where the temperature has decreased due to water discharge, detect the difference from the initially set landing position coordinates, set the coordinates of the location shifted by the detected difference as the new landing position coordinates, and transmit the newly set coordinates to the water cannon control device 40 to change the landing position.

[0051] In the embodiment described above, if the system control device 10 determines that there is a high-temperature position, it may control the crane control device 50 so that the bucket 8a is located outside the space above the storage pit P.

[0052] The above-described embodiment includes a smoke detection control device 30 and an infrared camera 6, but a configuration including a smoke detection control device 30 but no infrared camera 6, or a configuration including an infrared camera 6 but no smoke detection control device 30, is also possible. If the garbage pit fire extinguishing system 1 is configured not to include an infrared camera 6, the system control device 10 does not perform the process in step S105. In this configuration, if the system control device 10 determines in step S104 that smoke is being generated, it moves the process to step S107, and if it determines in step S104 that no smoke is being generated, it moves the process to step S109. If the garbage pit fire extinguishing system 1 is configured not to include a smoke detection control device 30, the system control device 10 does not perform the process in step S104. In this configuration, if the system control device 10 determines in step S105 that there is a high-temperature location, it moves the process to step S107, and if it determines in step S105 that there is no high-temperature location, it moves the process to step S109. [Explanation of symbols]

[0053] 1. Garbage pit fire extinguishing system 3. Water cannon 5 Surveillance cameras 6. Infrared camera 7 Distance measuring sensor 8. Crane mechanism 10 System Control Unit 20 Sensor control device 30 Smoke detection control device 40 Water cannon control device 50 Crane control device 101a Acquisition Department 101b Setting section 101c Supply Control Unit P Storage Pit

Claims

1. A distance measuring sensor that uses electromagnetic waves to measure the distance to the surface of the waste accumulated in the storage pit, A unit that stores the measurement results of the distance measuring sensor and identifies the three-dimensional coordinates of the surface based on the stored measurement results, A temperature distribution detection means for detecting the temperature distribution of the waste by imaging the infrared radiation emitted by the waste, A setting unit that acquires the three-dimensional coordinates and the temperature distribution, and sets the coordinates of the arrival position of the fire extinguishing agent based on the acquired three-dimensional coordinates and the temperature distribution, A waste pit fire extinguishing system equipped with this system.

2. The system includes a smoke detection unit that detects the location of smoke generated in the storage pit based on an image captured by an imaging unit that images the surface of the waste, The setting unit acquires the position of the smoke and sets the coordinates of the arrival position of the fire extinguishing agent based on the acquired three-dimensional coordinates, the temperature distribution, and the position of the smoke. The waste pit fire extinguishing system according to claim 1.

3. It has an operating section that is operated by an operator, The setting unit acquires the three-dimensional coordinates at predetermined time intervals, The predetermined time is changed according to the operation performed by the aforementioned control unit. The waste pit fire extinguishing system according to claim 1.

4. A fire extinguishing agent supply unit that supplies fire extinguishing agent to the aforementioned waste, A supply control unit controls the fire extinguishing agent supply unit so that the fire extinguishing agent is supplied to the coordinates set by the setting unit, A waste pit fire extinguishing system according to claim 1 or claim 2, comprising:

5. The setting unit, after a predetermined time has elapsed since the fire extinguishing agent supply unit released the fire extinguishing agent, sets a new coordinate for the arrival position of the fire extinguishing agent according to the difference between the set coordinate and the coordinate where the temperature has decreased since before the fire extinguishing agent was released, if there is a location in the temperature distribution that is above a predetermined temperature. The waste pit fire extinguishing system according to claim 4.

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