Monitoring node, monitoring system, terminal equipment and service system

Abstract

The invention relates to a monitoring node, a monitoring system, terminal equipment and a service system. The monitoring node comprises a thermal imaging camera, a processor and a wireless module. The thermal imaging camera is arranged within the monitoring area at a first predetermined height from the ground, and the optical axis is substantially perpendicular to the ground to thermally image a corresponding imaging area on the ground. And the processor analyzes the thermal image to obtain an analysis result. The wireless module transmits the analysis results, and / or thermal images, using a wireless technology. The invention is mainly applied to indoor spaces of buildings, and can also be applied to internal spaces of large equipment such as trains, ships, airplanes and the like. According to the invention, accurate identification, analysis and positioning of the object target in the field in the monitoring area can be realized at the single node end, and the analysis result and / or the thermal image can be sent (such as broadcast) to the receiving terminal with the wireless receiving capability in the monitoring area, so that accurate active and passive positioning functions can be provided for the object target. And / or other related uses may be supported.

Description

[0001] This invention patent application is a divisional application of the Chinese invention patent application with application number 202410424243.1, application date April 9, 2024, and invention name “Monitoring Node, Monitoring System, Terminal Equipment and Service System”. Technical Field

[0002] The present disclosure relates to monitoring technology, and in particular to a monitoring node, a monitoring system, a terminal device and a service system. Background Art

[0003] In fire emergency scenarios or non-fire emergency scenarios, how to provide indoor personnel with services related to specific application scenarios in a timely and effective manner is a technical problem that urgently needs to be solved.

[0004] In addition, there is currently a strong market demand for indoor active and passive positioning, but there are currently no suitable products.

[0005] At present, the mainstream solution for indoor positioning is wireless positioning. Common wireless positioning technologies include indoor positioning technologies based on Bluetooth, iBeacon, WIFI, RFID, ZIGBEE, UWB, infrared, and ultrasound.

[0006] The common disadvantages of wireless positioning technology are low positioning accuracy (about 2 meters) or high cost.

[0007] In addition, due to the interference caused by wireless reflection and transmission, the accuracy and reliability are poor, making it difficult to promote and apply wireless positioning technology on a large scale in a standardized manner, and it cannot fully meet the application scenarios with passive positioning needs, such as smart homes, fire rescue and evacuation, etc.

[0008] Moreover, with the vigorous development of the robotics industry, the demand for precise indoor positioning is gradually increasing. The current mainstream simultaneous localization and mapping technology in the robotics industry relies on its own expensive photoelectric sensing and graphics processing technology, and lacks the support of external positioning and navigation infrastructure. Therefore, it is difficult to meet its positioning and navigation needs for dynamic large-scale indoor spaces.

[0009] Therefore, a solution is needed that can solve at least one of the above problems. Summary of the invention

[0010] One object of the present disclosure is to provide a monitoring node that can achieve high-precision active and passive indoor positioning, and / or can provide indoor personnel with services related to specific application scenarios in a timely and effective manner.

[0011] According to a first aspect of the present disclosure, a monitoring node is provided, comprising: a thermal imaging camera, arranged at a first predetermined height from the ground in a monitoring area, with an optical axis substantially perpendicular to the ground, so as to perform thermal imaging of a corresponding imaging area on the ground, wherein each pixel area of ​​the obtained thermal imaging image corresponds to each spatial area in the imaging area; a processor, which analyzes the thermal imaging image to obtain an analysis result; and a wireless module, which uses wireless technology to send the analysis result and / or the thermal imaging image.

[0012] Optionally, the processor performs at least one of the following functions: identifying a hot spot area in a thermal imaging image where the radiation temperature is different from the radiation temperature of the background environment; identifying the type of imaging object in the hot spot area in the thermal imaging image, the type of imaging object in the hot spot area including at least one of fire, living organisms, vehicles, robots, instruments, and equipment; locating the spatial position corresponding to the hot spot area based on the position of the monitoring node in the monitoring area and the relative position of the hot spot area in the thermal imaging image; identifying the posture of the imaging object in the hot spot area in the thermal imaging image; determining whether the imaging object in the hot spot area in the thermal imaging image is in an emergency state; encrypting the analysis result; performing at least one of the following processing operations on the thermal imaging image: encryption processing, compression processing, and fuzzification processing; generating a first control instruction for performing dynamic regional optimization based on the received information of at least one monitoring node in a pre-bound adjacent area; generating a second control instruction based on the information detected by at least one type of sensor in the thermal imaging image and / or the monitoring node.

[0013] Optionally, the processor also sets a relay identifier for the analysis results belonging to the emergency information, and the wireless module wirelessly broadcasts the analysis results carrying the relay identifier; the wireless module also receives the analysis results wirelessly broadcasted by other monitoring nodes or terminal devices, and wirelessly broadcasts the analysis results wirelessly broadcasted by other monitoring nodes or terminal devices with the relay identifier.

[0014] Optionally, the monitoring node also includes at least one of the following devices: an audible and visual alarm device. If the analysis result obtained by the processor belongs to emergency information, or the analysis result of the wireless broadcast of other monitoring nodes or terminal devices received by the wireless module carries a relay identifier, the audible and visual alarm device will perform an audible and visual alarm; an audio input device, used to collect audio data in the area where the monitoring node is located, and the processor also performs voice recognition on the audio data collected by the audio input device, and generates a second control instruction based on the voice recognition result; an audio output device, used to output sound information.

[0015] Optionally, a QR code is provided on the outer surface of the monitoring node, and the QR code contains at least one of the following information: the number and / or location information of the monitoring node; a wireless network link; an application software download link; a local building indoor map download link.

[0016] Optionally, the monitoring node also includes a first direction indicating device, the relative position relationship between the first direction indicating device and the thermal imaging camera is fixed, the first direction indicating device can mechanically adjust the installation angle and can be locked, the first direction indicating device is used to indicate a first predetermined direction, and when the first direction indicating device is set to indicate the first predetermined direction, the optical axis of the thermal imaging camera is basically perpendicular to the ground.

[0017] Optionally, the monitoring node also includes a second direction indicating device, which dynamically adjusts the indication direction based on the emergency evacuation indication generated or received by the monitoring node, and / or the second direction indicating device dynamically adjusts the brightness of the displayed indication direction based on the smoke concentration information in the monitoring area where the monitoring node is located.

[0018] Optionally, the monitoring node also includes a storage device, which is used to store the algorithm used by the processor. The monitoring node uploads the thermal imaging image or analysis results to the control system, receives an updated algorithm based on the thermal imaging image or analysis results sent by the control system, and updates the algorithm stored in the storage device.

[0019] Optionally, the monitoring node also includes: a battery for powering the monitoring node; a photoelectric converter for converting the collected ambient light into current to charge the battery; the processor also analyzes the current information converted by the photoelectric converter to obtain ambient light brightness detection information, and the wireless module also wirelessly broadcasts the ambient light brightness detection information.

[0020] Optionally, the monitoring node further includes at least one of the following: a lighting device for emergency lighting; a battery for powering the monitoring node and / or the lighting device; an ambient light sensor for detecting ambient light brightness to obtain ambient light brightness detection information; and the processor is further configured to control whether the battery powers the lighting device to provide emergency lighting.

[0021] Optionally, the monitoring node also includes at least one of the following: a smoke sensor for detecting the smoke concentration in the monitoring area where the monitoring node is located; a toxic and harmful gas sensor for detecting the toxic and harmful gas concentration in the monitoring area where the monitoring node is located; a flammable gas sensor for detecting the flammable gas concentration in the monitoring area where the monitoring node is located. The processor confirms the fire information based on the smoke concentration, the toxic and harmful gas concentration, at least one of the flammable gas concentrations, and the analysis results obtained by analyzing the thermal imaging image.

[0022] Optionally, the thermal imaging camera is a thermal imaging camera with a wide field of view or a larger field of view; and / or the thermal imaging camera is a thermal imaging camera that can identify the category of the imaging object but not the individual; and / or the resolution of the thermal imaging camera is a resolution that can identify the category of the imaging object but not the individual.

[0023] According to the second aspect of the present disclosure, a monitoring node is also provided, including: a thermal imaging camera, arranged at a first predetermined height from the ground in a monitoring area, with an optical axis substantially perpendicular to the ground, so as to perform thermal imaging of a corresponding imaging area on the ground, wherein each pixel area of ​​the obtained thermal imaging image corresponds to each spatial area in the imaging area respectively; and a wireless module, for wirelessly broadcasting the thermal imaging image.

[0024] Optionally, the thermal imaging camera is a thermal imaging camera with a wide field of view or a larger field of view; and / or the thermal imaging camera is a thermal imaging camera that can identify the category of the imaging object but not the individual; and / or the resolution of the thermal imaging camera is a resolution that can identify the category of the imaging object but not the individual.

[0025] According to the third aspect of the present disclosure, a monitoring system is also provided, including: multiple monitoring nodes, the monitoring nodes are the monitoring nodes described in one aspect of the present disclosure, the multiple monitoring nodes are scattered in a monitoring area, the imaging areas of the thermal imaging cameras of adjacent monitoring nodes are adjacent to or overlap each other, and the imaging areas of the thermal imaging cameras of the multiple monitoring nodes basically cover the ground of the monitoring area.

[0026] Optionally, the monitoring system also includes: a control system, which obtains thermal images from multiple monitoring nodes and / or analysis results obtained by the monitoring nodes analyzing the thermal images, analyzes the obtained thermal images and / or analysis results to obtain global information, and sends control instructions to corresponding actuators with global functions based on the global information, and pushes the global information to the client software; and / or the monitoring nodes also send the analysis results of the emergency information to the control system by wire, and the control system pushes the analysis results to all monitoring nodes for wireless broadcasting.

[0027] According to a fourth aspect of the present disclosure, a first terminal device is also provided. The first terminal device is suitable for being carried by a first object target, or is suitable for being set inside the first object target. The first terminal device obtains first positioning information of the first object target by using positioning technology. The first terminal device receives analysis results sent by one or more monitoring nodes using wireless technology. The analysis results include second positioning information of one or more second object targets in a thermal imaging image obtained by analyzing the thermal imaging image by the monitoring node. The thermal imaging image is obtained by performing thermal imaging of a corresponding imaging area on the ground by a thermal imaging camera in the monitoring node, and each pixel area of ​​the thermal imaging image corresponds to each spatial area in the imaging area respectively; or the first terminal device receives a thermal imaging image sent by one or more monitoring nodes using wireless technology, and analyzes the thermal imaging image to obtain an analysis result. The first terminal device determines the second positioning information belonging to the first object target in the obtained analysis result based on the first positioning information.

[0028] Optionally, the wireless technology includes wireless broadcasting.

[0029] Optionally, the first terminal device obtains first trajectory information of the first object target based on multiple first positioning information, and the first terminal device obtains second trajectory information of the same second object target based on multiple second positioning information of the same second object target acquired continuously, and the first terminal device determines the second object target corresponding to the second trajectory information matching the first trajectory information among the multiple second trajectory information as the first object target, and uses the determined second positioning information of the second object target as the positioning information of the first object target.

[0030] Optionally, the first terminal device divides an area within a predetermined range near the first positioning information into groups. If there are multiple second object targets in the group, the first terminal device determines a second object target whose change is consistent with the first object target as the first object target based on changes in whether the first object target is located in the group obtained by subsequent positioning technology and changes in whether the corresponding second object target is located in the group based on subsequently acquired second positioning information, and uses the second positioning information of the determined second object target as the positioning information of the first object target.

[0031] Optionally, the first terminal device determines a second object target associated with the first object target using an association rule algorithm and / or a correlation algorithm, and determines second positioning information corresponding to the second object target associated with the first object target as positioning information belonging to the first object target.

[0032] Optionally, the positioning technology is at least one of the following: wireless positioning technology, inertial navigation positioning technology, synchronous positioning and mapping technology; and / or the first terminal device also obtains second auxiliary association information of the second object target, the second auxiliary association information includes at least one of second posture information, second speed information, second trajectory information and type information, the first terminal device also obtains first auxiliary association information of the first object target, the first auxiliary association information includes at least one of first posture information, first speed information, first trajectory information and type information, the first terminal device combines the first positioning information, the first auxiliary association information and the second auxiliary association information to determine the second positioning information belonging to the first object target in the acquired analysis results.

[0033] Optionally, the first terminal device emits an audible and visual alarm in response to receiving an emergency evacuation status notification or manually adjusting to an emergency evacuation status by a user, and generates and dynamically adjusts an evacuation route according to the second positioning information belonging to the first object target.

[0034] Optionally, the first terminal device obtains the number and / or location information of the monitoring node by scanning a QR code set on the outer surface of the monitoring node, and / or downloads application software and / or a local building indoor map.

[0035] Optionally, the analysis result also includes the posture of the second object target. The first terminal device determines the second object target with a scanning posture as the first object target, and uses the determined second positioning information of the second object target as the positioning information of the first object target.

[0036] Optionally, the application software generates navigation information based on the second positioning information belonging to the first object target and the local building indoor map; and / or the application software displays the number and / or location information of the monitoring node in the map; and / or the first terminal device determines the second positioning information belonging to the first object target in the analysis results of the monitoring node corresponding to the number based on the first positioning information.

[0037] Optionally, the application software is pre-bound to one or more monitoring nodes and presets a triggering event condition, and in response to the triggering event condition, the monitoring node is triggered to remotely push a notification to the first terminal device.

[0038] Optionally, in response to the acquired analysis result being emergency information containing fire risk, the first terminal device controls the corresponding emergency equipment to perform corresponding functions based on the analysis result; or in response to the acquired analysis result being non-emergency information containing living things and their positioning information, the first terminal device controls the corresponding non-emergency equipment to perform corresponding functions based on the analysis result.

[0039] Optionally, the first terminal device is disposed inside the first object, and an upper surface of the first object shell forms a pattern containing information based on different material emissivities and / or different heat generation temperatures to facilitate recognition by a device with thermal recognition capability.

[0040] According to the fourth aspect of the present disclosure, a second terminal device is also provided, which is suitable for being arranged in a monitoring area. The second terminal device receives an analysis result sent by a monitoring node using wireless technology. In response to the received analysis result being emergency information, the second terminal device controls a corresponding emergency device to perform a corresponding function based on the analysis result; or in response to the received analysis result being non-emergency information containing information of a living being and its positioning, the second terminal device controls a corresponding non-emergency device to perform a corresponding function based on the analysis result.

[0041] Optionally, the second terminal device also receives ambient light brightness detection information sent by the monitoring node using wireless technology, and uses the received ambient light brightness detection information as a basis for switching the lighting device.

[0042] Optionally, the second terminal device is connected to a power supply system, the emergency information is a power disconnection instruction, and the second terminal device performs at least one of the following functions: disconnecting the power supply of this loop; indirectly disconnecting the main power switch of the power supply system by simulating or briefly activating leakage and / or short circuit.

[0043] Optionally, the second terminal device is a smart lock, the emergency information is an opening and closing instruction, and the second terminal device performs an opening and closing function based on the opening and closing instruction.

[0044] According to the fifth aspect of the present disclosure, a service system is also provided, including: a service control module and multiple terminal devices, the multiple terminal devices are scattered in the monitoring area; the service control module receives global information sent by the control system, generates and sends control instructions to corresponding execution devices and / or corresponding terminal devices for execution based on the global information, and the global information is obtained by the control system by analyzing thermal imaging images and / or analysis results obtained from multiple monitoring nodes in the monitoring area; and / or the terminal device receives the thermal imaging images and / or analysis results sent by the monitoring node using wireless technology, and sends the thermal imaging images and / or analysis results to the service control module, the service control module generates corresponding control instructions based on the received thermal imaging images and / or analysis results, and sends the control instructions to the corresponding execution devices and / or corresponding terminal devices for execution.

[0045] The present disclosure adds a processor and a wireless module to the monitoring node, so that the object target on site in the monitoring area can be accurately identified, analyzed and located at a single node, and the analysis results and / or thermal images can be wirelessly sent (such as wireless broadcast) to a receiving terminal with wireless receiving capability in the monitoring area, thereby providing accurate active and passive positioning functions for the object target and / or supporting other related uses. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components in the exemplary embodiments of the present disclosure.

[0047] Figure 1 is a schematic block diagram showing a monitoring system according to an embodiment of the present disclosure.

[0048] Figure 2 is a schematic block diagram showing a monitoring node according to an embodiment of the present disclosure.

[0049] FIG. 3A to FIG. 3C FIG. 1 is a schematic diagram showing the structure of a monitoring node.

[0050] Figure 4 is a schematic block diagram showing a monitoring system according to another embodiment of the present disclosure.

[0051] Figure 5 It is a schematic diagram showing the wireless signals wirelessly broadcasted by monitoring nodes within the monitoring area.

[0052] Figure 6 Schematic diagram showing a trajectory-based association method.

[0053] Figure 7 The figure is a schematic diagram showing a group-based association method.

[0054] Figure 8 A schematic diagram exemplarily shows a pattern set on a first object.

[0055] Fig. 9 It is a schematic diagram showing the application of the present disclosure to a non-fire emergency scenario.

[0056] Fig.10 It is a schematic diagram showing the application of the present disclosure to a fire emergency scenario. DETAILED DESCRIPTION

[0057] The preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0058] Those skilled in the art should understand that the terms "first", "second", etc. in the present disclosure are used to distinguish similar objects, rather than to describe a specific order or sequence, and have no additional limiting effect.

[0059] Figure 1 is a schematic block diagram showing a monitoring system according to an embodiment of the present disclosure.

[0060] Figure 2 is a schematic block diagram showing a monitoring node according to an embodiment of the present disclosure.

[0061] See also Figure 1 , Figure 2 The monitoring system may include multiple monitoring nodes. The multiple monitoring nodes may be distributed in the monitoring area. Each monitoring node 100 may include at least a thermal imaging camera 110 and a wireless module 130. Optionally, the monitoring node 100 may also include a processor 120 shown in the dotted box in the figure.

[0062] The imaging areas of the thermal imaging cameras of adjacent monitoring nodes may be adjacent to or overlap each other, and the imaging areas of the thermal imaging cameras of multiple monitoring nodes may basically cover the ground of the entire monitoring area to achieve monitoring of the entire monitoring area.

[0063] The monitoring area can be a space inside an industrial or civil building. That is, the monitoring area can refer to an indoor area. In addition, the monitoring area can also be the internal space of large equipment such as a train, a ship, or an airplane.

[0064] A single monitoring node 100 may correspond to a part of the monitoring area. The monitoring node 100 may be used in fire emergency scenarios or non-fire emergency scenarios (such as indoor positioning and navigation scenarios, smart home scenarios).

[0065] The monitoring node 100 can provide services related to specific application scenarios for the object targets (such as living things, robots, vehicles, and equipment control systems) in its corresponding monitoring area. The equipment control system can be an emergency equipment control system that controls emergency equipment (such as fire emergency lighting, emergency signs, fire broadcasts, fire sprinklers, pressurized air supply and smoke exhaust systems, etc.) to perform emergency functions. The equipment control system can also be a non-emergency equipment control system that controls non-emergency equipment (such as central air conditioning systems, lighting systems, epidemic prevention systems, etc.) to perform corresponding functions.

[0066] The thermal imaging camera 110 may also be referred to as an "infrared camera". The thermal imaging camera 110 may be arranged at a first predetermined height from the ground in the monitoring area. The optical axis of the thermal imaging camera 110 may be set to be substantially perpendicular to the ground so as to perform thermal imaging of the corresponding imaging area (sensing range) on the ground. In this way, each pixel area of ​​the thermal imaging image obtained by the thermal imaging camera 110 performing thermal imaging may correspond to each spatial area in the imaging area.

[0067] For imaging objects within the imaging area of ​​the thermal imaging camera 110, the thermal imaging camera will thermally image them, and form corresponding hot spots on the thermal imaging image formed on the thermal imaging sensor of the thermal imaging camera 110. The types of imaging objects may include but are not limited to fire, life forms, vehicles, robots, instruments, etc. As a part of infrared imaging, thermal imaging mainly uses 8-14 micron wavelength detection imaging.

[0068] The first predetermined height can be set accordingly according to the on-site situation of the monitoring area and, if necessary, in combination with the imaging parameters of the thermal imaging camera, so that the thermal imaging camera can perform appropriate thermal imaging of the ground in its corresponding imaging area.

[0069] For example, the first predetermined height may correspond to the floor height of a building, that is, the monitoring node and the thermal imaging camera may be set on the ceiling of the building floor. Alternatively, the first predetermined height may correspond to the height of a suspended ceiling in a building. Alternatively, the first predetermined height may also be set accordingly according to the size of the ground imaging area to be covered (combined with the viewing angle of the thermal imaging camera 110) under the constraints of the floor height or the suspended ceiling height.

[0070] In some embodiments, the thermal imaging camera 110 may be a thermal imaging camera with a wide field of view angle or above, so as to expand the monitoring range of the monitoring node 100. For example, the field of view angle of the thermal imaging camera 110 may be greater than 90 degrees.

[0071] In some embodiments, the thermal imaging camera 110 may be a thermal imaging camera that can identify the category of an imaging object but not an individual based on hardware and / or software design. For example, the resolution or sensitivity of the thermal imaging camera 110 may be a resolution or sensitivity that can identify the category of an imaging object but not an individual. By using, for example, a thermal imaging camera with medium to low resolution (e.g., less than QVGA resolution, 320x240) or medium to low sensitivity, or a thermal imaging camera that performs post-processing such as software blurring or software encryption, privacy concerns can be reduced, thereby expanding the scope of the monitoring area. In addition, for monitoring areas and / or monitoring objects with special requirements, it may also be considered to use a high-resolution thermal imaging camera in the case of, for example, informing the existence of a thermal imaging monitoring device to provide a privacy prompt.

[0072] In addition, the thermal imaging camera 110 may include at least one of a LWIR (long wave infrared) wavelength range thermal imaging sensor, a MWIR (mid wave infrared) wavelength range thermal imaging sensor, a SWIR (short wave infrared) wavelength range thermal imaging sensor, a NIR (near infrared) wavelength range thermal imaging sensor, and a FIR (far infrared) wavelength range thermal imaging sensor.

[0073] The processor 120 may also be referred to as an “image processing device.” The processor 120 may analyze the thermal imaging image obtained by the thermal imaging camera 110 to obtain an analysis result.

[0074] The processor 120 can identify the temperature-related information by analyzing the thermal image. The "temperature-related information" can refer to various temperature-related information that can be obtained from the thermal image. That is, the analysis result can be obtained based on various temperature-related information that can be obtained from the thermal image.

[0075] In various application scenarios of firefighting and non-firefighting, the processor 120 can obtain various temperature-related information from the thermal image according to application requirements and obtain analysis results that meet application requirements. Taking the firefighting application scenario as an example, the processor 120 can identify emergency information such as fire risk points and the location of personnel at the fire scene by analyzing the thermal image.

[0076] As an identification subject, the monitoring node 100 can accurately identify, analyze and locate the object target on the scene.

[0077] Exemplarily, the processor 120 may identify a hotspot region in the thermal image where the radiant temperature is different from the background ambient radiant temperature. The hotspot region corresponds to an area with a higher temperature at the monitoring area. The hotspot region may, for example, correspond to an area where the temperature corresponds to or is higher than a predetermined temperature threshold.

[0078] Exemplarily, the processor 120 may identify the type of imaging object in the hot spot area in the thermal imaging image based on the thermal imaging image. The type of imaging object in the hot spot area may include, but is not limited to, at least one of fire, life form (such as a person, an animal), a vehicle, a robot, an instrument, and a device. For example, the processor 120 may analyze the thermal imaging image, and by identifying static and dynamic information related to temperature and size in the imaging image, classify and identify the imaging object such as at least one of fire, life form, vehicle, robot, and instrument.

[0079] Exemplarily, the processor 120 can locate the spatial position corresponding to the hot spot area based on the position of the monitoring node in the monitoring area and the relative position of the hot spot area in the thermal imaging image. The position of the monitoring node 100 (thermal imaging camera 110) in the monitoring area is known to the processor 120 in the monitoring node 100. Therefore, the position information of the corresponding imaging area on the ground of the monitoring area corresponding to the monitoring node 100 can be further determined in combination with the monitoring space size and the monitoring angle of view of the thermal imaging camera. Since each pixel area of ​​the thermal imaging image sensed by the thermal imaging camera 110 corresponds to each spatial area in the imaging area, respectively. Therefore, based on the relative position of the hot spot area on the thermal imaging image, the processor 120 can determine the relative position of the imaging object corresponding to the hot spot area in the imaging area of ​​the thermal imaging camera 110. Combined with the position information of the imaging area in the monitoring area, the specific position of the imaging object corresponding to the hot spot area in the monitoring area can be accurately obtained, thereby achieving (two-dimensional) precise positioning of the imaging object.

[0080] Exemplarily, the processor 120 may also identify the posture of the imaging object in the hot spot area of ​​the thermal imaging image. Optionally, the processor 120 may also record the trajectory information of the imaging object in the hot spot area of ​​the thermal imaging image and determine the speed information of the imaging object in the hot spot area of ​​the thermal imaging image.

[0081] Exemplarily, the processor 120 may also determine whether the imaging object in the hot spot area of ​​the thermal image is in an emergency state. For example, the processor 120 may identify the type and posture of the imaging object in the hot spot area of ​​the thermal image, and determine whether there is an emergency state such as electric shock or fall according to the posture or posture change information of the imaging object (such as a person).

[0082] The analysis results obtained by the processor 120 and / or the thermal imaging image obtained by the thermal imaging camera 110 may be wirelessly broadcast via the wireless module 130 .

[0083] The wireless module 130 may use at least one of the following wireless technologies: Bluetooth, iBeacon, WIFI, RFID, ZIGBEE, UWB, infrared, ultrasound, Thread, Z-Wave5, cellular low-power wide area network technology (NB-IoT, LTE-M), non-cellular low-power wide area network technology (LoRaWAN, Sigfox), 2nd, 3rd, 4th, and 5th generation mobile communication systems. Exemplarily, the wireless module 130 may support multiple wireless technologies at the same time, and may select a suitable wireless technology to send corresponding data according to data transmission requirements.

[0084] The output power and / or coverage and / or transmission angle of the wireless module 130 can be pre-set and / or dynamically adjusted and optimized based on different scenarios. For example, when there is a need for positioning and navigation, the coverage of the wireless module 130 can be slightly larger than the coverage of thermal imaging, and the transmission angle is close to the field of view angle; in emergency situations such as fire and elderly people falling, the output power, coverage and / or transmission angle of the wireless module 130 can be increased.

[0085] Exemplarily, the processor 120 may also encrypt the analysis result to keep the analysis result confidential. For example, the processor 120 may encrypt the analysis result using a predetermined encryption algorithm based on a preset privacy scenario (such as an office scenario with confidentiality requirements). The wireless module 130 may broadcast the encrypted analysis result.

[0086] Exemplarily, the processor 120 may also perform at least one of encryption, compression, and fuzzification on the thermal image. Compression and fuzzification of the thermal image can reduce the amount of data while reducing privacy concerns to a certain extent and expanding the scope of the monitoring area. Taking encryption, compression, and fuzzification of the thermal image as an example, the thermal image may be fuzzified first, the fuzzification result may be compressed, and finally the compression result may be encrypted. The wireless module 30 may broadcast the thermal image after one or more of the above processing operations.

[0087] The analysis results of the wireless broadcast of the wireless module 130 can be received by a terminal device (i.e., a receiving terminal) with wireless receiving capability in the monitoring area. The terminal device can be carried by an object target (such as a living being, a robot, a vehicle), or installed inside an existing object target (such as a machine). The analysis results of the wireless broadcast of the wireless module 130 can also be received by other adjacent or close monitoring nodes.

[0088] The thermal image wirelessly broadcast by the wireless module 130 can be received by a terminal device (the first terminal device described below) with wireless receiving capability and information processing capability in the monitoring area. The terminal device can analyze the received thermal image to obtain an analysis result. For the analysis operation performed by the terminal device on the thermal image, please refer to the description of the processor 120 in this document.

[0089] The analysis result obtained by the processor 120 analyzing the thermal image may be an analysis result of emergency information (such as fire, electric shock, elderly fall, etc.), or an analysis result of non-emergency information. The analysis result of emergency information may be emergency information including fire risk, which may include but is not limited to fire risk points, positions of personnel at the fire scene, and spatial layout information of the monitoring area. The analysis result of non-emergency information may be non-emergency information including life forms and their positioning information.

[0090] The processor 120 may also set a relay identifier for the analysis result belonging to the emergency information. The wireless module 130 may wirelessly broadcast the analysis result carrying the relay identifier. The analysis result carrying the relay identifier sent by the wireless module 130 may be received by other monitoring nodes or terminal devices. After receiving the analysis result carrying the relay identifier, the other monitoring nodes or terminal devices may wirelessly broadcast the analysis result carrying the relay identifier. The wireless module 130 may also receive the analysis results wirelessly broadcasted by other monitoring nodes or terminal devices, and wirelessly broadcast the analysis results carrying the relay identifier received from other monitoring nodes or wirelessly broadcasted by terminal devices.

[0091] Therefore, if the monitoring nodes or terminal devices with wireless transceiver capabilities in the monitoring area receive analysis results with relay identifiers wirelessly broadcast by other monitoring nodes or terminal devices, the analysis results can be wirelessly broadcast. In this way, the analysis results of emergency information monitored by a single monitoring node will be broadcast to the entire monitoring area in the form of relay broadcast with the support of other monitoring nodes or terminal devices in the monitoring area, so that all receiving terminals in the entire monitoring area can perceive the analysis results of emergency information.

[0092] Exemplarily, the processor 120 may also generate a first instruction for performing dynamic optimization of the region based on the received information of at least one monitoring node in the pre-bound adjacent region (such as analysis results and / or thermal imaging images). The first instruction may refer to an instruction for controlling the device in the region corresponding to the current monitoring node based on the information of the monitoring node in the adjacent region in a non-emergency state to dynamically adjust the state and / or start-up of the device. For example, the processor 120 may generate corresponding control instructions based on the presence, quantity and location information of people in the adjacent region to dynamically adjust the temperature, air volume and / or switch of the central or single air conditioner in the region where the processor is located, the lighting brightness or switch of the lighting device, or the state or switch of other devices, etc., to achieve comfort, energy saving, safety and other requirements. The first control instruction may be sent to the corresponding device in a wireless manner by the wireless module 130, and the corresponding device executes the operation corresponding to the first control instruction. For example, the wireless module 130 may include a wireless infrared transmitter, which may encode the first control instruction into an infrared light signal for wireless broadcasting, and the device (such as the air conditioner) may receive and decode the infrared light signal using a wireless infrared receiver, and the decoded signal may be parsed by the device to identify the specific control instruction and perform the corresponding operation.

[0093] Exemplarily, the monitoring node 100 may also include one or more types of sensors. The processor 120 may also generate a second control instruction based on the thermal image and / or the information detected by at least one type of sensor in the monitoring node. The second control instruction may be sent to the corresponding device by the wireless module 130 in a wireless manner, and the corresponding device performs the operation corresponding to the first control instruction. Alternatively, the wireless module 130 may also connect to emergency communication in response to the second control instruction to provide emergency communication functions for people in the current area. In other words, the processor 120 may analyze the information collected by the thermal image and / or one or more types of sensors, and issue a second control instruction to the wireless module for broadcasting or communication in combination with a preset scenario. The difference from the first control instruction mentioned above is that the second control instruction may include a control instruction in an emergency state. For example, a fire or electric shock scenario may issue a control instruction to turn off the power switch and turn on the emergency lighting; an alarm instruction may be issued for scenarios such as an elderly person falling or a child falling, and / or an emergency communication such as a fire alarm phone, an emergency phone or other preset emergency communication methods may be connected.

[0094] Thus, the analysis result mentioned above may include a control instruction (a first control instruction and / or a second control instruction). The control instruction may be sent to a corresponding device by the wireless module 130 in a wireless manner (such as an infrared signal), and the corresponding device performs the operation corresponding to the control instruction. The specific sending principle of the control instruction can refer to the relevant description above.

[0095] In some embodiments, the monitoring node 100 may also include at least one of an audio and video alarm device, an audio input device, and an audio output device. If the analysis result obtained by the processor 120 belongs to emergency information, or the analysis result of the wireless broadcast of other monitoring nodes or terminal devices received by the wireless module 130 carries a relay identifier, the audio and video alarm device can perform an audio and video alarm. Thus, the monitoring node can remind the user that there is emergency information in the monitoring area in the form of an audio and video alarm. The audio input device, which may also be referred to as a pickup device, may include but is not limited to a microphone. The audio input device can collect audio data in the area where the monitoring node is located. The processor 120 can also perform voice recognition on the audio data collected by the audio input device, and generate a second control instruction based on the voice recognition result. For example, when the voice recognition result indicates that the user has issued a specific key voice (such as a voice for help or other specific wake-up words), a corresponding control instruction can be generated. For example, the control instruction may be an instruction to control the audio and video alarm device to perform an audio and video alarm, an instruction to connect to emergency communications, an instruction to turn off the power switch, and the like. Among them, the processor 120 can generate a control instruction that matches a specific scene. The audio output device is used to output sound information. The audio output device may be, but is not limited to, a speaker. The audio output device is used to output sound information. The sound information output by the audio output device can be the voice information sent by the emergency communication service provider received by the wireless module 130 after the emergency communication is connected. Therefore, the audio input device and the audio output device can realize the communication function.

[0096] Figure 3A , Figure 3B FIG. 1 is a schematic diagram showing the structure of a monitoring node.

[0097] See also Figure 3A , Figure 3B The outer surface of the monitoring node 100 may be provided with a scannable QR code. The QR code may be a fluorescent material. The QR code may contain at least one of the following information: the number and / or location information of the monitoring node; a wireless network link; an application software download link; a local building indoor map download link. The wireless network link can be used to download application software and information such as the building map. The user can use a terminal device (such as a mobile phone) to scan the QR code to obtain at least one of the above information.

[0098] The monitoring node 100 may further include a first direction indicating device. The relative position relationship between the first direction indicating device and the thermal imaging camera is fixed, the first direction indicating device can mechanically adjust the installation angle and can be locked, and the direction indicating device is used to indicate a first predetermined direction. When the first direction indicating device is set to indicate the first predetermined direction, the optical axis of the thermal imaging camera is substantially perpendicular to the ground.

[0099] like Figure 3A , Figure 3BAs shown, the first direction indicating device can use a direction indicating mark (such as an arrow mark) to indicate a first predetermined direction (such as north). In addition, the QR code and the first direction indicating mark can be set independently or in association. For example, the QR code can be used as a part of the first direction indicating mark.

[0100] When multiple monitoring nodes are installed and deployed in the monitoring area, the first direction indicating device is adjusted to ensure that all monitoring nodes point to the first predetermined direction when installed, so that the monitoring nodes can be used as direction references in navigation, and the optical axes of the imaging cameras of all monitoring nodes can be ensured to be substantially perpendicular to the ground. Thus, the first direction indicating device can facilitate the installation of the monitoring nodes.

[0101] In some embodiments, the monitoring node 100 may also include a second direction indicating device. The second direction indicating device is a dynamic direction indicating device. The second direction indicating device may be a device such as, but not limited to, LCD, OLED, MICROLED, and LED array, and may be controlled to emit red, yellow, and other eye-catching and / or smoke-penetrating light. The second direction indicating device may dynamically adjust the indicated direction based on the emergency evacuation instructions generated by the monitoring node or the emergency evacuation instructions received from the control system. And / or, the second direction indicating device may also dynamically adjust the brightness of the displayed indicated direction based on the smoke concentration information in the monitoring area where the monitoring node is located. The smoke concentration information may be detected by the smoke sensor in the monitoring node.

[0102] In some embodiments, the monitoring node 100 may also include a battery and a photoelectric converter. The battery is used to power the monitoring node 100. The photoelectric converter is used to convert the collected ambient light into current to charge the battery. The battery can also be directly charged by an external power supply by wire or wirelessly, or the battery can also be removed from the monitoring node and powered by an external power supply. The processor 120 can also analyze the current information converted by the photoelectric converter to obtain ambient light brightness detection information. Among them, the processor 120 can use an A / D conversion device to collect current information, and analyze the collected current information to obtain ambient light brightness detection information. The wireless module 130 can also wirelessly broadcast the ambient light brightness detection information. The wirelessly broadcasted ambient light brightness detection information can be received by a receiving terminal (such as a lighting device) and can be used as a basis for brightness adjustment and / or switching of the receiving terminal.

[0103] In some embodiments, the monitoring node 100 may further include a storage device. The storage device is used to store the algorithm used by the processor 120. The algorithm may include but is not limited to the analysis algorithm used by the processor 120 to analyze the thermal image. The monitoring node 100 may upload the thermal image or the analysis result to the control system, receive the updated algorithm based on the thermal image or the analysis result sent by the control system, and update the algorithm stored in the storage device.

[0104] Exemplarily, the processor 120 can analyze the thermal image using an artificial intelligence model system or a machine vision processing system. The control system can train the artificial intelligence model system or the machine vision processing system based on the received thermal image or analysis result, and send the trained artificial intelligence model system or the machine vision processing system to the monitoring node 100, so that the monitoring node 100 can analyze the thermal image using the latest artificial intelligence model system or the machine vision processing system.

[0105] In some embodiments, the monitoring node 100 may further include at least one of a lighting device, a battery, and an ambient light sensor. The lighting device is used for emergency lighting. In addition, the lighting device may also be used for non-emergency lighting. Figure 3C , the monitoring node may include emergency lighting equipment. The battery is used to power the monitoring node and / or the lighting device. The ambient light sensor is used to detect the ambient light brightness to obtain ambient light brightness detection information. The processor 120 can also control whether the battery powers the lighting device to provide emergency lighting. For example, the processor 120 can determine whether there is an emergency state and whether the battery needs to power the lighting device to provide emergency lighting by analyzing the thermal imaging image and combining the ambient light brightness detection information and relevant information pre-set by the user, and generate corresponding control instructions to instruct the battery to power the lighting device or not to power the lighting device.

[0106] In some embodiments, the monitoring node 100 may also include at least one of a smoke sensor, a toxic and harmful gas sensor, and a flammable gas sensor. The smoke sensor is used to detect the smoke concentration in the monitoring area where the monitoring node is located. The toxic and harmful gas sensor is used to detect the concentration of toxic and harmful gases in the monitoring area where the monitoring node is located. The toxic and harmful gases may include but are not limited to carbon dioxide, nitric oxide, carbon monoxide, hydrogen sulfide, hydrogen cyanide, etc. Toxic and harmful gases in the present disclosure refer to toxic gases and / or harmful gases. The concentration of toxic and harmful gases may also be referred to as toxic gas concentration and / or harmful gas concentration. The flammable gas sensor is used to detect the concentration of flammable gases in the monitoring area where the monitoring node is located. The flammable gases may include but are not limited to methane, liquefied petroleum gas and other flammable gases (such as flammable vapors released by solvents, paints, adhesives, etc.).

[0107] The processor 120 can confirm the fire information based on at least one of the smoke concentration, the toxic and harmful gas concentration, and the flammable gas concentration and the analysis result obtained by analyzing the thermal image. The smoke sensor, the toxic and harmful gas sensor, and the flammable gas sensor can more accurately confirm the fire information at a single node.

[0108] Figure 4 is a schematic block diagram showing a monitoring system according to another embodiment of the present disclosure.

[0109] See also Figure 4 ,and Figure 1 The difference of the monitoring system shown is that the monitoring system can also include a control system. The control system and the monitoring node can be connected by wire or wirelessly. Exemplarily, the control system can be connected to each monitoring node via a serial field bus. The serial bus includes but is not limited to field buses such as RS485 / RS422. Each serial bus can be connected in series with at least 2 monitoring nodes (thermal imaging cameras and / or processors). In some embodiments, each serial bus can be connected in series with more than 5 monitoring nodes (thermal imaging cameras and / or processors).

[0110] The control system can obtain thermal images and / or information processed by the monitoring nodes (such as analysis results) from multiple monitoring nodes, analyze the obtained thermal images and / or information to obtain global information, and can send control instructions to corresponding actuators with global functions based on the global information, and can push the global information to the client software.

[0111] Global information may include emergency information (such as fire location information, security information) and non-emergency information (such as crowd congestion, equipment maintenance information, customized information of the management department) within the entire building, as well as information such as the integrity of building facilities.

[0112] Client software refers to the application software installed and registered in the terminal device carried by the target (such as a person). When using the client software, you can choose to register with the local control system to facilitate timely global information to plan navigation and form a closed-loop interaction in emergency and non-emergency situations.

[0113] Actuators may include actuators used for fire-fighting purposes, such as fire emergency lighting, emergency signs, fire broadcasts, fire sprinklers, pressurized air supply and smoke exhaust systems, etc., and may also include actuators used for non-fire-fighting purposes, such as central air-conditioning systems, lighting systems, epidemic prevention systems, etc.

[0114] The monitoring node can also send the analysis results of the emergency information to the control system by wire. The control system can push the analysis results to all monitoring nodes for wireless broadcast. The control system can also push the analysis results to the client software so that the terminal device installed with the client software can know the analysis results.

[0115] The monitoring system or monitoring node disclosed in the present invention can provide high-precision active positioning and passive positioning services for the object targets (such as living things, robots) in the monitoring area. Active positioning means that the object target, such as a person, actively obtains its own location information with the help of a mobile terminal (mobile phone, iPad, etc.) and actively locates and navigates indoors. Passive positioning means that the object target is detected by the monitoring node and informed of the positioning method of the object target.

[0116] Based on this, the present disclosure also proposes a first terminal device.

[0117] The first terminal device is suitable for being carried by the first object, or is suitable for being arranged inside the first object. The first object refers to an object with active positioning requirements, such as but not limited to a living being, a robot or a vehicle.

[0118] The first terminal device has wireless transceiver capability and certain information processing capability. For example, the first object target is a person, and the first terminal device can be a smart phone carried by the person.

[0119] The first terminal device can obtain the first positioning information of the first object target by using the positioning technology. The positioning technology can be any one or more of but not limited to wireless positioning technology, inertial navigation positioning technology, and simultaneous positioning and mapping technology (SLAM). Among them, the wireless positioning technology can be but not limited to wireless signal attenuation distance RSSI technology or AOA technology. Using inertial navigation positioning technology (accelerometer, gyroscope, electronic compass), not only the positioning information of the first object target can be obtained, but also the speed information, posture information (such as direction, angle), etc. of the first object target can be obtained. Simultaneous positioning and mapping can be SLAM based on 2D / 3D machine vision, laser radar, etc. The map downloaded by the first terminal device by scanning the monitoring node can save the necessity of SLAM mapping. In addition, some first terminal devices that traditionally rely on SLAM navigation, such as robots, can navigate based on the received thermal imaging map or analysis results broadcast by the monitoring node without relying on SLAM navigation, thereby greatly saving the cost of machine vision, laser radar, etc.

[0120] Figure 5 Schematic diagram showing wireless signals broadcast by monitoring nodes in the monitoring area. Figure 5,The interference caused by reflection and transmission of wireless signals will lead to poor accuracy and reliability of wireless positioning.

[0121] In view of this, the first terminal device can receive the analysis results of one or more monitoring nodes wirelessly broadcast, and the analysis results can include the second positioning information of one or more second object targets (i.e., imaging objects) in the thermal imaging image obtained by the monitoring node analyzing the thermal imaging image. The first terminal device can achieve high-precision active positioning based on the analysis results of the received monitoring node wireless broadcast. The first terminal device can also receive the thermal imaging image wirelessly broadcast by one or more monitoring nodes, and analyze the thermal imaging image to obtain the above analysis results.

[0122] The second positioning information is the precise positioning information obtained by the monitoring node or the first terminal device performing thermal imaging positioning (passive positioning) on ​​the second object target in the imaging area corresponding to the monitoring node. The first positioning information is the inaccurate positioning information obtained by the first terminal device performing active positioning using positioning technology (such as wireless positioning technology). The second positioning information is more accurate than the first positioning information.

[0123] The first terminal device needs to associate the second positioning information obtained (received or obtained by analyzing the received thermal imaging image) with the first positioning information to identify the second positioning information belonging to the first terminal device, that is, to identify the second object target belonging to the first object target from the second object targets corresponding to the multiple second positioning information obtained.

[0124] Since the thermal imaging areas of adjacent monitoring nodes are adjacent or overlapping, in theory, the first terminal device can track the identified second object target after performing an association. However, in some scenarios, the tracking may fail. Therefore, the first terminal device can perform association confirmation in a continuous or spot check manner to ensure positioning accuracy. That is, the first terminal device can perform multiple association operations continuously or intermittently to identify the second positioning information belonging to the first terminal device from the acquired second positioning information.

[0125] The first terminal device can determine the second positioning information belonging to the first object target in the acquired analysis result based on the first positioning information. That is, the first positioning information can be used to assist in determining the second positioning information belonging to the first object target in the acquired multiple second positioning information.

[0126] Exemplarily, the first terminal device may also obtain the second auxiliary association information of the second object target. The second auxiliary association information may include but is not limited to at least one of the second posture information, second speed information, second trajectory information and type information of the second object target. Part or all of the second auxiliary association information may be generated by the monitoring node and sent to the first terminal device by wireless broadcast. Alternatively, part or all of the second auxiliary association information may also be generated by the first terminal device. For example, the second posture information and type information of the second object target may be generated by the monitoring node and sent to the first terminal device by wireless broadcast; the first terminal device may determine the second trajectory information and second speed information of the second object target based on the second positioning information and second posture information of the second object target received continuously. The first terminal device may also obtain the first auxiliary association information of the first object target. The first auxiliary association information may include but is not limited to at least one of the first posture information, first speed information, first trajectory information and type information of the first object target. The first terminal device may determine the second positioning information belonging to the first object target in the received analysis result in combination with the first positioning information, the first auxiliary association information and the second auxiliary association information. In this way, the association speed can be improved and the positioning precision and accuracy can be increased. For example, the first terminal device can compare the first positioning information and the first auxiliary association information with the second positioning information and the second auxiliary association information of the second object target respectively, and identify the second object target whose position, posture, speed, and object type are the same or similar to the first object target as the first object target.

[0127] Exemplarily, the first terminal device may also determine the second positioning information belonging to the first object target in the following manner.

[0128] 1) Trajectory-based association

[0129] The analysis result received by the first terminal device, or the analysis result obtained by the first terminal device analyzing the received thermal imaging image, may also include second trajectory information of the second object target.

[0130] The first terminal device can obtain the first trajectory information of the first object target based on multiple first positioning information previously obtained by continuous positioning using positioning technology, such as multiple first positioning information within a certain period of time before the current moment.

[0131] The first terminal device can determine the second object target corresponding to the second trajectory information matching the first trajectory information among the multiple second trajectory information obtained (received or obtained by analyzing the received thermal imaging image) as the first object target, and use the determined second positioning information of the second object target as the positioning information of the first object target.

[0132] The first terminal device may determine the second trajectory information that matches the first trajectory information by calculating the similarity between the first trajectory information and each second trajectory information. For example, the first terminal device may determine the second trajectory information that is most similar to the first trajectory information as the second trajectory information that matches the first trajectory information. The similarity mentioned here may refer to the similarity of the two trajectory information in terms of overall shape.

[0133] Figure 6 Schematic diagram showing a trajectory-based association method.

[0134] See also Figure 6 The position of the black man indicates the wireless positioning position of the first object (i.e., the first positioning information), and the position of the white man indicates the thermal imaging positioning position of the second object (i.e., the second positioning information). The dotted line with an arrow at the black man indicates the previous continuous wireless positioning trajectory of the first object (i.e., the first trajectory information). The dotted line with an arrow at the white man indicates the previous continuous thermal imaging positioning trajectory of the second object (i.e., the second trajectory information).

[0135] The trajectory of the first object A0 is similar to the trajectory of the second object A1, and the trajectory of the first object B0 is similar to the trajectory of the second object B1. Therefore, the first object A0 can be associated with the second object A1, and the first object B0 can be associated with the second object B1.

[0136] 2) Group-based association

[0137] The first terminal device may divide areas within a predetermined range near the first positioning information into groups.

[0138] Initially, the first object is located in the group. Also, there may be one or more second objects in the group.

[0139] Initially, the second object objects in the group may all be associated with the first object object.

[0140] If there is only one second object target in the group, the second object target may be directly determined as the first object target.

[0141] If there are multiple second object targets in the group, the first terminal device can determine the second object target whose change situation is consistent with (and unique to) the first object target as the first object target based on the change situation of whether the first object target is located in the group obtained by subsequent positioning technology and the change situation of whether the corresponding second object target is located in the group based on the second positioning information subsequently acquired (received or obtained by analyzing the received thermal imaging image), thereby realizing the association between the first object target and the second object target.

[0142] Specifically, when there are multiple second object targets in the group, the first terminal device can continue to use the positioning technology to obtain the first positioning information of the first object target, and judge whether the first object target is still in the group according to the first positioning information; at the same time, the first terminal device can judge whether the second object target originally in the group is still in the group according to the analysis results obtained later (received or obtained by analyzing the received thermal imaging image); after each execution of the above two aspects of judgment, the second object target that is consistent with the change of whether the first object target is still in the group can be retained, and the second object target that is inconsistent with the change of whether the first object target is still in the group can be ignored. By analogy, the only second object target that is finally retained is the second object target associated with the first object target.

[0143] Figure 7 The figure is a schematic diagram showing a group-based association method.

[0144] See also Figure 7 The black man represents the thermal imaging object target (i.e., the first object target), and the white man represents the thermal imaging non-object target (i.e., the second object target not associated with the first object target). First, a wireless positioning group can be constructed based on the positioning information (i.e., the first positioning information) obtained by wireless positioning the first object target, and the area corresponding to the wireless positioning group is the area within a predetermined range near the first positioning information.

[0145] Initially, the thermal imaging object target and the multiple thermal imaging non-object targets are all located in the wireless positioning group. That is, initially, the black man and the multiple white men are all located in the positioning group (i.e., the first positioning group shown in the figure). At this time, it is impossible to distinguish whether the thermal imaging object in the group is a thermal imaging object target or a thermal imaging non-object target.

[0146] If the positioning information obtained based on the wireless positioning of the first object target thereafter indicates that the first object target has moved outside the wireless positioning group, and at this time only one thermal imaging object (i.e., the black man) has moved outside the group, then the thermal imaging object is the thermal imaging object target (i.e., the first object target).

[0147] 3) Association method based on association rule algorithm

[0148] The first terminal device may determine the second object object associated with the first object object by using an association rule algorithm.

[0149] The association rule algorithm may be a traditional association rule algorithm, such as an Apriori algorithm, an FP-growth algorithm, an Eclat algorithm, an association rule tree algorithm, an association rule algorithm based on pattern growth, a COFI algorithm, an association rule network algorithm, and the like.

[0150] The association rule algorithm can also be an AI algorithm based on artificial intelligence training.

[0151] The first terminal device can obtain multiple sets of first positioning data of the first object through continuous positioning. The first terminal device can obtain multiple sets of second positioning data of the second object based on the analysis results received at multiple times or the analysis results obtained by analyzing the thermal imaging images received at multiple times.

[0152] Multiple sets of first positioning data may refer to positioning data at multiple moments. The multiple moments may include the current moment and multiple historical moments. Each set of first positioning data corresponds to a moment, and each set of first positioning data may include the first positioning information at that moment. Optionally, each set of first positioning data may also include, but is not limited to, information such as posture, speed, and trajectory.

[0153] Similar to the multiple sets of first positioning data, the multiple sets of second positioning data may also refer to positioning data at multiple moments. Each set of second positioning data corresponds to a moment, and each set of second positioning data may include the second positioning information at that moment. Optionally, each set of second positioning data may also include, but is not limited to, information such as posture, speed, and trajectory.

[0154] The first terminal device can calculate the support and / or confidence of each second object target based on multiple groups of first positioning data of the first object target and multiple groups of second positioning data of each second object target, and determine the second object target associated with the first object target based on the support and / or confidence.

[0155] The support degree can reflect the frequency of the data groups (i.e., the first positioning data and the second positioning data) corresponding to the same time and related in the multiple groups of second positioning data of the second object target and the multiple groups of first positioning data of the first object target. The data groups corresponding to the same time and related can refer to the first positioning data and the second positioning data with high similarity at the same time. For example, if the second positioning data of the second object target at a certain time is the same or close in position, the same or similar in posture, the same or similar in speed, and the same or similar in trajectory as the first positioning data of the first object target at that time, it can be considered that the second positioning data at that time is related to the first positioning data, and the second positioning data and the first positioning data constitute a related data group. Exemplarily, the support degree can be obtained by calculating the ratio of the number of data groups corresponding to the same time and related to the number of all data groups corresponding to the same time and formed by all second object targets. When calculating the support degree, different weighting values ​​can also be adopted for optimization of different data groups. For example, a higher weight value can be assigned to a data group whose time is closer to the current time.

[0156] The confidence level can reflect the confidence level of the data groups (i.e., the first positioning data and the second positioning data) corresponding to the same time and related in the multiple sets of second positioning data of the second object target and the multiple sets of first positioning data of the first object target. Exemplarily, the confidence level can be obtained by calculating the ratio of the number of data groups corresponding to the same time and related to the number of all data groups corresponding to the same time and formed by the second object target.

[0157] After the support and / or confidence are obtained, the second object target associated with the first object target can be determined based on the support and / or confidence. The greater the support or confidence of the second object target, the greater the probability that the second object target is associated with the first object target. That is, the probability that the second object target is associated with the first object target is positively correlated with the support and confidence of the second object target, respectively.

[0158] 4) Association method based on correlation algorithm

[0159] The first terminal device may determine a second object object associated with the first object object by using a correlation algorithm.

[0160] Correlation is a statistical analysis method used to evaluate the relationship between two variables and its strength. In data analysis and machine learning, correlation algorithms are often used to explore the linear relationship between two variables. Common correlation algorithms include Pearson correlation coefficient and Spearman correlation coefficient.

[0161] The first terminal device can obtain multiple sets of first positioning data of the first object target through continuous positioning. The first terminal device can also obtain multiple sets of second positioning data of the second object target based on the analysis results received at multiple times, or the analysis results obtained by analyzing the thermal imaging images received at multiple times. For the multiple sets of first positioning data and the multiple sets of second positioning data, please refer to the relevant description above.

[0162] The first terminal device may calculate the correlation coefficient between each second object target and the first object target based on the multiple groups of first positioning data of the first object target and the multiple groups of second positioning data of each second object target by using a correlation algorithm, and determine the second object target associated with the first object target based on the correlation coefficient. For example, the second object target with the correlation coefficient closest to 1 may be determined as the object target associated with the first object target.

[0163] As described above, each set of first positioning data may include the first positioning information at that moment. Optionally, each set of first positioning data may also include, but is not limited to, information such as posture, speed, and trajectory. Each set of second positioning data may include the second positioning information at that moment. Optionally, each set of second positioning data may also include, but is not limited to, information such as posture, speed, and trajectory. Exemplarily, when calculating the correlation coefficient between the second object target and the first object target, the correlation coefficient between the second object target and the first object target under the data may be calculated for each data item (such as position, posture, speed, and trajectory) in multiple sets of positioning data, and then the mean value (such as arithmetic mean or weighted mean) of all correlation coefficients is used as the correlation coefficient between the second object target and the first object target. The value range of the correlation coefficient is -1 to 1, where -1 indicates a complete negative correlation, 0 indicates no correlation, and 1 indicates a complete positive correlation. The calculation method of the correlation coefficient may be, but is not limited to, the Pearson correlation coefficient calculation method or the Spearman correlation coefficient calculation method. The Pearson correlation coefficient measures the linear relationship between two variables. The Spearman correlation coefficient is used to measure the monotonic relationship between two variables, that is, the ordinal relationship between the variables.

[0164] In some embodiments, the first terminal device (such as application software installed and registered in the first terminal device) can issue an audible and visual alarm in response to receiving an emergency evacuation status notification or manually adjusting the emergency evacuation status by the user, and generate and dynamically adjust the evacuation route based on the second positioning information belonging to the first object target.

[0165] In some embodiments, the first terminal device can obtain the number and / or location information of the monitoring node by scanning the QR code set on the outer surface of the monitoring node, and / or download application software and / or a local building indoor map.

[0166] Exemplarily, the analysis result received by the first terminal device may also include the posture of the second object target. The first terminal device may associate the second positioning information in the currently received analysis result when scanning the QR code to determine the second object target with a scanning posture as the first object target, and use the determined second positioning information of the second object target as the positioning information of the first object target.

[0167] The application software scanned and downloaded by the first terminal device can generate navigation information based on the second positioning information belonging to the first object target and the local building indoor map. The application software can also display the number and / or location information of the monitoring node in the map. The first terminal device can also determine the second positioning information belonging to the first object target in the analysis result of the monitoring node corresponding to the number in the scanned QR code (received or obtained by analyzing the received thermal imaging image) based on the first positioning information.

[0168] The application software scanned and downloaded by the first terminal device can also be pre-bound to one or more monitoring nodes and preset the triggering event conditions. In response to the triggering event conditions, the monitoring node is remotely pushed to the first terminal device. In this way, the first terminal can realize remote monitoring of the monitoring area.

[0169] In some embodiments, the first terminal may also have an emergency device control function and / or a non-emergency device control function. In response to the analysis result obtained (received or obtained by analyzing the received thermal image) being emergency information containing fire risk, the first terminal device may control the corresponding emergency device to perform a corresponding function based on the analysis result. In response to the analysis result obtained (received or obtained by analyzing the received thermal image) being non-emergency information containing life forms and their location information, the first terminal device may control the corresponding non-emergency device to perform a corresponding function based on the analysis result.

[0170] In some embodiments, the first terminal device may be disposed inside the first object. The first object may be a machine, such as a robot. In order to facilitate the identification of a device having thermal recognition capability (such as a monitoring node), a pattern containing information may be formed on the upper surface of the first object housing based on different material emissivities and / or different heat generation temperatures.

[0171] The upper surface of the shell of the first object target can form a specific pattern based on the different material emissivities and / or the different heat generation temperatures. Different upper surfaces of the shells of the first object targets can form different patterns. And the association between the pattern and the identity of the first object target can be pre-specified. In this way, the thermal recognition device (such as a monitoring node) can identify the identity of the first object target by identifying the pattern corresponding to the imaging object in the hot spot area. Taking the first object target as a robot as an example, the upper surfaces of the shells of robots of different models can form different patterns based on the different material emissivities and / or the different heat generation temperatures, so that the thermal recognition device can easily identify robots of different models.

[0172] Figure 8 A schematic diagram exemplarily shows a pattern set on a first object. Figure 8 , the first object target may refer to a robot. The upper surface of the robot shell may include a high-emissivity surface composed of a high-emissivity material and a low-emissivity surface composed of a low-emissivity material. Emissivity is a measure of an object's ability to absorb and emit radiant energy. Low-emissivity materials may refer to smooth or unoxidized metals, and high-emissivity materials may refer to rough or oxidized metals. High-emissivity surfaces may form specific patterns, such as a cross, to identify the first object target. A device with thermal recognition capability (such as a monitoring node) may identify the first object target by identifying the pattern of the high-emissivity surface of the first object target.

[0173] In view of the monitoring node having the ability to analyze and process thermal images and wirelessly broadcast the analysis results, the present disclosure also proposes a second terminal device. The second terminal device is suitable for being arranged in the monitoring area. The second terminal device may refer to a receiving terminal (such as a remote control) having an emergency device control function and / or a non-emergency device control function.

[0174] The second terminal device can receive the analysis result wirelessly broadcast by the monitoring node.

[0175] In response to the received analysis result being emergency information, such as fire risk, electric shock and other emergency information, the second terminal device controls the corresponding emergency device to perform the corresponding function based on the analysis result. Exemplarily, the second terminal device can be connected to the power supply system, and the emergency information can refer to the power disconnection instruction made by the monitoring node when detecting emergency scenarios such as fire risk or electric shock. The second terminal device can disconnect the power switch of this circuit and indirectly disconnect the switch of the main power supply of the power supply system (such as air switch, leakage switch, etc.) by simulating or briefly activating leakage and / or short circuit. Exemplarily, the second terminal device can also be a smart lock, which can be an independent smart lock or a part of other equipment (such as fire fighting equipment). The emergency information received by the second terminal device can be the opening and closing instruction made by the monitoring node when detecting the fire risk. The second terminal device can perform the opening and closing function based on the switch instruction. For example, in the case of fire, the smart door lock can be automatically opened to allow personnel to use fire fighting equipment, evacuate or firefighters to enter the fire.

[0176] In response to the received analysis result being non-emergency information including information about a living being and its location, the second terminal device controls a corresponding non-emergency device to perform a corresponding function based on the analysis result.

[0177] As described above, the analysis result received by the second terminal device may be a control instruction. In this case, the second terminal device directly controls the corresponding device to perform an operation matching the control instruction.

[0178] The second terminal device can also receive the ambient light brightness detection information wirelessly broadcast by the monitoring node, and use the received ambient light brightness detection information as the basis for brightness adjustment and / or switching of the lighting device. Exemplarily, the second terminal device can control the on and off and brightness value of the lighting device based on the ambient light brightness detection information wirelessly broadcast by the monitoring node and the life information in the analysis results. Exemplarily, the second terminal device can control the switching and temperature adjustment of cooling or heating equipment such as air conditioners and fans based on the ambient temperature information wirelessly broadcast by the monitoring node and the life information in the analysis results.

[0179] In some embodiments, the second terminal device may also serve as an executor to receive control instructions sent by the control system based on the global information and execute the control instructions.

[0180] Fig. 9 It is a schematic diagram showing the application of the present disclosure to a non-fire emergency scenario.

[0181] See also Fig. 9 , multiple monitoring nodes and non-emergency equipment can be deployed in the monitoring area.

[0182] Non-emergency equipment may include, for example, central air conditioning, lighting equipment, and fans.

[0183] Exemplarily, multiple remote controllers may be deployed in the monitoring area. Each remote controller may correspond to a portion of the monitoring area and be used to control the opening and / or closing of non-emergency equipment in the portion of the monitoring area. The remote controller may serve as the second terminal device mentioned above, receive non-emergency information wirelessly broadcast by the monitoring node in the corresponding monitoring area, and control the associated non-emergency equipment to perform corresponding functions.

[0184] For example, the monitoring node can provide on-site feedback information to the central air conditioning system in a wireless broadcasting manner based on the analysis results of the acquired thermal imaging image, so that the central air conditioning system can make dynamic adjustments. For example, by analyzing the thermal imaging image, hotter and / or colder areas can be identified, so that on-site temperature information can be provided to the central air conditioning system, so that the central air conditioning system can make dynamic adjustments to bring each area into a suitable temperature range.

[0185] Exemplarily, the monitoring node may provide on-site feedback information to the lighting system in a wireless broadcasting manner based on the acquired ambient light brightness detection information, so that the lighting system can perform lighting control.

[0186] Exemplarily, the monitoring node may provide on-site personnel location feedback information to the fan system in a wireless broadcast manner based on the analysis results of the acquired thermal imaging images, so that the fan system can dynamically adjust and track to provide comfortable services.

[0187] Exemplarily, a wireless receiving module (such as an infrared receiver) may be provided in a non-emergency device (such as an air conditioner), and the monitoring node may use the wireless module (such as an infrared transmitter) to send the generated control instructions (such as the first control instruction and the second control instruction mentioned above) to the non-emergency device to instruct the non-emergency device to perform operations corresponding to the control instructions.

[0188] Fig.10 It is a schematic diagram showing the application of the present disclosure to a fire emergency scenario.

[0189] See also Fig.10, multiple monitoring nodes and fire emergency equipment can be deployed in the monitoring area.

[0190] Fire emergency equipment may include, for example, fire emergency lighting (not shown) and / or fire emergency indication signs and / or fire broadcasting and / or smoke exhaust equipment. In response to receiving fire risk identification information wirelessly broadcast by the monitoring node, the fire emergency equipment control device may control these fire emergency equipment to dynamically change the content of local emergency indication signs and local broadcasting content, and optimize the design from the perspective of architectural design, so as to better guide the evacuation of on-site personnel by artificial intelligence or manual work.

[0191] like Fig.10 As shown, the fire emergency signs on both sides of the fire point respectively provide evacuation direction instructions in opposite directions, so as to instruct on-site personnel to evacuate to a safe area as quickly as possible in the direction away from the fire point.

[0192] Similarly, fire alarms placed in different locations can also broadcast optimized evacuation prompts based on their own locations and the location of the fire, and if necessary, combined with the building design structure, so that on-site personnel can promptly understand the correct evacuation direction and evacuate to a safe area as soon as possible.

[0193] In the event of a fire, fire emergency lighting can be turned on throughout the entire area so that on-site personnel can easily identify evacuation routes and safely leave the risk area to reach a safe area.

[0194] For another example, the fire emergency equipment may also include fire sprinklers. In response to receiving the fire risk identification information wirelessly broadcast by the monitoring node, the fire emergency equipment control device may control the corresponding fire sprinklers to perform sprinkler fire extinguishing operations. Thus, linkage with the fire sprinklers may be achieved. In some embodiments, the design may be optimized from the perspective of architectural design, so that sprinkler fire extinguishing linkage operations may be performed earlier and more accurately by artificial intelligence or manual remote control.

[0195] For another example, the fire emergency equipment may also include a pressurized air supply and smoke exhaust system (not shown in the figure). In response to receiving the fire risk identification information wirelessly broadcast by the monitoring node, the fire emergency equipment control device may control the fire pressurized air supply and smoke exhaust control.

[0196] In summary, the present disclosure provides processing capabilities to monitoring nodes, so that the monitoring nodes, as identification subjects, can accurately identify, analyze and locate the object targets on site. On this basis, considering that some object targets also have positioning and navigation requirements for their own location information, the positioning and navigation functions of the object targets are realized by adding a wireless module to the monitoring node and broadcasting the object identified by the monitoring node and its positioning information. This function requires the object target, such as a person carrying a mobile phone, a robot or a vehicle, to have the ability to receive wireless signals to receive the above-mentioned positioning information, and to perform rough positioning and narrow the positioning area through technologies such as RSSI, and to perform static and dynamic associations between the received precise positioning information and the wireless rough positioning, so that the object target can identify itself from the broadcast information for precise positioning and navigation.

[0197] The wireless module in the monitoring node can also be used for communication between the host and the object to support other related purposes. The positioning navigation function and communication function can be applied in fire emergency application scenarios, so as to effectively provide evacuation paths and interactions for people trapped in the fire. It can also be applied to non-firefighting scenarios, such as indoor navigation of vehicles, personnel, robots, etc., optimizing paths, etc. The specific ones are listed as follows: realize indoor high-precision active navigation; provide feedback information as the application basis for other intelligent building products; provide timely feedback and control information for the control and command system in emergency situations such as fire; provide evacuation guidance information for the object target in an emergency; provide positioning and navigation for large-scale movement of robots; the positioning function also has broad application prospects in non-emergency situations, such as achieving comfort, convenience, environmental protection, energy saving and other applications, bringing corresponding benefits to customers.

[0198] The present disclosure also proposes a service system. The service system is used to provide specific services. The service system can be, but is not limited to, a heating system, a central air conditioning system, a fresh air system, a fan system, and a lighting system. The service system may include a service control module and a plurality of terminal devices. The plurality of terminal devices may be distributed in the monitoring area. Each terminal device may correspond to a portion of the monitoring area. Each terminal device may be used to provide services (such as air conditioning services, fan services, and lighting services) for the monitoring area corresponding to the terminal device. The service control module may be connected to each terminal device by wire or wirelessly.

[0199] The service control module can receive the global information sent by the control system, generate and send control instructions to the corresponding execution device and / or the corresponding terminal device for execution based on the global information. The global information is obtained by the control system by analyzing the thermal images and / or analysis results obtained from multiple monitoring nodes in the monitoring area. For the global information, please refer to the relevant description above.

[0200] The terminal device may also receive the thermal image and / or analysis result wirelessly broadcasted by the monitoring node, and send the thermal image and / or analysis result to the service control module. The service control module may also generate corresponding control instructions based on the received thermal image and / or analysis result, and send the control instructions to the corresponding execution device and / or the corresponding terminal device for execution.

[0201] Therefore, for a service system including multiple terminal devices, the service system can dynamically adjust or control the terminal devices in the service system according to the information (such as analysis results and / or thermal images) sent by multiple (such as at least two) monitoring nodes in the monitoring area and / or the global information sent by the control system to achieve the purpose of dynamic optimization. Taking the service system as a central air-conditioning system as an example, the multiple terminal devices can be devices for adjusting the air outlets in different areas. The central air-conditioning system can adjust the air volume and / or the whole machine load of the air outlets in different locations based on the overall area information obtained from the monitoring nodes or the control system to achieve the purpose of energy saving and comfort.

[0202] The monitoring node, the monitoring system, the terminal device and the service system according to the present disclosure have been described in detail above with reference to the accompanying drawings.

[0203] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the system and method according to multiple embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0204] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A monitoring node, comprising: A thermal imaging camera is arranged at a first predetermined height from the ground in the monitoring area, with an optical axis substantially perpendicular to the ground, so as to thermally image a corresponding imaging area on the ground, wherein each pixel area of ​​the obtained thermal imaging image corresponds to each spatial area in the imaging area; A processor analyzes the thermal image to obtain an analysis result; A wireless module uses wireless technology to send the analysis result and / or the thermal imaging image.

2. The monitoring node according to claim 1, wherein: The processor performs at least one of the following functions: Identify a hot spot area in the thermal image where the radiation temperature is different from the background environment radiation temperature; Identifying the type of an imaging object in a hot spot area in the thermal imaging image, where the type of the imaging object in the hot spot area includes at least one of fire, a living being, a vehicle, a robot, an instrument, and a device; Based on the position of the monitoring node in the monitoring area and the relative position of the hot spot area in the thermal imaging image, the spatial position corresponding to the hot spot area is located; Identify the posture of the imaging object in the hot spot area of ​​the thermal imaging image; Determine whether an imaging object in a hot spot area in the thermal imaging image is in an emergency state; Encrypting the analysis result; Performing at least one of the following processing operations on the thermal image: encryption processing, compression processing, and fuzzification processing; Generate a first control instruction for performing regional dynamic optimization based on the received information of at least one monitoring node in the pre-bound adjacent area; A second control instruction is generated based on the thermal imaging image and / or information detected by at least one type of sensor in the monitoring node.

3. The monitoring node according to claim 1, wherein: The processor further sets a relay identifier for the analysis result belonging to the emergency information, and the wireless module wirelessly broadcasts the analysis result carrying the relay identifier; The wireless module also receives analysis results wirelessly broadcasted by other monitoring nodes or terminal devices, and wirelessly broadcasts the analysis results wirelessly broadcasted by other monitoring nodes or terminal devices that carry the relay identifier.

4. The monitoring node according to claim 3, further comprising at least one of the following devices: The sound and light alarm device performs a sound and light alarm if the analysis result obtained by the processor belongs to emergency information, or the analysis result of the wireless broadcast of other monitoring nodes or terminal devices received by the wireless module carries the relay identifier; An audio input device, used to collect audio data in the area where the monitoring node is located, the processor also performs voice recognition on the audio data collected by the audio input device, and generates a second control instruction according to the voice recognition result; Audio output device, used to output sound information.

5. The monitoring node according to claim 1, wherein: The outer surface of the monitoring node is provided with a QR code. The two-dimensional code includes at least one of the following information: the number and / or location information of the monitoring node; a wireless network link; an application software download link; and a local building indoor map download link.

6. The monitoring node according to claim 1, wherein: The monitoring node also includes a first direction indicating device, the relative position relationship between the first direction indicating device and the thermal imaging camera is fixed, the first direction indicating device can mechanically adjust the installation angle and can be locked, the first direction indicating device is used to indicate a first predetermined direction, and when the first direction indicating device is set to indicate the first predetermined direction, the optical axis of the thermal imaging camera is basically perpendicular to the ground.

7. The monitoring node according to claim 1, wherein: The monitoring node also includes a second direction indicating device, which dynamically adjusts the indication direction based on the emergency evacuation indication generated or received by the monitoring node, and / or the second direction indicating device dynamically adjusts the brightness of the displayed indication direction based on the smoke concentration information in the monitoring area where the monitoring node is located.

8. The monitoring node according to claim 1, wherein: The monitoring node further includes a storage device, wherein the storage device is used to store the algorithm used by the processor. The monitoring node uploads the thermal imaging image or the analysis result to the control system, receives an updated algorithm based on the thermal imaging image or the analysis result sent by the control system, and updates the algorithm stored in the storage device.

9. The monitoring node according to claim 1, further comprising: A battery, used to supply power to the monitoring node; A photoelectric converter, used to convert the collected ambient light into current to charge the battery; The processor also analyzes the current information converted by the photoelectric converter to obtain ambient light brightness detection information. The wireless module also wirelessly broadcasts the ambient light brightness detection information.

10. The monitoring node according to claim 1, further comprising at least one of the following: Lighting devices for emergency lighting; A battery, used to power the monitoring node and / or the lighting device; An ambient light sensor, used to detect ambient light brightness to obtain ambient light brightness detection information; The processor is further configured to control whether the battery supplies power to the lighting device to provide emergency lighting. The wireless module also wirelessly broadcasts the ambient light brightness detection information.

11. The monitoring node according to claim 1, further comprising at least one of the following: A smoke sensor, used to detect the smoke concentration in the monitoring area where the monitoring node is located; Toxic and harmful gas sensors are used to detect the concentration of toxic and harmful gases in the monitoring area where the monitoring node is located; The flammable gas sensor is used to detect the concentration of flammable gas in the monitoring area where the monitoring node is located. The processor confirms the fire information based on at least one of the smoke concentration, the toxic and harmful gas concentration, and the flammable gas concentration and an analysis result obtained by analyzing the thermal imaging image.

12. The monitoring node according to claim 1, wherein: The thermal imaging camera is a thermal imaging camera with a wide field of view or a larger field of view; and / or The thermal imaging camera is a thermal imaging camera capable of identifying the type of an imaging object but not the individual; and / or The resolution of the thermal imaging camera is a resolution capable of identifying the category of the imaging object but not the individual.

13. A monitoring node, comprising: A thermal imaging camera is arranged at a first predetermined height from the ground in the monitoring area, with an optical axis substantially perpendicular to the ground, so as to thermally image a corresponding imaging area on the ground, wherein each pixel area of ​​the obtained thermal imaging image corresponds to each spatial area in the imaging area; The wireless module uses wireless technology to send the thermal imaging image.

14. The monitoring node according to claim 13, wherein: The thermal imaging camera is a thermal imaging camera with a wide field of view or a larger field of view; and / or The thermal imaging camera is a thermal imaging camera capable of identifying the type of an imaging object but not the individual; and / or The resolution of the thermal imaging camera is a resolution capable of identifying the category of the imaging object but not the individual.

15. A monitoring system comprising: A plurality of monitoring nodes, wherein the monitoring nodes are the monitoring nodes according to any one of claims 1 to 14, The multiple monitoring nodes are scattered in the monitoring area, the imaging areas of the thermal imaging cameras of adjacent monitoring nodes are adjacent to or overlap each other, and the imaging areas of the thermal imaging cameras of the multiple monitoring nodes basically cover the ground of the monitoring area.

16. The monitoring system according to claim 15, further comprising: A control system, which obtains thermal images from the plurality of monitoring nodes and / or analysis results obtained by the monitoring nodes analyzing the thermal images, analyzes the obtained thermal images and / or analysis results to obtain global information, sends control instructions to corresponding actuators with global functions based on the global information, and pushes the global information to client software; and / or The monitoring node also sends the analysis result of the emergency information to the control system via wire, and the control system pushes the analysis result to all monitoring nodes for wireless broadcasting.

17. A first terminal device, The first terminal device is suitable for being carried by the first object, or is suitable for being arranged inside the first object. The first terminal device obtains first positioning information of the first object target by using positioning technology, The first terminal device receives analysis results sent by one or more monitoring nodes using wireless technology, the analysis results including second positioning information of one or more second object targets in the thermal imaging image obtained by the monitoring node analyzing the thermal imaging image, the thermal imaging image is obtained by the thermal imaging camera in the monitoring node performing thermal imaging on the corresponding imaging area on the ground, and each pixel area of ​​the thermal imaging image corresponds to each spatial area in the imaging area; or the first terminal device receives the thermal imaging image sent by one or more monitoring nodes using wireless technology, and analyzes the thermal imaging image to obtain the analysis result, The first terminal device determines, based on the first positioning information, second positioning information belonging to the first object target in the acquired analysis result.

18. The first terminal device according to claim 17, wherein: The wireless technologies include wireless broadcasting.

19. The first terminal device according to claim 17, wherein: The first terminal device obtains first trajectory information of the first object target based on the plurality of first positioning information, The first terminal device obtains second track information of the second object target based on a plurality of second positioning information of the same second object target that are continuously acquired, The first terminal device determines the second object target corresponding to the second trajectory information matching the first trajectory information among the plurality of second trajectory information as the first object target, and uses the second positioning information of the determined second object target as the positioning information of the first object target.

20. The first terminal device according to claim 17, wherein: The first terminal device divides areas within a predetermined range near the first positioning information into groups, If there are multiple second-object targets in the group, the first terminal device determines a second object target whose change is consistent with that of the first object target as the first object target based on changes in whether the first object target is located in the group obtained by subsequent positioning technology and changes in whether the corresponding second object target is located in the group based on subsequently acquired second positioning information, and uses the second positioning information of the determined second object target as the positioning information of the first object target.

21. The first terminal device according to claim 17, wherein: The first terminal device determines a second object target associated with the first object target by using an association rule algorithm and / or a correlation algorithm, and determines second positioning information corresponding to the second object target associated with the first object target as positioning information belonging to the first object target.

22. The first terminal device according to claim 17, wherein: The positioning technology is at least one of the following: wireless positioning technology, inertial navigation positioning technology, synchronous positioning and mapping technology; and / or The first terminal device further acquires second auxiliary association information of the second object target, wherein the second auxiliary association information includes at least one of second posture information, second speed information, second trajectory information and type information. The first terminal device further acquires first auxiliary association information of the first object target, wherein the first auxiliary association information includes at least one of first posture information, first speed information, first trajectory information, and type information. The first terminal device determines the second positioning information belonging to the first object target in the acquired analysis result by combining the first positioning information, the first auxiliary association information and the second auxiliary association information.

23. The first terminal device according to claim 17, wherein: The first terminal device emits an audible and visual alarm in response to receiving an emergency evacuation status notification or manually adjusting to an emergency evacuation status by a user, and generates and dynamically adjusts an evacuation route based on second positioning information belonging to the first object target.

24. The first terminal device according to claim 17, wherein: The first terminal device obtains the number and / or location information of the monitoring node by scanning the QR code set on the outer surface of the monitoring node, and / or downloads application software and / or a local building indoor map.

25. The first terminal device according to claim 24, wherein: The analysis result also includes the posture of the second object target. The first terminal device determines the second object target with a scanning posture as the first object target, and uses the second positioning information of the determined second object target as the positioning information of the first object target.

26. The first terminal device according to claim 24, wherein: The application software generates navigation information based on the second positioning information belonging to the first object and the local building indoor map; and / or The application software displays the number and / or location information of the monitoring node on a map; and / or The first terminal device determines, based on the first positioning information, second positioning information belonging to the first object target in the acquired analysis result of the monitoring node corresponding to the number.

27. The first terminal device according to claim 24, wherein: The application software is pre-bound to one or more monitoring nodes and presets a triggering event condition. In response to the triggering event condition, the monitoring node is triggered to remotely push a notification to the first terminal device.

28. The first terminal device according to claim 17, wherein: In response to the acquired analysis result being emergency information containing fire risk, the first terminal device controls corresponding emergency equipment to perform corresponding functions based on the analysis result; or In response to the obtained analysis result being non-emergency information including life forms and their location information, the first terminal device controls corresponding non-emergency devices to perform corresponding functions based on the analysis result.

29. The first terminal device according to claim 17, wherein: The first terminal device is arranged inside the first object, and a pattern containing information is formed on the upper surface of the first object shell based on different material emissivities and / or different heat generation temperatures to facilitate recognition by a device with thermal recognition capability.

30. A second terminal device, suitable for being arranged in a monitoring area, The second terminal device receives the analysis result sent by the monitoring node using wireless technology, In response to the received analysis result being emergency information, the second terminal device controls the corresponding emergency device to perform a corresponding function based on the analysis result; or In response to the received analysis result being non-emergency information including information about a living being and its location, the second terminal device controls a corresponding non-emergency device to perform a corresponding function based on the analysis result.

31. The second terminal device according to claim 30, wherein: The second terminal device also receives the ambient light brightness detection information sent by the monitoring node using wireless technology, and uses the received ambient light brightness detection information as a basis for brightness adjustment and / or switching of the lighting device.

32. The second terminal device according to claim 30, wherein: The second terminal device is connected to the power supply system, The emergency information is a power disconnection instruction, and the second terminal device performs at least one of the following functions: Disconnect the power supply of this circuit; A switch for indirectly disconnecting the main power supply of the power supply system by simulating or briefly activating a leakage and / or a short circuit.

33. The second terminal device according to claim 30, wherein: The second terminal device is a smart lock. The emergency information is an opening and closing instruction, and the second terminal device performs an opening and closing function based on the opening and closing instruction.

34. A service system comprising: A service control module and a plurality of terminal devices, wherein the plurality of terminal devices are distributed in a monitoring area; The service control module receives global information sent by the control system, generates and sends control instructions to corresponding execution devices and / or corresponding terminal devices for execution based on the global information, wherein the global information is obtained by the control system through analyzing thermal imaging images and / or analysis results obtained from multiple monitoring nodes in the monitoring area; and / or The terminal device receives the thermal imaging image and / or analysis result sent by the monitoring node using wireless technology, and sends the thermal imaging image and / or analysis result to the service control module. The service control module generates corresponding control instructions based on the received thermal imaging image and / or analysis result, and sends the control instructions to the corresponding execution device and / or corresponding terminal device for execution.

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