JP7750809B2 - Fire Monitoring System - Google Patents

Description

The present invention relates to a fire monitoring system.

Patent Document 1 describes a fire detection and extinguishing system that combines a scanning fire detection device and a water nozzle device to monitor and extinguish fires in large facilities such as arenas and halls. In this type of fire detection and extinguishing system, the scanning fire detection device is installed in a position that overlooks the restricted area from above. The device performs two-dimensional scanning of the restricted area using optical horizontal and vertical scanning, and determines a fire source when the light reception signal from the infrared sensor exceeds a threshold level. The control device determines the coordinate position of the fire source based on the horizontal and vertical scanning angles of the fire detection device when the fire source is detected, and controls the water discharge direction and water discharge distance of the water discharge nozzle device. For example, the water discharge nozzle device is equipped with a water discharge nozzle with a fixed elevation and depression angle that can be freely rotated horizontally. The water discharge direction toward the fire source is set by controlling the rotation of the water discharge nozzle, and the water discharge distance is set by the water discharge pressure supplied to the water discharge nozzle.

This fire detection and extinguishing system has an automatic water discharge mode and a manual water discharge mode. In the automatic water discharge mode, after the water cannon is ready to discharge, the system automatically starts discharging water when predetermined automatic water discharge conditions are met, without the observer having to operate the manual water discharge operation switch. On the other hand, in the manual water discharge mode, after the water cannon is ready to discharge, the observer manually starts discharging water by operating the manual water discharge operation switch.

Japanese Patent Application Publication No. 10-258136

The scanning fire detection device that makes up this fire detection and extinguishing system can be realized with one infrared camera and two motorized pan heads. Specifically, the device can be realized with one infrared camera, a first motorized pan head that rotates the infrared camera horizontally, and a second motorized pan head that rotates the infrared camera vertically.

When configuring such a device, consider the case where the infrared camera is not positioned on the rotation axis of the first motorized pan head. In other words, consider the case where the infrared camera is positioned at a position offset from the rotation axis of the first motorized pan head. In this case, the position of the infrared camera changes depending on the rotation angle of the first motorized pan head. If the rotation axis of the first motorized pan head is defined as the installation position of the device, the deviation between this set position and the position of the infrared camera will change depending on the rotation angle of the first motorized pan head.

The location of the fire detection device is used to calculate the fire source location, so if the location of the fire detection device is not aligned with the infrared camera, an error in the fire source location will occur.
The present invention has been made in consideration of the above circumstances, and aims to reduce calculation errors in the location of the fire source that occur when the infrared camera of the fire detection means is not placed on the rotation axis of the pan head.

To solve the above problems, the fire monitoring system of the present invention comprises a fire detection means including an infrared camera and a pan head that rotates the infrared camera in a substantially horizontal plane, a correction means that calculates a correction value by correcting a value indicating the installation position of the fire detection means using the distance in a planar view from the rotation axis of the pan head to the infrared camera, and a fire source position calculation means that calculates the fire source position based on the calculated correction value and the rotation angle of the infrared camera when capturing an image of the fire source.

This invention reduces calculation errors in the fire source location that occur when the infrared camera of the fire detection means is not positioned on the rotation axis of the camera platform.

FIG. 1 shows an example of the coverage area of the water cannon system. FIG. 2 shows an example of a water cannon system. FIG. 3 shows an example of the arrangement of the water cannon 201 and the protection range. FIG. 4 shows an example of the appearance of the fire detection device 203. FIG. 5 shows an example of the arrangement and surveillance area of the fire detection device 203. FIG. 6 shows an example of the arrangement and surveillance area of the fire detection device 203. FIG. 7 shows an example of the functional configuration of the water cannon/fire detection control panel 205. FIG. 8 shows an example of the functional configuration of the water cannon central operation panel 207. FIG. 9 shows an example of an operation sequence 900 in the automatic mode. FIG. 10 shows an example of an operation sequence 1000 in manual mode. FIG. 11 shows an example of an operational flow 1100 of normal exploration. FIG. 12 shows an example of an operational flow 1200 for fixed point exploration. FIG. 13 shows an example of an operation flow 1300 of the A search. FIG. 14 shows an example of an operational flow 1400 of B exploration. FIG. 15 shows an example of a fire source location calculation flow 1500. FIG. 16 shows an example of a plan view of the fire detection device 203.

1. Embodiment 1-1. Configuration This embodiment is a sprinkler system (hereinafter referred to as a "water cannon system") that uses a water-discharge head or the like. This water cannon system is a sprinkler system that combines a fire monitoring system for effectively detecting a fire that has broken out in a fire-protected object having a large space or a high ceiling, with a fire extinguishing system for effectively extinguishing the fire.

This water cannon system consists of a water cannon, remote control valve, fire pump, fire detection device, fire detection control panel, water cannon/fire detection control panel, water cannon central control panel, water cannon local control panel, and water cannon information processing panel.

When the fire detection system detects a fire, it moves on to pinpointing the exact location of the fire source. Once the location is confirmed, it selects and aims the water cannon to spray water. In automatic mode, a timer runs, and when the countdown ends, the appropriate remote-controlled valve is automatically opened and the fire pump is started, causing the water cannon to begin spraying water.

If fine adjustments to the water cannon's position are necessary, the image captured by the fire detection device's visible camera can be viewed and operated from the water cannon's central control panel, allowing the direction of the water cannon to be adjusted. It is also possible to directly confirm the source of the fire on site and make adjustments by operating the water cannon's local control panel.

The fire prevention target for this water cannon system is a structure with a retractable roof that, when closed, creates a large space inside. It is primarily used for baseball games and can accommodate a large number of people.

Figure 1 shows an example of the surveillance area of this water cannon system. This water cannon system monitors the field area 101 (area surrounded by a thick solid line) and the spectator seats 102 (area surrounded by a dashed line).

Next, FIG. 2 shows an example of a water cannon system.
In the protected area, a water cannon 201 and a remote control valve 202 for controlling the water discharge from the water cannon 201 are arranged. The remote control valve 202 is installed in a water supply pipe connecting the water cannon 201 and a fire pump 211.

Also located within the protected area are a fire detection device 203, a water cannon/fire detection control panel 205 for controlling the fire detection device 203, and a fire detection control panel 206. The fire detection device 203 is connected by a signal line to the water cannon/fire detection control panel 205 or the fire detection control panel 206 via the fire detection device relay panel 204. The water cannon/fire detection control panel 205 is connected by a signal line to the remotely operated valve 202.

Also located within the protected area is a water cannon on-site operation panel 208 for operating the water cannon 201. This water cannon on-site operation panel 208 is connected by signal lines to both the water cannon 201 and the water cannon/fire detection control panel 205.

The pump room contains a fire pump 211 and a pump control panel 212 for controlling the fire pump 211.

The disaster prevention center is equipped with a water cannon information processing panel 209, a water cannon central operation panel 207, and a receiver 210. The water cannon information processing panel 209 is connected by signal lines to the water cannon central operation panel 207 and the receiver 210. The water cannon information processing panel 209 is also connected by signal lines to the fire detection device relay panel 204, the water cannon/fire detection control panel 205, the fire detection control panel 206, and the pump control panel 212.
The main components are explained below.

The water cannon 201 is a small, movable head for spraying water over a wide area. This water cannon 201 automatically turns toward the fire source based on information from the fire detection device 203, etc., and changes the water discharge angle and shape to three levels (far, medium, near) depending on the distance to the fire source, thereby effectively spraying water against the fire.

FIG. 3 shows an example of the arrangement of the water cannon 201 and the protection range.
Water cannons 201 are installed in three locations: in the first base seating area, the third base seating area, and near the center field back screen. Each water cannon has three water discharge patterns: far 301, middle 302, and near 303, depending on the distance to the fire source.

Next, the remote control valve 202 is a valve for controlling the start and stop of water discharge from the water cannon 201. When a fire occurs and the water cannon 201 to discharge water is selected, the corresponding remote control valve 202 is opened by automatic control or manual operation, and the water cannon 201 begins discharging water.

The fire detection device 203 is a fire detection means that detects a monitoring area set in a fire prevention object and acquires images. The acquired images are transmitted via the fire detection device relay panel 204 to the water cannon/fire detection control panel 205, the fire detection control panel 206, and the water cannon information processing panel 209.

4 shows an example of the appearance of the fire detection device 203. Fig. 4(a) shows the left side, Fig. 4(b) shows the front, Fig. 4(c) shows the right side, and Fig. 4(d) shows a plan view.
The fire detection device 203 consists of an electric pan head 401 for horizontal rotation, an electric pan head 402 for vertical rotation placed on the electric pan head 401, and an infrared camera 403 and a visible camera 404 attached to the rotation axis of the electric pan head 402 in a line in an approximately horizontal direction.

The electric pan head 401 rotates the infrared camera 403 and the visible camera 404 around the Z axis in a substantially horizontal plane.
The electric pan head 402 rotates the infrared camera 403 and the visible camera 404 in a substantially vertical plane around the X axis.
The infrared camera 403 and the visible camera 404 can be rotated and tilted up and down by electric pan heads 401 and 402, and can stop sequentially at 12 different monitoring positions to acquire images.

Neither the infrared camera 403 nor the visible light camera 404 is located on the rotation axis (Z axis) of the motorized pan head 401 in a planar view. The infrared camera 403 is located a distance d1 away from the rotation axis (Z axis) in a planar view, and the visible light camera 404 is located a distance d2 away from the rotation axis (Z axis) in a planar view (see Figure 4(d)).

5 and 6 show an example of the arrangement and surveillance area of the fire detection device 203. Fig. 5 particularly shows the surveillance area in the first detection mode, and Fig. 6 particularly shows the surveillance area in the second detection mode.
Basically, one fire detection device 203 is installed for each water cannon 201, and specifically, they are installed in three locations: in the first base seating area, the third base seating area, and near the center back screen. However, because it is not possible to monitor the entire surveillance area with just these devices, an additional fire detection device 203 is installed near the ceiling roof above the center back screen (hereinafter referred to as the "large window").

At this time, the center field fire detection device 203 is normally in a dormant state, as its surveillance area is encompassed by the fire detection devices 203 at the large window, the third base side, and the first base side. Furthermore, since the combination of the large window fire detection device 203 and the first base or third base side fire detection device 203 can monitor most of the surveillance area, the remaining device monitors the remaining area through fixed-point surveillance. To achieve this control, two types of surveillance modes (see Table 1) are defined, and a timer is used to switch between them at regular intervals.

Here, normal detection is a detection method in which the fire detection device 203 stops at regular intervals, captures thermal images, and detects the entire monitoring area. The fire detection device 203 notifies the approximate location of the fire source when it finds it, even if it has not scanned the entire area.
On the other hand, fixed point detection is a detection method in which the fire detection device 203 captures thermal images at a fixed angle and performs detection. The fire detection device 203 notifies the approximate location of the fire source when it finds the fire source.

5 shows the monitoring range in the first detection mode. In the figure, a solid line 501 indicates the surveillance range of the fire detection device 203 on the first base side, a dashed line 502 indicates the surveillance range of the fire detection device 203 on the third base side, and a dashed line 503 indicates the surveillance range of the fire detection device 203 at the large window.
6 shows the monitoring range of the second detection mode. In the figure, a solid line 601 indicates the surveillance range of the fire detection device 203 on the first base side, a dashed line 602 indicates the surveillance range of the fire detection device 203 on the third base side, and a dashed line 603 indicates the surveillance range of the fire detection device 203 for the large window.

Next, the water cannon and fire detection control panel 205 will be described.
Water cannon/fire detection control panel 205 controls fire detection device 203, identifies the presence and location of a fire source from images received from the device, and sends the information to water cannon information processing panel 209. In addition, water cannon/fire detection control panel 205 receives control commands from water cannon information processing panel 209 and controls the water discharge pattern and rotation of water cannon 201, as well as the elevation and rotation of visible camera 404 of fire detection device 203.

FIG. 7 shows an example of the functional configuration of the water cannon/fire detection control panel 205.
The water cannon/fire detection control panel 205 includes a normal detection unit 701, a fixed point detection unit 702, an A detection unit 703, a B detection unit 704, and a water cannon control unit 705. These functions are provided by the processor executing a control program stored in the memory.

First, the normal detection unit 701 performs a normal detection. Specifically, the normal detection unit 701 stops the infrared camera 403 at regular angle intervals, captures images, and scans the entire monitoring range. At this time, the normal detection unit 701 analyzes the images acquired by the infrared camera 403 at each monitoring position and compares the temperature at the hottest position with the fire detection temperature set value. The fire detection temperature set value referenced in this comparison process is a threshold value set in advance by the user.

The normal detection unit 701 also determines whether the highest temperature location is included in the mask area. The mask area referenced in this determination is an area set in advance by the user to be excluded from fire detection targets, and is set individually for each of the 12 monitoring locations. This allows the user to individually set areas to be excluded from fire detection targets for each of the 12 monitoring locations.

The normal detection unit 701 determines that a fire has occurred if, as a result of the above comparison and determination, the temperature at the highest temperature location exceeds the fire determination temperature setting and the highest temperature location is not included in the mask area corresponding to the monitoring location.

After determining that a fire has occurred, the normal detection unit 701 calculates the approximate location of the fire source.
At this time, the normal detection unit 701 first acquires coordinate values (setting values) indicating the installation position of the fire detection device 203. More specifically, the acquired coordinate values are values indicating the installation position of the electric pan head 401 of the fire detection device 203.
The normal detection unit 701 also acquires a value (setting value) indicating the distance in a planar view from the rotation axis of the electric pan head 401 of the fire detection device 203 to the infrared camera 403. The normal detection unit 701 then corrects the acquired coordinate value with the value indicating the distance that has also been acquired to calculate a correction value.

Specifically, the normal detection unit 701 calculates correction values for the x and y coordinates of the coordinate values (x, y, z) using the following equations (1) and (2).
X'=x+Acos(α)...(1)
Y'=y+A sin(α)...(2)
In the formulas (1) and (2), X' and Y' are the correction values of the x and y coordinates, A represents the distance in a plan view from the rotation axis of the electric pan head 401 to the infrared camera 403 (for example, the distance d1 illustrated in Figure 4(d)), and α represents the rotation angle of the infrared camera 403 when capturing an image of the fire source.

The variables x, y, A, α, X' (x + A cos(α)), and Y' (y + A sin(α)) in equations (1) and (2) can be illustrated as shown in Figure 16. Figure 16 shows an example of the plane of the fire detection device 203.

After calculating the correction value, the normal detection unit 701 calculates the fire source position based on the calculated correction value, the rotation angle and elevation angle of the infrared camera 403 when capturing the fire source image, and the image captured by the infrared camera 403 (more specifically, the pixel position indicating the fire source).

Specifically, the normal detection unit 701 first corrects the rotation angle and elevation angle based on the image captured by the infrared camera 403. In doing so, the normal detection unit 701 calculates, as the correction values for the rotation angle and elevation angle, the rotation angle and elevation angle measured when the pixel indicating the fire source is positioned approximately in the center of the screen.

Next, the normal detection unit 701 calculates the distance from the fire detection device 203 to the fire source in a planar view using the following equation (3).
D=H×tan(β)...(3)
In this equation (3), D represents the distance from the fire detection device 203 to the fire source in a planar view, H represents the installation height of the fire detection device 203, and β represents the elevation angle of the infrared camera 403 when photographing the fire source.
The normal detection unit 701 substitutes the installation height (set value) of the fire detection device 203 and the correction value for the elevation angle into this equation (3) to calculate the distance from the fire detection device 203 to the fire source in a planar view.

After calculating the distance to the fire source, the normal detection unit 701 then calculates the coordinate values of the fire source using the following equations (4) to (6).
x _i =X'+D×cos(α)...(4)
y _i =Y′+D×sin(α)...(5)
z _i =-z...(6)
In these equations (4) to (6), (x _i , y _i , z _i ) are the coordinate values of the fire source.

In the method for calculating the fire source position described above, the installation position of the fire detection device 203 is corrected based on the amount of deviation of the rotation axis of the infrared camera 403. As a result, the measurement error of the fire source position is reduced compared to when this correction is not performed.
The details of the normal exploration process will be described later.

Next, the fixed point inspection unit 702 will be described.
The fixed-point detection unit 702 performs fixed-point detection. Specifically, the fixed-point detection unit 702 captures thermal images at a fixed angle using the infrared camera 403. At this time, the fixed-point detection unit 702 analyzes the images captured by the infrared camera 403 at a pre-designated monitoring position and compares the temperature at the highest temperature position with the fire detection temperature setting value. The fire detection temperature setting value referenced in this comparison process is a threshold value that is pre-set by the user.

The fixed-point detection unit 702 also determines whether the maximum temperature location is included in the mask area. The mask area referenced in this determination is an area set in advance by the user to be excluded from fire detection targets, and is set individually for each of the 12 monitoring locations. This allows the user to individually set the area to be excluded from fire detection targets for each of the 12 monitoring locations.

The fixed-point detection unit 702 determines that a fire has occurred if, as a result of the above comparison and determination, the temperature at the highest temperature location exceeds the fire determination temperature setting and the highest temperature location is not included in the mask area corresponding to the monitoring location.

After determining that a fire has occurred, the fixed-point detection unit 702 calculates the approximate location of the fire source. The method for calculating the approximate location of the fire source is the same as that used by the normal detection unit 701, and therefore a description thereof will be omitted.
The fixed point exploration process will be described in detail later.

Next, the A search unit 703 will be described.
The A exploration unit 703 executes the A exploration. The A exploration is an exploration that is executed simultaneously by the three fire exploration devices 203 excluding the fire exploration device 203 that detected the fire when a fire is detected during a normal exploration or a fixed-point exploration. This A exploration differs from the normal exploration in that, whereas in the normal exploration, exploration is not performed beyond the monitoring position where the fire was detected, the A exploration executes exploration at least once at each monitoring position regardless of whether a fire is detected.

Next, the B search unit 704 will be described.
The B exploration unit 704 executes the B exploration. This B exploration is an exploration in which the fire detection device 203 that issued the A alarm moves to locate the fire point at the center of the screen captured by the infrared camera 403, thereby acquiring more detailed position information.

Specifically, when a fire is determined to exist by the normal detection unit 701, fixed point detection unit 702, or A detection unit 703, the B detection unit 704 controls the motorized pan heads 401 and 402 so that the highest temperature position is approximately the center of the infrared camera 403 screen. In doing so, the B detection unit 704 determines whether the elevation angle of the motorized pan head 402 it controls satisfies a predetermined condition. The predetermined condition taken into account in this determination is that the elevation angle of the motorized pan head 402 is 0° (horizontal) or less. If this condition is not met, the source of the fire is likely to be sunlight, and the B detection unit 704 cancels the fire determination made by the normal detection unit 701, etc. This prevents erroneous fire detection.

After controlling the motorized camera heads 401 and 402, the B detection unit 704 acquires multiple images from the infrared camera 403, including the maximum temperature position. The B detection unit 704 then analyzes the acquired images and identifies the maximum temperature in each image. After identifying the maximum temperature, if the identified maximum temperature is equal to or higher than the forced alarm determination temperature, the B detection unit 704 corrects the maximum temperature to a forced alarm replacement temperature. The forced alarm determination temperature referenced in this correction process is a threshold value set in advance by the user, which is set to 400°C in this embodiment. On the other hand, the forced alarm replacement temperature is a correction value set in advance by the user, which is set to 1000°C in this embodiment. This forced alarm replacement temperature is set to a temperature higher than the forced alarm determination temperature.

If the forced alarm threshold temperature is set to 400°C, the flame temperature (measured by this system as approximately 300°C) is below 400°C and therefore is not corrected to the forced alarm replacement temperature. On the other hand, the temperature of sunlight (measured by this system as approximately 600°C) is above 400°C and therefore is corrected to a fixed value called the forced alarm replacement temperature (1000°C). As a result of this correction, false fire detection can be more reliably prevented when comparing temperatures between images, as described below.

After performing the temperature correction, the B detection unit 704 compares the correction values between the multiple images. If the result of this comparison shows that the temperature difference is below a predetermined threshold, the B detection unit 704 cancels the fire detection made by the normal detection unit 701, etc. This is because if there is no or little temperature difference between images, it is highly likely that the fire source represented by those images is sunlight or its metallic reflection, rather than a flame with fluctuating temperature. By canceling the fire detection when the temperature difference is below a predetermined threshold in this way, false fire detection can be prevented.

On the other hand, if the result of the above comparison indicates that the temperature difference exceeds a predetermined threshold, the B detection unit 704 calculates the fire source location from an image including the above-mentioned highest temperature location obtained from the infrared camera 403. This method of calculating the fire source location is the same as that used by the normal detection unit 701, so explanation will be omitted.

To summarize, when a fire is determined by the normal detection unit 701 or the like, the B detection unit 704 identifies the location of the fire source from an image including the above-mentioned highest temperature position obtained from the infrared camera 403 when the predetermined condition that the elevation angle of the electric pan head 402 is 0° (horizontal) or less is met, and the temperature difference between multiple images exceeds a predetermined threshold.
The B search process will be described in more detail later.

Next, the water cannon control unit 705 will be described.
The water cannon control unit 705 receives a water cannon control command transmitted from the water cannon central operation panel 207 and controls the water cannon 201 to point toward the fire source.

Next, the fire detection control panel 206 will be described.
The fire detection control panel 206 is the water cannon/fire detection control panel 205 without the water cannon control unit 705, and is installed in relation to the fire detection device 203 in the large window described above.

The water cannon central operation panel 207 is used to manage the water cannon system. In the event of a fire, this water cannon central operation panel 207 displays images captured by the visible camera 404 of the fire detection device 203 on a TV monitor, and also displays various information and operating status sent from the water cannon information processing panel 209 on an LCD monitor and operation unit. The operation unit can be used to control and switch the visible camera 404 and water cannon 201, as well as to operate the water cannon.

FIG. 8 shows an example of the functional configuration of the water cannon central operation panel 207.
The water cannon central operation panel 207 includes a water cannon control command unit 801, an automatic water discharge determination unit 802, a water discharge control command unit 803, and a notification unit 804. These functions are provided by the processor executing a control program stored in the memory.

First, when the water cannon central operation panel 207 receives Alarm B transmitted from the water cannon information processing panel 209, the water cannon control command unit 801 transmits a water cannon control command to the water cannon/fire detection control panel 205. The transmitted water cannon control command instructs the water cannon 201 to be controlled so as to point toward the fire source.

The automatic water discharge determination unit 802 determines whether the fire source location identified by the water cannon/fire detection control panel 205 or the fire detection control panel 206 is included in the automatic water discharge target area. The automatic water discharge target area referenced in this determination process is an area set in advance by the user, and is the area that will be subject to automatic water discharge. In this embodiment, the audience seating area is not included in this automatic water discharge target area.

When the fire source location identified by the water cannon/fire detection control panel 205 or the like is included in the automatic water discharge target area, the water discharge control command unit 803 automatically starts discharging water from the water cannon 201 toward the fire source location.

If the location of the fire source identified by the water cannon/fire detection control panel 205, etc. is not included in the area targeted for automatic water discharge, the notification unit 804 prompts the user to manually discharge water instead of the above-mentioned automatic water discharge (in other words, notifies the user that automatic water discharge will not be performed).
As described above, in this embodiment, the area subject to automatic water spraying does not include the audience seats. Therefore, if the fire source is located in the audience seats, automatic water spraying is not performed, and instead manual water spraying is performed. If manual water spraying is performed, water spraying is started at a position some distance away from the audience seats, and after informing the audience that the water is being sprayed, the water is directed toward the fire source, thereby preventing the water from hitting the audience directly.

Next, the water cannon local operation panel 208 will be described.
The water cannon local operation panel 208 is installed in close proximity to the water cannon 201 in order to directly operate the water cannon 201 while checking the fire situation on site. Even in the unlikely event of a system failure in the control system from the water cannon central operation panel 207 and the water cannon information processing panel 209, manual operation from the water cannon local operation panel 208 is possible.

The water cannon information processing panel 209 collects fire source location information from the water cannon/fire detection control panel 205 and the fire detection control panel 206, determines the fire source location, receives video signals from the visible camera 404, and controls the camera. In addition, the water cannon information processing panel 209 works in conjunction with the water cannon central operation panel 207 and the water cannon local operation panel 208 to issue control commands, alarms, and displays to various devices.

Receiver 210 is a fire receiver installed as an automatic fire alarm system. This receiver 210 displays and issues warnings regarding water discharge, automatic/manual status, system abnormalities, etc.

1-2. Operation The water cannon system is monitored and operated by the water cannon central operation panel 207 installed in the disaster prevention center, and in the event of a fire, it performs prompt initial fire extinguishing activities according to a predetermined operational flow. The predetermined operational flow includes fire detection by fire detection, which has an automatic mode and a manual mode. These automatic and manual modes are explained below.

1-2-1 Automatic Mode Fig. 9 shows an example of an operation sequence 900 in the automatic mode.
First, the water cannon/fire detection control panel 205A constantly performs normal detection or fixed-point detection (step 901). If a fire is detected as a result of the normal detection or fixed-point detection, the water cannon/fire detection control panel 205A notifies the water cannon information processing panel 209 of the detection results indicating the occurrence of a fire and the approximate location of the fire source (step 902). Upon receiving the detection results, the water cannon information processing panel 209 notifies the water cannon central operation panel 207 of an A-alarm (step 903). Upon receiving this A-alarm, the water cannon central operation panel 207 displays the A-alarm on its LCD monitor.

After transmitting the above-mentioned detection results, the water cannon/fire detection control panel 205A performs detection B (step 904). If the detection B results in a fire, the water cannon/fire detection control panel 205A notifies the water cannon information processing panel 209 of the detection results, indicating the occurrence of a fire and the detailed location of the fire source (step 905). Upon receiving these detection results, the water cannon information processing panel 209 notifies the water cannon central operation panel 207 of a B alert (step 906). Upon receiving this B alert, the water cannon central operation panel 207 displays a fire message on the LCD monitor and TV monitor. The water cannon central operation panel 207 also transmits the information to the receiver 210 via the water cannon information processing panel 209.

In addition, the water cannon central operation panel 207 selects the water cannon 201 and the water discharge pattern (step 907). The water cannon central operation panel 207 then transmits a water cannon control command to the water cannon/fire detection control panel 205A via the water cannon information processing panel 209 (step 908). Upon receiving this water cannon control command, the water cannon/fire detection control panel 205A controls the water cannon 201A based on this command (step 909). As a result of this control, the water cannon 201A is aimed at the fire source.

After sending the water cannon control command, the water cannon central operation panel 207 determines whether the detailed location of the fire source is included in the automatic water discharge area (step 910). If the result of this determination is that the detailed location of the fire source is included in the automatic water discharge area, the water cannon central operation panel 207 waits until it receives Alarm B from the second water cannon/fire detection control panel 205. On the other hand, if the result of this determination is that the detailed location of the fire source is not included in the automatic water discharge area, the water cannon central operation panel 207 displays the fire compartment and the message "Not an automatic water discharge area. Check the site and perform appropriate initial fire extinguishing." on the LCD monitor. The water cannon central operation panel 207 then does not execute step 918 or later, which will be described later.

As described above, in this embodiment, the area subject to automatic water spraying does not include the audience seats. Therefore, if the fire source is located in the audience seats, automatic water spraying is not performed, and instead manual water spraying is performed. If manual water spraying is performed, water spraying is started at a position some distance away from the audience seats, and after informing the audience that the water is being sprayed, the water is directed toward the fire source, thereby preventing the water from hitting the audience directly.
It should be noted that instead of manual water spraying, firefighting activities may be carried out using other fire extinguishing equipment (for example, indoor fire hydrants).

Note that the above-mentioned prompt for manual water discharge by the water cannon central control panel 207 is not limited to displaying a message, but may also be done by audio output.

After notifying the above-mentioned B alarm, the water cannon information processing panel 209 transmits an A search start command to all other water cannon/fire detection control panels 205 and fire detection control panels 206 (step 911). The following explanation will describe the case where the water cannon/fire detection control panel 205B receives this A search start command.

When the water cannon/fire detection control panel 205B receives the command to start the A-detection, it executes the A-detection (step 912). If the A-detection detects a fire, the water cannon/fire detection control panel 205B notifies the water cannon information processing panel 209 of the detection results indicating the occurrence of a fire and the approximate location of the fire source (step 913). When the water cannon information processing panel 209 receives the detection results, it notifies the water cannon central operation panel 207 of an A-detection (step 914).

After transmitting the above-mentioned detection results, the water cannon/fire detection control panel 205B performs detection B (step 915). If the detection B results in a fire, the water cannon/fire detection control panel 205B notifies the water cannon information processing panel 209 of the detection results indicating the occurrence of a fire and the detailed location of the fire source (step 916). Upon receiving the detection results, the water cannon information processing panel 209 notifies the water cannon central operation panel 207 of an alert B (step 917).

When the water cannon central operation panel 207 receives this Alarm B, it starts a countdown using a 15-second timer (step 918). When the count value reaches zero, the water cannon central operation panel 207 sends a pump start command to the water cannon information processing panel 209 (step 919). When the water cannon information processing panel 209 receives this pump start command, it starts the fire pump 211 (step 920).

The water cannon central operation panel 207 also transmits a remotely controlled valve open command to the water cannon information processing panel 209 (step 921). Upon receiving this remotely controlled valve open command, the water cannon information processing panel 209 opens the remotely controlled valve 202A for the water cannon 201A (step 922). As a result, water is sprayed from the water cannon 201A toward the fire source.

As a result of the water discharge, the fire is extinguished, and when a restoration operation is performed on the water cannon central control panel 207, the fire pump 211 is stopped.
This concludes the description of the automatic mode.

1-2-2. Manual Mode Fig. 10 shows an example of an operation sequence 1000 in the manual mode.
The operation sequence in the manual mode is the same as the operation sequence in the automatic mode from step 901 to step 917. A description of these steps will be omitted.

After receiving the second B alarm, the water cannon central operation panel 207 waits without starting the countdown. When a center personnel who has confirmed the fire operates the water discharge key on the water cannon central operation panel 207 in this state (step 1001), the water cannon central operation panel 207 sends a pump start command to the water cannon information processing panel 209 (step 1002). Upon receiving this pump start command, the water cannon information processing panel 209 starts the fire pump 211 (step 1003).

The water cannon central operation panel 207 also transmits a remotely controlled valve open command to the water cannon information processing panel 209 (step 1004). Upon receiving this remotely controlled valve open command, the water cannon information processing panel 209 opens the remotely controlled valve 202A for the water cannon 201A (step 1005). As a result, water is sprayed from the water cannon 201A toward the fire source.

Another water discharge method is to use the water cannon local operation panel 208. In this case, center personnel rush to the scene and confirm the fire. The center personnel then operate the water cannon local operation panel 208A, which is used to operate the water cannon 201A, to obtain operating authority. The center personnel then rotates the water cannon 201A, selects a water discharge pattern, and operates the water discharge key (step 1006). In response to this operation, the water cannon local operation panel 208A sends a pump start command to the water cannon information processing panel 209 (step 1007). Upon receiving this pump start command, the water cannon information processing panel 209 starts the fire pump 211 (step 1008).

The water cannon local operation panel 208A also transmits a remotely controlled valve open command to the water cannon information processing panel 209 (step 1009). Upon receiving this remotely controlled valve open command, the water cannon information processing panel 209 opens the remotely controlled valve 202A for the water cannon 201A (step 1010). As a result, water is sprayed from the water cannon 201A toward the fire source.

As a result of the water discharge, the fire is extinguished, and when a restoration operation is performed on the water cannon central control panel 207, the fire pump 211 is stopped.
This concludes the description of the manual mode.

11 shows an example of a normal investigation operation flow 1100. The normal investigation shown in the figure is executed by the normal investigation unit 701 of the water cannon and fire investigation control panel 205 or the fire investigation control panel 206.

The normal detection unit 701 moves the infrared camera 403 of the fire detection device 203 to one of 12 monitoring positions (step 1101). In addition, the normal detection unit 701 acquires mask data corresponding to the new monitoring position (step 1102). The normal detection unit 701 then acquires a thermal image captured by the infrared camera 403 that has been moved to the monitoring position (step 1103).

After acquiring the thermal image, the normal detection unit 701 analyzes the acquired thermal image and extracts the pixel with the highest temperature (step 1104). In doing so, the normal detection unit 701 extracts the pixel with the highest temperature for each of the four areas formed by dividing the thermal image into four areas in the vertical direction. However, the normal detection unit 701 does not extract pixels from the mask area indicated by the acquired mask data.

After extracting pixels from each area, the normal detection unit 701 converts the maximum temperature of each pixel into a distance value (step 1105). Specifically, the normal detection unit 701 multiplies the maximum temperature of each pixel by a correction coefficient corresponding to the corresponding area. For example, the normal detection unit 701 multiplies the maximum temperature of pixels in a first area by a correction coefficient corresponding to the first area.

After converting the distance, the normal detection unit 701 compares the calculated conversion value with the fire detection temperature set value (step 1106). If the result of this comparison shows that both conversion values are below the fire detection temperature set value (NO in step 1106), the normal detection unit 701 returns to step 1101 and moves the infrared camera 403 to the next monitoring position. On the other hand, if the result of this comparison shows that either conversion value exceeds the fire detection temperature set value (YES in step 1106), the normal detection unit 701 next compares the number of pixels having a conversion value that exceeds the fire detection temperature set value with the set number (step 1107).

If the result of this comparison shows that the number of pixels is less than the set number (NO in step 1107), the normal detection unit 701 returns to step 1101 and moves the infrared camera 403 to the next monitoring position. On the other hand, if the result of this comparison shows that the number of pixels is equal to or greater than the set number (YES in step 1107), the normal detection unit 701 calculates the approximate location of the fire source (step 1108). In doing so, the normal detection unit 701 calculates the approximate location of the fire source from the rotation angle and depression angle of the infrared camera 403 and the acquired image. The method for calculating the approximate location of the fire source will be described later as fire source location calculation flow 1500.

After calculating the approximate location of the fire source, the normal detection unit 701 notifies the water cannon information processing panel 209 of the detection results indicating the occurrence of a fire and the approximate location of the fire source (step 1109).
This concludes the explanation of normal exploration.

12 shows an example of an operation flow 1200 for fixed-point exploration. The fixed-point exploration shown in the figure is executed by the fixed-point exploration unit 702 of the water cannon and fire exploration control panel 205 or the fire exploration control panel 206.

The fixed-point detection unit 702 moves the infrared camera 403 of the fire detection device 203 to a pre-specified monitoring position (step 1201). Additionally, the fixed-point detection unit 702 acquires mask data corresponding to the new monitoring position (step 1202). The fixed-point detection unit 702 then acquires a thermal image captured by the infrared camera 403 that has been moved to the monitoring position (step 1203).

After acquiring the thermal image, the fixed point detection unit 702 analyzes the acquired thermal image and extracts the pixel with the highest temperature (step 1204). In doing so, the fixed point detection unit 702 extracts the pixel with the highest temperature for each of the four areas formed by dividing the thermal image into four areas in the vertical direction. However, the fixed point detection unit 702 does not extract pixels from the mask area indicated by the acquired mask data.

After extracting pixels from each area, the fixed point detection unit 702 converts the maximum temperature of each pixel into a distance value (step 1205). Specifically, the fixed point detection unit 702 multiplies the maximum temperature of each pixel by a correction coefficient corresponding to the corresponding area.

After converting the distance, the fixed point detection unit 702 compares the calculated conversion value with the fire detection temperature set value (step 1206). If the result of this comparison shows that both conversion values are the fire detection temperature set value (NO in step 1206), the fixed point detection unit 702 returns to step 1203 and acquires the next thermal image. On the other hand, if the result of this comparison shows that either conversion value exceeds the fire detection temperature set value (YES in step 1206), the fixed point detection unit 702 next compares the number of pixels having a conversion value that exceeds the fire detection temperature set value with the set number (step 1207).

If the result of this comparison shows that the number of pixels is less than the set number (NO in step 1207), the fixed point detection unit 702 returns to step 1203 and acquires the next thermal image. On the other hand, if the result of this comparison shows that the number of pixels is equal to or greater than the set number (YES in step 1207), the fixed point detection unit 702 calculates the approximate location of the fire source (step 1208). In this case, the fixed point detection unit 702 calculates the approximate location of the fire source from the rotation angle and depression angle of the infrared camera 403 and the acquired image. The method for calculating the approximate location of the fire source will be described later as fire source location calculation flow 1500.

After calculating the approximate location of the fire source, the fixed point detection unit 702 notifies the water cannon information processing panel 209 of the detection results indicating the occurrence of a fire and the approximate location of the fire source (step 1209).
This concludes the explanation of fixed point exploration.

13 shows an example of an operation flow 1300 of the A exploration. The A exploration shown in the figure is executed by the A exploration unit 703 of the water cannon and fire exploration control panel 205 or the fire exploration control panel 206.

Although the entity that executes the process is different, Exploration A shares steps 1101 to 1109 with Normal Exploration in terms of the process itself. These steps have already been explained, so we will not repeat them here.

Unlike normal searches, A-search performs a search at least once at all monitoring locations, regardless of fire detection. Therefore, A-search includes steps 1301 and 1302.

In step 1301, the A-detection unit 703 determines whether the infrared camera 403 has completed one round of monitoring locations. If the result of this determination is that the infrared camera 403 has not completed one round of monitoring locations (NO in step 1301), the A-detection unit 703 returns to step 1101 and moves the infrared camera 403 to the next monitoring location. On the other hand, if the result of this determination is that the infrared camera 403 has completed one round of monitoring locations (YES in step 1301), the A-detection unit 703 then determines whether any potential fire sources exist (step 1302).

Specifically, the A-search unit 703 determines whether a "YES" determination was made in step 1107 as the infrared camera 403 travels around the monitoring positions. If a "YES" determination is not made (NO in step 1302), the A-search unit 703 returns to step 1101 and moves the infrared camera 403 to the next monitoring position. On the other hand, if a "YES" determination is made (YES in step 1302), the A-search unit 703 calculates the approximate fire source position (step 1108). In this case, the A-search unit 703 calculates the approximate fire source position from the rotation angle and depression angle of the infrared camera 403 and the acquired image. The method for calculating the approximate fire source position will be described later as fire source position calculation flow 1500.

After calculating the approximate location of the fire source, the A exploration unit 703 notifies the water cannon information processing panel 209 of the exploration results indicating the occurrence of a fire and the approximate location of the fire source (step 1109).
The above is the explanation of the A exploration.

14 shows an example of an operation flow 1400 of the B exploration. The B exploration shown in the figure is executed by the B exploration unit 704 of the water cannon and fire exploration control panel 205 or the fire exploration control panel 206.

Based on the approximate location of the fire source obtained by normal detection, fixed-point detection, or A detection, the B detection unit 704 calculates the movement angle (swivel angle and depression angle) of the infrared camera 403 so that the fire source is approximately at the center of the screen (step 1401). After calculating the movement angle, the B detection unit 704 determines whether the calculated depression angle is 0 degrees or less (step 1402). If the result of this determination is that the calculated depression angle is greater than 0 degrees (NO in step 1402), the fire source is likely to be sunlight, and the B detection unit 704 terminates the B detection. This prevents erroneous detection of a fire. On the other hand, if the calculated depression angle is 0 degrees (horizontal) or less (YES in step 1402), the B detection unit 704 moves the infrared camera 403 so that the fire source is approximately at the center of the screen (step 1403).

After moving the infrared camera 403, the B detection unit 704 acquires multiple thermal images taken by the infrared camera 403 (step 1404). After acquiring the thermal images, the B detection unit 704 analyzes the acquired thermal images and extracts the pixel with the highest temperature in each thermal image (step 1405). The B detection unit 704 then converts the maximum temperature of each extracted pixel into a distance value (step 1406). Specifically, the B detection unit 704 applies the maximum temperature of each pixel to a predetermined correction formula to calculate a correction value. However, in this case, if the maximum temperature is equal to or higher than the forced alarm determination temperature (400°C), the B detection unit 704 replaces it with the forced alarm replacement temperature (1000°C) instead of applying the correction formula. As a result of this correction, false fire detection can be more reliably prevented in step 1408, described below.

After distance conversion, the B detection unit 704 counts the number of pixels in each thermal image whose correction value exceeds the fire judgment temperature setting value (step 1407). If the counting result shows that the number of counted pixels in all thermal images is less than the setting number (NO in step 1407), the B detection unit 704 ends the B detection. On the other hand, if the counting result shows that the number of counted pixels in any thermal image is equal to or greater than the setting number (YES in step 1407), the B detection unit 704 then compares the maximum temperature correction values between the multiple thermal images (step 1408).

If the result of this comparison shows that the difference between the maximum and minimum correction values is equal to or less than a predetermined threshold (NO in step 1408), the B exploration unit 704 ends B exploration. This is because if there is no or little temperature difference between the images, it is highly likely that the fire source represented by those images is sunlight or its metallic reflection, rather than a flame with fluctuating temperature. By canceling the fire judgment when the temperature difference is equal to or less than a predetermined threshold, false fire detection can be prevented.
After the B search is completed, the A search is executed again.

On the other hand, if the result of this comparison shows that the difference between the maximum and minimum correction values exceeds a predetermined threshold (YES in step 1408), the B detection unit 704 calculates the detailed fire source position (step 1409). In this case, the B detection unit 704 calculates the detailed fire source position from the rotation angle and depression angle of the infrared camera 403 and the acquired image. The method for calculating this detailed fire source position will be described later as fire source position calculation flow 1500.

After calculating the detailed location of the fire source, the B exploration unit 704 notifies the water cannon information processing panel 209 of the exploration results indicating the occurrence of the fire and the detailed location of the fire source (step 1410).
This concludes the explanation of B exploration.

1-2-7. Calculation of Fire Source Location Fig. 15 shows an example of a fire source location calculation flow 1500. The fire source location calculation flow 1500 shown in the figure is executed by the normal detection unit 701, fixed point detection unit 702, A detection unit 703, and B detection unit 704 of the water cannon/fire detection control panel 205 or the fire detection control panel 206. In the following explanation, as an example, a case where the normal detection unit 701 executes the fire source location calculation flow 1500 will be described.

The normal detection unit 701 acquires coordinate values (setting values) indicating the installation position of the fire detection device 203 (step 1501).
Next, the normal detection unit 701 acquires the rotation angle and elevation angle of the infrared camera 403 of the fire detection device 203 (step 1502).
Next, the normal detection unit 701 acquires a value (setting value) indicating the distance from the rotation axis of the electric pan head 401 of the fire detection device 203 to the infrared camera 403 in a planar view (step 1503).

Next, the normal detection unit 701 corrects the coordinate value acquired in step 1501 with the value indicating the distance acquired in step 1503 to calculate a correction value (step 1504). In doing so, the normal detection unit 701 calculates the correction values for the x and y coordinates of the coordinate value (x, y, z) using the above-mentioned formulas (1) and (2). The specific calculation method has already been explained, so an explanation will be omitted here.

After calculating the correction value, the normal detection unit 701 acquires the heat source pixel coordinates of the thermal image captured by the infrared camera 403 (step 1505).
After acquiring the heat source pixel coordinates, the normal detection unit 701 calculates the fire source position based on the correction value calculated in step 1504, the rotation angle and elevation angle in step 1502, and the heat source pixel coordinates acquired in step 1505 (step 1506). The specific calculation method has already been explained, so explanation will be omitted here.
This concludes the description of the fire source position calculation flow 1500.

In the fire source position calculation flow 1500 described above, the installation position of the fire detection device 203 is corrected based on the amount of rotation axis deviation of the infrared camera 403. As a result, the measurement error of the fire source position is reduced compared to when this correction is not performed.

In the above-described fire source position calculation flow 1500, heat source pixel coordinates are acquired in step 1505, and the fire source position is calculated based on the acquired heat source pixel coordinates in step 1506. However, in search B, the infrared camera 403 is controlled so that the heat source is at the center of the screen, so the heat source pixel coordinates are necessarily coordinates at the center of the screen. Therefore, when fire source position calculation flow 1500 is executed in search B, acquisition of heat source pixel coordinates may be omitted.

2. Modifications The above embodiment may be modified as follows: The following modifications may be combined with each other.
(1) In the above embodiment, a baseball stadium is assumed to be a fire prevention object. However, the fire prevention object is not limited to a baseball stadium, and may be any other facility that can accommodate spectators.

(2) In the above normal detection and A detection, 12 monitoring locations are assumed, but the number of monitoring locations may be changed as appropriate depending on the fire prevention object and the number of fire detection devices 203 to be installed.

(3) In the above-mentioned B detection, if the condition that the elevation angle of the electric pan head 402 is 0° (horizontal) or less is not met, the fire determination by the normal detection unit 701, etc. is canceled. However, this condition is merely an example, and the threshold value for the elevation angle may be changed as appropriate depending on the fire prevention object.

(4) In the above-mentioned B search, the forced alarm judgment temperature is assumed to be 400°C, and the forced alarm replacement temperature is assumed to be 1000°C. However, these values are merely examples, and may be changed as appropriate depending on the anticipated false detection targets and the device specifications.

(5) In the above-mentioned B detection, the correction values of the maximum temperature are compared between multiple thermal images, and if the difference between the maximum and minimum correction values is equal to or less than a predetermined threshold, the fire determination by the normal detection unit 701, etc. is canceled. As an alternative to this detection method, if the correction values of the maximum temperature match between multiple thermal images, the fire determination by the normal detection unit 701, etc. may be canceled. In other words, if the difference in correction values between multiple thermal images is equal to or less than zero, the fire determination by the normal detection unit 701, etc. may be canceled.

(6) In the above embodiment, the water cannon/fire detection control panel 205 has the functions shown in FIG. 7, and the water cannon central operation panel 207 has the functions shown in FIG. 8. However, this functional layout is merely an example, and some or all of the functions of the water cannon/fire detection control panel 205 and the water cannon central operation panel 207 may be distributed to other devices.

(7) In the above-described fire source location calculation flow 1500, the normal detection unit 701 corrects the installation position of the fire detection device 203 using the above-described formulas (1) and (2) (see step 1504). However, instead of using the above-described formulas (1) and (2), the normal detection unit 701 may correct the installation position of the fire detection device 203 by referring to a predetermined table. The predetermined table here refers to a table that stores correction values for each x-coordinate and y-coordinate in association with the rotation angle of the infrared camera 403. The correction values stored in this table are values calculated in advance for each rotation angle using the above-described formulas (1) and (2).
By referring to this table, the normal detection unit 701 may correct the installation position of the fire detection device 203 based on the distance from the rotation angle of the electric pan head 401 to the infrared camera 403 in a planar view.

(8) The infrared camera 403 and visible light camera 404 can both rotate and tilt. However, depending on the target monitoring range, these cameras may be configured to only rotate or tilt.

The present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and are not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

Furthermore, the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in part or in whole in hardware, for example by designing them as integrated circuits. Furthermore, the above-mentioned configurations, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. Information such as the programs, tables, and files that realize each function can be stored in memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected.
The above-described embodiments disclose at least the configurations described in the claims.

101...field area, 102...spectator seats, 201...water cannon, 202...remote control valve, 203...fire detection device, 204...fire detection device relay panel, 205...water cannon/fire detection control panel, 206...fire detection control panel, 207...water cannon central operation panel, 208...water cannon local operation panel, 209...water cannon information processing panel, 210...receiver, 211...fire pump, 212...pump control panel,
401, 402... Electric pan head, 403... Infrared camera, 404... Visible camera, 701... Normal detection unit, 702... Fixed point detection unit, 703... A detection unit, 704... B detection unit, 705... Water cannon control unit, 801... Water cannon control command unit, 802... Automatic water discharge determination unit, 803... Water discharge control command unit, 804... Notification unit

Claims (3)

a fire detection means including an infrared camera and a first pan head for rotating the infrared camera in a substantially horizontal plane;
a correction unit that calculates a correction value by correcting a value indicating the installation position of the fire detection unit using a distance from the rotation axis of the first camera platform to the infrared camera in a planar view;
a fire source position calculation means for calculating a fire source position based on the calculated correction value and the rotation angle of the infrared camera when capturing an image of the fire source. The correction means calculates correction values of the x-coordinate and the y-coordinate indicating the installation position of the fire detection means using equations (1) and (2),
X'=x+Acos(α)...(1)
Y'=y+A sin(α)...(2)
In the formulas (1) and (2),
X' and Y' are correction values of the x coordinate and the y coordinate,
A represents the distance from the rotation axis of the first camera head to the infrared camera in a plan view,
The fire monitoring system according to claim 1, wherein α represents a rotation angle of the infrared camera when capturing an image of a fire source. The fire detection means includes:
A visible camera,
a second pan head mounted on the first pan head and configured to rotate the infrared camera and the visible light camera in a substantially vertical plane;
3. The fire monitoring system according to claim 1, wherein the infrared camera and the visible light camera are mounted side by side in a substantially horizontal direction on the second platform.