WO2007107988A2 - System for detecting and locating a thermal event and for reactive measures - Google Patents

System for detecting and locating a thermal event and for reactive measures Download PDF

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Publication number
WO2007107988A2
WO2007107988A2 PCT/IL2007/000354 IL2007000354W WO2007107988A2 WO 2007107988 A2 WO2007107988 A2 WO 2007107988A2 IL 2007000354 W IL2007000354 W IL 2007000354W WO 2007107988 A2 WO2007107988 A2 WO 2007107988A2
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WO
WIPO (PCT)
Prior art keywords
reactive measure
reactive
imaging device
detecting
image data
Prior art date
Application number
PCT/IL2007/000354
Other languages
French (fr)
Other versions
WO2007107988A3 (en
Inventor
David Lapidoth
Ehud Sela
Dror Sharon
Mordehay Reuven Canfi
Original Assignee
Opgal Optronic Industries Ltd.
Beit Alfa Technologies Cooperative Agricultural Society Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Opgal Optronic Industries Ltd., Beit Alfa Technologies Cooperative Agricultural Society Ltd. filed Critical Opgal Optronic Industries Ltd.
Publication of WO2007107988A2 publication Critical patent/WO2007107988A2/en
Publication of WO2007107988A3 publication Critical patent/WO2007107988A3/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
    • G01S3/784—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems using a mosaic of detectors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/06—Elevating or traversing control systems for guns using electric means for remote control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H13/00—Means of attack or defence not otherwise provided for
    • F41H13/0043—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target
    • F41H13/005—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target the high-energy beam being a laser beam
    • F41H13/0056—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target the high-energy beam being a laser beam for blinding or dazzling, i.e. by overstimulating the opponent's eyes or the enemy's sensor equipment
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C37/00—Control of fire-fighting equipment
    • A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
    • G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke

Definitions

  • the present invention relates to reactive systems. More particularly it relates to a system for detecting and locating a thermal event and for activating a reactive measure.
  • a system for detecting and locating a thermal event and for providing a reaction to the detected thermal event comprising:
  • At least one imaging device responsive in the IR range for obtaining a thermal image data of a predetermined sector
  • a processing unit for processing the thermal image data and detecting hot spots in the image data, and for determrning coordinate information on the hot spots;
  • a controller for receiving the coordinate information and for actuating the reactive measure.
  • the system further includes another imaging device responsive in the visible range.
  • said at least one imaging device is provided with a pan and tilt facilitator.
  • the system is further provided with a monitor and user interface for manually operating the reactive measure.
  • the reactive measure comprises a water cannon.
  • an additive supply is provided for adding non-lethal additives to water sprayed by the water cannon.
  • the reactive measure comprises a gas dispenser.
  • the gas is tear-gas.
  • the reactive measure comprises a pebble gun.
  • the reactive measure comprises a rubber bullet gun.
  • the reactive measure comprises a laser beam sowce.
  • the reactive measure comprises a light projector.
  • said at least one imaging device comprises a bolometric camera comprising thermistors for calibration of a minimal temperature threshold.
  • Fig. 1 illustrates a schematic illustration of a system for detecting and locating a thermal event and for activating a reactive measure, according to a preferred embodiment of the present invention.
  • the present invention is directed at a reactive system for detecting and locating • fire or another thermal source and activating a reactive measure targeting the fire or thermal source.
  • Detection of the thermal source is achieved using an imaging device with thermal capabilities such as an IR (Infra-Red) camera. Exact location and pinpointing of the thermal source is achieved by a tracking and guidance system that translates the . position of the detected thermal source and generates directing information to a reactive measure, such as a water cannon, foam fire-extinguisher or other reactive devices.
  • a reactive measure such as a water cannon, foam fire-extinguisher or other reactive devices.
  • thermal events may be monitored using the system of the present invention: it may be used to detect a fire and direct a fire-extinguishing device to the thermal source, it may be used to direct a water cannon or a tear-gas (if it is desired to clear the vicinity of the thermal source from people or animals, etc.
  • a typical system comprises a thermal imaging device (typically an IR camera) for identifying a thermal source in the field of view of the imaging device, a processing unit for processing an image acquired by the imaging device and obtaining information on the location of the thermal source based on the image data from the imaging device, and for generating actuation commands to a reactive measure device (such as a water cannon, a foam extinguisher or other reactive measure).
  • a thermal imaging device typically an IR camera
  • a processing unit for processing an image acquired by the imaging device and obtaining information on the location of the thermal source based on the image data from the imaging device, and for generating actuation commands to a reactive measure device (such as a water cannon, a foam extinguisher or other reactive measure).
  • a reactive measure device such as a water cannon, a foam extinguisher or other reactive measure.
  • the IR camera is preferably a bolometric camera comprising thermistors for calibration of a minimal temperature threshold (the thermistors are also used for determining the temperature of a hot target and its surroundings).
  • the camera preferably scans on-line a known sector (or even a complete periphery if mounted on a rotating platform) and the image data is processed by the processing unit that analyzes the image information.
  • the processing unit marks automatically, using a known software application, the pixels of the hot body on the image. The marked pixels are then translated by the processing unit ⁇ to provide the physical location of the hot body.
  • Marking of the pixels of the hot body on the image acquired allows translating the position of the hot body into the physical coordinates of the hot body with respect to the center of the camera view (the crosshair).
  • the camera actually translates IR radiation to temperature measurement (Thermography/radiometry).
  • a cluster of "hot pixels” (the ones that are above a defined threshold) are located and the coordinates of the cluster is output.
  • the control box then translates the coordinates into motion of the cannon drivers movement, and closes a loop.
  • a water cannon is preferably used as a reactive measure when it is desired to assign the system of the present invention fire-control duties.
  • the water cannon comprises a control panel that allows control and actuation of the water cannon both in automatic mode and manual mode.
  • the automatic mode involves taking the generated location information of the hot body, directing the water cannon (that is coupled to a turning and tilting platform) in the direction of the hot body and turning it on to extinguish the fire.
  • the imaging device is ⁇ used throughout the extinguishing process to acquire on-line image data until it is determined that the hot body is gone (which means that the fire was put out).
  • the water cannon may be directed and actuated by a controller using a joystick or similar control apparatus.
  • the water cannon may be also equipped with additives such as tear gas, colorings, pepper spray, etc.
  • additives such as tear gas, colorings, pepper spray, etc.
  • the manual or automatic control of the water cannon may include direct control and operation of the water cannon including secondary operations, such as various firing modes, pressures, additives and other operational modes.
  • the use of the system with tear gas cannon may facilitate use of the system in protecting sensitive installations and places that require elevated security.
  • an additional imaging device in the visible range (such as a color CCD camera), is provided.
  • the visible range imaging device facilitates documentation of the events monitored by the system.
  • Both cameras are preferably housed in a protected casing, impervious and heat- resistant, protected from vandalism and unauthorized tampering.
  • the supporting platform may include stabilizers against earthquakes and other shocks to obtain a clear and stabilized image.
  • Yet another embodiment of the present invention includes a non-harmful laser beam source, for emitting a non-lethal laser beam on a detected intruder (thermal detection) and deter him or her.
  • the system may include a light beam, in the visible or IR range, to illuminate the source of the thermal event.
  • the present invention covers the ' use of other non-lethal reactive measures to be incorporated in the system.
  • FIG. 1 illustrating a schematic illustration of a system for detecting and locating a thermal event and for activating a reactive measure, according to a preferred embodiment of the present invention.
  • An IR camera (1) can be coupled to a water " cannon (3), as shown on the right- hand side of the figure, or provided separately, as shown on the right-hand side of the figure.
  • a CCD camera (2) is preferably provided for monitoring the visible range, directed to the same sector watched by the IR camera.
  • a control box (5) is linked to the cameras and the water cannon.
  • a fan and tilt head (6) is preferably provided coupled to the IR camera (in other preferred embodiments of the present invention it is also provided with the water cannon and the CCD camera).
  • a central control unit (7) is communicating with all the elements of the system and operating them as required. The communication can be done over wires or wireless communication (see antennas 13 of control box 5 and antenna 14 of the control unit 7).
  • a main computer (8) controls the system and a user interface (9) in the form of one or more work stations is provided.
  • An optional operator panel (10) may also be provided.
  • the water cannon is also linked to a supply reservoir of additives (4), such as colors or other additives and another optional system of tear-gas supply (here in the form of a tear-gas cylinder 11 with gas nozzles 12).
  • additives (4) such as colors or other additives
  • tear-gas supply here in the form of a tear-gas cylinder 11 with gas nozzles 12.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Investigating Or Analyzing Materials Using Thermal Means (AREA)

Abstract

A system for detecting and locating a thermal event and for providing a reaction to the detected thermal event is disclosed. The system comprises at least one imaging device responsive in the IR range for obtaining a thermal image data of a predetermined sector; a processing unit for processing the thermal image data and detecting hot spots in the image data, and for determining coordinate information on the hot spots; a non-lethal reactive measure; and a controller for receiving the coordinate information and for actuating the reactive measure.

Description

SYSTEM FOR DETECTING AND LOCATING A THERMAL EVENT AND FOR
REACTIVE MEASURES
FIELD OF THE INVENTION
[0001] The present invention relates to reactive systems. More particularly it relates to a system for detecting and locating a thermal event and for activating a reactive measure.
BRIEF DESCRIPTION OF THE INVENTION
[0002] There is provided, in accordance with some preferred embodiments of the present invention, a system for detecting and locating a thermal event and for providing a reaction to the detected thermal event, the system comprising:
[0003] at least one imaging device responsive in the IR range for obtaining a thermal image data of a predetermined sector;
[0004] a processing unit for processing the thermal image data and detecting hot spots in the image data, and for determrning coordinate information on the hot spots;
[0005] a non-lethal reactive measure;
[0006] a controller for receiving the coordinate information and for actuating the reactive measure.
[0007] Furthermore, in accordance with some preferred embodiments of the present invention, the system further includes another imaging device responsive in the visible range.
[0008] Furthermore, in accordance with some preferred embodiments of the present invention, said at least one imaging device is provided with a pan and tilt facilitator.
[0009] Furthermore, in accordance with some preferred embodiments of the present invention, the system is further provided with a monitor and user interface for manually operating the reactive measure.
[0010] Furthermore, in accordance with some preferred embodiments of the present invention, the reactive measure comprises a water cannon. {0011] Furthermore, in accordance with some preferred embodiments of the present invention, an additive supply is provided for adding non-lethal additives to water sprayed by the water cannon.
[0012] Furthermore, in accordance with some preferred embodiments of the present invention, the reactive measure comprises a gas dispenser.
[0013] Furthermore, in accordance with some preferred embodiments of the present invention, the gas is tear-gas.
[0014] Furthermore, in accordance with some preferred embodiments of the present invention, the reactive measure comprises a pebble gun.
[0015] Furthermore, in accordance with some preferred embodiments of the present invention, the reactive measure comprises a rubber bullet gun.
[0016] Furthermore, in accordance with some preferred embodiments of the present invention, the reactive measure comprises a laser beam sowce.
[0017] Furthermore, in accordance with some preferred embodiments of the present invention, the reactive measure comprises a light projector.
[0018] Furthermore, in accordance with some preferred embodiments of the present invention, said at least one imaging device comprises a bolometric camera comprising thermistors for calibration of a minimal temperature threshold.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to better understand the present invention, and appreciate its practical applications, the following Figures are provided and referenced hereafter. It should be noted that the Figures are given as examples only and in no way limit the scope of the invention. Like components are denoted by like reference numerals.
[0020] Fig. 1 illustrates a schematic illustration of a system for detecting and locating a thermal event and for activating a reactive measure, according to a preferred embodiment of the present invention. DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0021] The present invention is directed at a reactive system for detecting and locating • fire or another thermal source and activating a reactive measure targeting the fire or thermal source.
[0022J Detection of the thermal source is achieved using an imaging device with thermal capabilities such as an IR (Infra-Red) camera. Exact location and pinpointing of the thermal source is achieved by a tracking and guidance system that translates the . position of the detected thermal source and generates directing information to a reactive measure, such as a water cannon, foam fire-extinguisher or other reactive devices.
[0023] Different types of thermal events may be monitored using the system of the present invention: it may be used to detect a fire and direct a fire-extinguishing device to the thermal source, it may be used to direct a water cannon or a tear-gas (if it is desired to clear the vicinity of the thermal source from people or animals, etc.
[0024] A typical system, according to a preferred embodiment of the present invention, comprises a thermal imaging device (typically an IR camera) for identifying a thermal source in the field of view of the imaging device, a processing unit for processing an image acquired by the imaging device and obtaining information on the location of the thermal source based on the image data from the imaging device, and for generating actuation commands to a reactive measure device (such as a water cannon, a foam extinguisher or other reactive measure).
The IR camera is preferably a bolometric camera comprising thermistors for calibration of a minimal temperature threshold (the thermistors are also used for determining the temperature of a hot target and its surroundings). The camera preferably scans on-line a known sector (or even a complete periphery if mounted on a rotating platform) and the image data is processed by the processing unit that analyzes the image information. When the camera detects a hot body at or above the threshold temperature the processing unit marks automatically, using a known software application, the pixels of the hot body on the image. The marked pixels are then translated by the processing unit ■ to provide the physical location of the hot body. Marking of the pixels of the hot body on the image acquired allows translating the position of the hot body into the physical coordinates of the hot body with respect to the center of the camera view (the crosshair). The camera actually translates IR radiation to temperature measurement (Thermography/radiometry). After this translation is done, a cluster of "hot pixels" (the ones that are above a defined threshold) are located and the coordinates of the cluster is output. The control box then translates the coordinates into motion of the cannon drivers movement, and closes a loop.
[00251 A water cannon is preferably used as a reactive measure when it is desired to assign the system of the present invention fire-control duties. In a preferred embodiment of the present invention the water cannon comprises a control panel that allows control and actuation of the water cannon both in automatic mode and manual mode. The automatic mode involves taking the generated location information of the hot body, directing the water cannon (that is coupled to a turning and tilting platform) in the direction of the hot body and turning it on to extinguish the fire. The imaging device is ■ used throughout the extinguishing process to acquire on-line image data until it is determined that the hot body is gone (which means that the fire was put out).
[0026] In the manual mode the water cannon may be directed and actuated by a controller using a joystick or similar control apparatus.
[0027] The water cannon may be also equipped with additives such as tear gas, colorings, pepper spray, etc. The manual or automatic control of the water cannon may include direct control and operation of the water cannon including secondary operations, such as various firing modes, pressures, additives and other operational modes.
[0028] The use of the system with tear gas cannon may facilitate use of the system in protecting sensitive installations and places that require elevated security.
[0029] In a preferred embodiment of the system of the present invention an additional imaging device, in the visible range (such as a color CCD camera), is provided. The visible range imaging device facilitates documentation of the events monitored by the system.
[0030] Both cameras are preferably housed in a protected casing, impervious and heat- resistant, protected from vandalism and unauthorized tampering. The supporting platform may include stabilizers against earthquakes and other shocks to obtain a clear and stabilized image. [0031] Yet another embodiment of the present invention includes a non-harmful laser beam source, for emitting a non-lethal laser beam on a detected intruder (thermal detection) and deter him or her. In addition or instead' of the laser source the system may include a light beam, in the visible or IR range, to illuminate the source of the thermal event.
[0032] Yet another option for the reactive measure is the use of a pebble gun or rubber bullet gun.
[0033] Similarly the present invention covers the ' use of other non-lethal reactive measures to be incorporated in the system.
[0034] Reference is now made to Fig. 1 illustrating a schematic illustration of a system for detecting and locating a thermal event and for activating a reactive measure, according to a preferred embodiment of the present invention.
[0035] An IR camera (1) can be coupled to a water "cannon (3), as shown on the right- hand side of the figure, or provided separately, as shown on the right-hand side of the figure. A CCD camera (2) is preferably provided for monitoring the visible range, directed to the same sector watched by the IR camera. A control box (5) is linked to the cameras and the water cannon. A fan and tilt head (6) is preferably provided coupled to the IR camera (in other preferred embodiments of the present invention it is also provided with the water cannon and the CCD camera). A central control unit (7) is communicating with all the elements of the system and operating them as required. The communication can be done over wires or wireless communication (see antennas 13 of control box 5 and antenna 14 of the control unit 7). A main computer (8) controls the system and a user interface (9) in the form of one or more work stations is provided. An optional operator panel (10) may also be provided.
[0036] The water cannon is also linked to a supply reservoir of additives (4), such as colors or other additives and another optional system of tear-gas supply (here in the form of a tear-gas cylinder 11 with gas nozzles 12).
[0037] It should be clear that the description of the embodiments and attached Figures set forth in this specification serves only for a better understanding of the invention, without limiting its scope. [0038] It should also be clear that a person skilled in the art, after reading the present specification could make adjustments or amendments to the attached Figures and above described embodiments that would still be covered by the present invention.

Claims

1. A system for detecting and locating a thermal event and for providing a reaction to the detected thermal event, the system comprising: at least one imaging device responsive in the IR range for obtaining a thermal image data of a predetermined sector; a processing unit for processing the thermal image data and detecting hot spots in the image data, and for determining coordinate information on the hot spots; a non-lethal reactive measure; a controller for receiving the coordinate information and for actuating the reactive measure.
2. The system of claim 1, further including another imaging device responsive in the visible range.
3. The system of claim I , wherein said at least one imaging device is provided with a pan and tilt facilitator.
4. The system of claim 1, further provided with a monitor and user interface for manually operating the reactive measure.
5. The system of claim 1, wherein the reactive measure comprises a water cannon.
6. The system of claim 5, wherein an additive supply is provided for adding non- lethal additives to water sprayed by the water cannon.
7. The system of claim 1, wherein the reactive measure comprises a gas dispenser.
8. The system of claim 7, wherein the gas is tear-gas.
9. The system of claim I, wherein the reactive measure comprises a pebble gun.
10. The system of claim 1, wherein the reactive measure comprises a rubber bullet gun.
11. The system of claim 1, wherein the reactive measure comprises a laser beam source.
12. The system of claim 1, wherein the reactive measure comprises a light projector.
13. The system of claim 1, wherein said at least one imaging device comprises a bolometric camera comprising thermistors for calibration of a minimal temperature threshold.
14. A system for detecting and locating a thermal event and for providing a reaction to the detected thermal event, substantially as described in the present specification and accompanying figures.
PCT/IL2007/000354 2006-03-23 2007-03-19 System for detecting and locating a thermal event and for reactive measures WO2007107988A2 (en)

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IL174523A IL174523A0 (en) 2006-03-23 2006-03-23 System for detecting and locating a thermal event and for reactive measures
IL174523 2006-03-23

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WO2007107988A3 WO2007107988A3 (en) 2009-04-16

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WO2013009215A1 (en) * 2011-07-14 2013-01-17 Закрытое Акционерное Общество "Инженерный Центр Пожарной Робототехники "Эфэр" An automated fire - fighting installation with a full- process control system
WO2013009213A1 (en) * 2011-07-14 2013-01-17 Закрытое Акционерное Общество "Инженерный Центр Пожарной Робототехники "Эфэр" Automated fire prevention and guard complex
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JP2015526336A (en) * 2012-07-18 2015-09-10 ミクロチユルボ Concealment method and device and ship provided with at least one such device
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US11436823B1 (en) 2019-01-21 2022-09-06 Cyan Systems High resolution fast framing infrared detection system
US11448483B1 (en) 2019-04-29 2022-09-20 Cyan Systems Projectile tracking and 3D traceback method
WO2023022618A1 (en) * 2021-08-17 2023-02-23 Акционерное Общество "Российский Концерн По Производству Электрической И Тепловой Энергии На Атомных Станциях" Multi-functional robotic system for controlling fire extinction at industrial sites
US11637972B2 (en) 2019-06-28 2023-04-25 Cyan Systems Fast framing moving target imaging system and method

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