A special automatic measuring instrument for sky view factor and its measuring method

Abstract

The present invention provides an automatic measuring instrument for sky viewing factor and a measuring method thereof. The instrument comprises a fisheye photo module (I), a thermal imaging module (II), a host (III) and a pan / tilt head, wherein the fisheye photo module (I) and the thermal imaging module (II) are both electrically connected to the host (III), wherein the host (III) is internally provided with a memory, a processor and a wireless transmission unit, wherein the host (III) is connected to a remote mobile terminal via a wireless transmission unit, and wherein the host (III) is connected to the pan / tilt head. The main purpose of the present invention is to provide an automatic measuring instrument for sky viewing factor and a measuring method thereof, aiming to solve the technical problems that the prior art cannot automatically identify the sky from circular fisheye photos, automatically process images, and the current SVF measurement process has high cost, low precision and cumbersome operation.

Description

Technical Field

[0001] The present invention relates to the technical field of sky view factor measurement, and in particular to a special automatic measurement instrument for sky view factor and a measurement method thereof. Background Art

[0002] Sky View Factor (SVF) is a dimensionless physical quantity that describes the geometry of three-dimensional space. It represents the ratio of the radiation received (or emitted) by a plane from the sky to the total radiation emitted (or received) by the entire hemisphere. It can be intuitively understood as the proportion of the sky visible at a point in an urban street canyon. The SVF value is between 0 and 1. The larger the SVF value, the smaller the proportion of sky radiation received by the measuring point plane that is blocked by surrounding buildings. SVF is a key factor affecting urban surface thermal balance, microscale air circulation, and diffusion of atmospheric pollutants. It is widely used in research on urban heat island effects and other aspects.

[0003] Currently, there is no dedicated instrument for measuring the sky view factor. The common method for measuring SVF is for researchers to use a full-frame camera with a fisheye lens with a focal length of 8-15mm, take circular fisheye photos at the measuring point, and then manually process and calculate. The specific measurement steps include the following: (1) Manually level the camera with a fisheye lens and take a circular fisheye photo of the measuring point vertically upward; (2) Perform an orientation transformation on the circular fisheye photo, that is, use rotation, mirroring, etc. to make the photo display consistent with the actual orientation of the three-dimensional spatial geometric information of the measuring point; (3) Perform black and white processing on the photo processed in step (2), that is, through manual recognition, process the entities such as buildings and trees in the circular fisheye photo into black silhouettes, and process the sky part into white; (4) Perform a circular integration on the black and white photo processed in step (3) in the polar coordinate system to calculate the SVF value.

[0004] The above traditional SVF manual measurement method has the following defects:

[0005] Defect 1: The effective viewing angle of the fisheye lens is not standardized. In order to meet the physical definition of the SVF parameter, the circular fisheye photo should be a standard hemispherical space projection image, that is, the viewing angle of the fisheye lens should be at least 180°. Fisheye lenses with a viewing angle of less than 180° are not suitable for SVF measurement; fisheye lenses with a viewing angle of more than 180° should perform a circular interception from the outside to the inside of the fisheye photo it takes, and only retain the circular image within the internal 180° viewing angle range for calculation. In actual operation, the lens and camera combinations used by researchers vary, and the lens viewing angle ranges from 150° to 210°. In addition, few researchers conduct preliminary viewing angle calibration of the fisheye lenses they use, and the accuracy of data calculation is difficult to guarantee.

[0006] Defect 2: Fisheye lens distortion is not standardized. Different brands of fisheye lens products have different image distortion patterns [4]. Even if different fisheye lenses are used to shoot at the same location, the same fisheye image cannot be obtained. Therefore, a standard distortion correction function for fisheye lenses should be obtained through experiments, and the fisheye photo image should be distorted before calculating the SVF. However, in actual operations, the lens and camera combinations used by researchers vary, and few researchers perform preliminary distortion calibration on the fisheye lenses they use, making it difficult to guarantee the accuracy of data calculation.

[0007] Defect 3: High cost. The 8-15mm focal length fisheye lens commonly used by researchers must be used with a full-frame camera to take circular photos. The price of this hardware combination is usually tens of thousands to hundreds of thousands of yuan. However, many of its functions (such as image quality improvement, photography, recording, etc.) are not necessary for measuring SVF. SVF-specific measuring instruments have a lot of room for hardware cost reduction.

[0008] Defect 4: Inability to automatically identify the sky and process images. If the sky and buildings in the fisheye photo are similar in color or the contrast difference is too small, simple tone adjustment will confuse the sky and buildings. Therefore, the black-and-white processing of the fisheye photo in step (3) above must currently be done by researchers based on experience and logical analysis to identify it with the naked eye. The steps for manually processing images are cumbersome and waste a lot of manpower and time.

[0009] Defect 5: For some researchers, it is difficult to perform the mathematical calculations of the circular integral in the polar coordinate system in step (4) above. Summary of the invention

[0010] The main purpose of the present invention is to provide a special automatic measuring instrument for sky view factor and its measuring method, aiming to solve the technical problems that the prior art cannot automatically identify the sky from circular fisheye photos, automatically process images, and the current SVF measurement process has high cost, low precision and cumbersome operation.

[0011] To achieve the above-mentioned purpose, the present invention provides a special automatic measuring instrument for sky viewing factor, including a fisheye photo module, a thermal imaging module, a host and a gimbal, wherein the fisheye photo module and the thermal imaging module are electrically connected to the host, and a memory, a processor and a wireless transmission unit are arranged inside the host, and the host is connected to a remote mobile terminal via the wireless transmission unit, and the host is connected to the gimbal.

[0012] Preferably, the fisheye photo module comprises a full-circle fisheye lens and a visible light imaging movement.

[0013] Preferably, the focal length of the full-circle fisheye lens is 4 mm and the viewing angle is 210°.

[0014] Preferably, the thermal imaging module comprises a long-wave thermal imaging panoramic lens and a thermal imager core.

[0015] Preferably, the fisheye photo module and the thermal imaging module are both detachably electrically connected to the host, the fisheye photo module is connected to the communication contact three of the host via the communication contact one, and the thermal imaging module is connected to the communication contact four of the host via the communication contact two.

[0016] Preferably, the host is connected to the pan / tilt head via a physical connection component.

[0017] Preferably, the host is also provided with a display.

[0018] Preferably, the fisheye photo module is installed on the host through a card slot and a first fixed rotary piece; the thermal imaging module is installed on the host through a card slot and a second fixed rotary piece.

[0019] Preferably, when the fisheye photo module is separated from the host, the fisheye lens protection cover needs to be buckled; when the thermal imaging module is separated from the host, the thermal imaging lens protection cover needs to be buckled; when the host is separated from the fisheye photo module, the contact three protection buckle needs to be buckled; when the host is separated from the thermal imaging module, the contact four protection buckle needs to be buckled.

[0020] The present invention also provides a dedicated automatic measurement method for sky view factor, which specifically comprises the following steps:

[0021] Connect the fisheye photo module and check whether it is connected normally; if it is connected normally, read the circular fisheye photo; otherwise, check the fisheye photo module and reconnect it;

[0022] Connect the thermal imaging module and check whether it is connected normally. If it is connected normally, read the thermal imaging pseudo-color photo. Otherwise, automatically identify the sky according to the grayscale for inspection.

[0023] The dedicated software built into the host can automatically convert the orientation of the fisheye photos, automatically capture the 180° effective field of view of the fisheye photos, automatically perform standard distortion correction on the fisheye photos, automatically identify the sky in the fisheye photos based on temperature differences, automatically perform black and white processing on the identified fisheye photos, and automatically perform SVF integral calculations.

[0024] When in use, the wireless data transmission unit of the host is connected to the remote mobile terminal, and the fisheye photos taken on site are automatically marked with time stamps and geographic location stamps through the time and GPS of the remote mobile terminal for future reference;

[0025] The host can be controlled by the remote mobile terminal.

[0026] In the technical solution of the present invention, the fisheye photo module and the thermal imaging module are connected at the same time, the built-in software of the host automatically corrects the fisheye photo and automatically identifies the sky in the fisheye photo according to the grayscale and temperature difference, and then automatically integrates and calculates the sky field of view factor. The sky recognition reliability in this mode is extremely high, and the user almost does not need to check and correct it; the distance between the vertical lines of the long-wave thermal imaging panoramic lens and the full-circle fisheye lens is not more than 200mm, and the height difference of the horizontal plane of the 180° field of view between the two is not more than 100mm, and it should be ensured that the long-wave thermal imaging panoramic lens does not enter the field of view of the full-circle fisheye lens. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0028] Figure 1 Schematic diagram of the structure of a dedicated automatic measurement instrument for sky viewing factor in an embodiment of the present invention;

[0029] Figure 2 Schematic diagram of the principle of a dedicated automatic measuring instrument for sky viewing factor in an embodiment of the present invention;

[0030] Figure 3 is a front view of a fisheye photo module according to an embodiment of the present invention;

[0031] Figure 4 is a bottom view of a fisheye photo module according to an embodiment of the present invention;

[0032] Figure 5 is a front view of a thermal imaging module according to an embodiment of the present invention;

[0033] Figure 6 is a bottom view of a thermal imaging module according to an embodiment of the present invention;

[0034] Figure 7 is a bottom view of a host computer according to an embodiment of the present invention;

[0035] Figure 8 It is a left view of the host in the embodiment of the present invention;

[0036] Fig. 9 It is a right side view of the host in the embodiment of the present invention;

[0037] Fig.10 is a top view of a host computer according to an embodiment of the present invention;

[0038] Fig.11 Schematic diagram of contact three protection buckle in an embodiment of the present invention;

[0039] Fig.12 Schematic diagram of contact four protection buckle in an embodiment of the present invention;

[0040] Fig.13 4 is a flowchart of a dedicated automatic measurement method for sky view factor in an embodiment of the present invention.

[0041] Description of Figure Numbers:

[0042] I. Fisheye photo module; II. Thermal imaging module; III. Host.

[0043] 1. All-around fisheye lens; 2. Fisheye lens protective cover; 3. Visible light imaging movement; 4. Communication contact one; 5. Long-wave thermal imaging panoramic lens; 6. Thermal imaging lens protective cover; 7. Thermal imager movement; 8. Communication contact two; 9. Host body; 10. Display; 11. Communication contact three; 12. Communication contact four; 13. Fixed rotary vane one; 14. Fixed rotary vane two; 15. Physical connection component; 16. Contact three protection buckle; 17. Contact four protection buckle; 18. Pull ring one; 19. Pull ring two.

[0044] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0045] The technical solution in this embodiment will be described clearly and completely below in conjunction with the drawings in this embodiment. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that all directional indications in this embodiment (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0047] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0050] Combination Figure 1 , 2 As shown, the present invention provides a special automatic measuring instrument for sky viewing factor, which includes a fisheye photo module I, a thermal imaging module II, a host III and a pan-tilt head. The fisheye photo module I is mounted on the host III by snapping and fixed by a fixed rotary piece 13. At this time, the communication contact 1 4 of the fisheye photo module I is connected to the communication contact 3 11 of the host III. The thermal imaging module II is mounted on the host III by snapping and fixed by a fixed rotary piece 2 14. At this time, the communication contact 2 8 of the thermal imaging module II is connected to the communication contact 4 12 of the host III. The host III is mounted on the pan-tilt head through a physical connection component 15, and the pan-tilt head generally adopts a tripod structure. The built-in software of the host III can automatically correct the fisheye photo, automatically identify the sky, and automatically calculate the sky viewing factor. The host III has built-in dedicated software and wireless data transmission unit. The built-in dedicated software automatically converts the orientation of fisheye photos, automatically captures 180° effective field of view of fisheye photos, automatically corrects standard distortion of fisheye photos, automatically identifies the sky in fisheye photos based on temperature differences, automatically black-and-whites the identified fisheye photos, and automatically performs SVF integral calculations. The host is connected to the remote mobile terminal through a wireless transmission unit. The remote mobile terminal is equipped with a matching mobile terminal APP, which can adjust the relevant parameters of the instrument on site, remotely measure and shoot, and read images and data. The matching computer operating system software can generate measurement result reports, manually adjust the black-and-white fisheye photos for calculation (i.e., manually identify the sky) and recalculate, and integrate the measurement results with geographic information to display them in the map system.

[0051] Combination Figure 3 , 4As shown, the fisheye photo module I includes a full-circle fisheye lens 1 with a focal length of 4mm and a viewing angle of about 210°, and cooperates with a visible light imaging movement 3. The photosensitive element area of ​​the visible light imaging movement 3 is about 22.7×15.5mm (half frame, APS-C frame). The full-circle fisheye lens 1 and the visible light imaging movement 3 can constitute a relatively cheap fisheye photo module I. When the use is over, the fisheye photo module I is separated from the host III, and the fisheye lens protective cover 2 needs to be buckled on the fisheye photo module I, and the host III needs to be inserted with the contact three protection buckle 16 to protect the precision components.

[0052] Combination Figure 5 , 6 As shown, the thermal imaging module II includes a long-wave thermal imaging panoramic lens 5 and a thermal imager movement 7. Among them, the long-wave thermal imaging panoramic lens 5 is characterized by a response band of 8-12μm, a focal length similar to the above-mentioned full-circle fisheye lens 1, and a viewing angle of not less than 180°. The response band of the thermal imager movement 7 is 8-14μm, and the sensitivity is not greater than 40mK. The infrared radiation in the same field of view as the fisheye photo is collected by the thermal imaging system and converted into a digital signal to form a pseudo-color thermal map. Later, the software is used to automatically identify the uniform low temperature area in the middle of the fisheye photo as the sky based on the pseudo-color thermal map, and the fisheye photo is automatically black and white processed accordingly. At the end of use, the thermal imaging module II is separated from the host III, the thermal imaging module II needs to be buckled with the thermal imaging lens protection cover 6, and the host III needs to insert the contact four protection buckle 17 to protect the precision components.

[0053] The full-circle fisheye lens 1 and the long-wave thermal imaging panoramic lens 5 form a dual-lens module. After being installed on the host III, the vertical line spacing between the long-wave thermal imaging panoramic lens 5 and the full-circle fisheye lens 1 is no more than 200mm, and the horizontal plane height difference of the 180° field of view between the two is no more than 100mm, and it should be ensured that the long-wave thermal imaging panoramic lens 5 does not enter the field of view of the full-circle fisheye lens 1. Through the use of the dual-lens module, the built-in software of the host III automatically corrects the fisheye photo and automatically identifies the sky in the fisheye photo according to the grayscale and temperature difference, and then automatically integrates and calculates the sky field of view factor. The sky recognition reliability in this mode is extremely high, and the user almost does not need to check and correct it.

[0054] The device can be quickly leveled on site using a pan / tilt head with a height scale and a spirit level.

[0055] Combination Figure 7-12As shown, the host III includes a host body 9 in the shape of a rectangular parallelepiped, and fixed rotary blades 13 and 14 are respectively arranged on both sides of the host III, and a physical connection component 15 is arranged at the bottom of the host III. The top of the host III is provided with communication contacts 3 11 and 12 connected to the full-circle fisheye lens 1 and the long-wave thermal imaging panoramic lens 5, and a display 10 is also arranged on the host III. When the use is completed, after removing the dual-lens module, the contact three protection buckle 16 and the contact four protection buckle 17 are respectively installed on the communication contact three 11 and the communication contact four 12 to protect the communication contacts of the host III. Among them, the end of the contact three protection buckle 16 away from the host is connected to the pull ring 18, and the end of the contact four protection buckle 17 away from the host III is connected to the pull ring 2 19.

[0056] The host III is provided with a wireless data transmission unit, a memory, a processor and a display. The information received by the communication contact three 11 and the communication contact four 12 is first stored in the memory, and then processed in the processor, and displayed through the display 10. The processor is connected to the remote mobile terminal through the wireless data transmission unit. Among them, the memory is used to store the original circular fisheye photos with timestamps and geographic information stamps, pseudo-color thermal maps of the same field of view; circular fisheye photos corrected by azimuth conversion and 180° viewing angle interception; black and white fisheye photos used for calculation and their corresponding SVF values. The processor automatically performs azimuth conversion on the fisheye photos, automatically intercepts the 180° effective field of view of the fisheye photos, automatically corrects the standard distortion of the fisheye photo images, automatically identifies the sky in the fisheye photos according to the temperature difference, automatically performs black and white processing on the identified fisheye photos, and automatically performs SVF integral calculation. The display 10 displays the camera field of view in real time, displays the circular fisheye photos corrected by azimuth conversion and 180° viewing angle interception; displays the black and white fisheye photos used for calculation; and displays the SVF value. The remote mobile terminal is equipped with a matching mobile APP, which can adjust instrument-related parameters on site, remotely measure and shoot, and read images and data.

[0057] In one embodiment, a thermal imaging fisheye lens (eg, an infrared fisheye lens) is used to replace the full-circle fisheye lens 1 and the long-wave thermal imaging panoramic lens 5, that is, the thermal imaging fisheye lens replaces the dual-lens module.

[0058] In one embodiment, only the fisheye photo module I is connected, and the built-in software of the host III automatically corrects the fisheye photo, and automatically identifies the sky in the fisheye photo according to the grayscale, and then automatically integrates and calculates the sky viewing factor. The reliability of sky recognition in this mode has certain limitations, and in a few cases, the user needs to check and correct it.

[0059] In one embodiment, the remote mobile terminal may use a mobile phone, the time and GPS of the remote mobile terminal, and automatically mark the timestamp and geographic location stamp for the fisheye photos taken on site for future reference.

[0060] Combination Fig.13 As shown, in a specific embodiment, a dedicated automatic measurement method for sky view factor is disclosed, and the method specifically includes the following steps:

[0061] Connect the fisheye photo module I and check whether the connection is normal; if the connection is normal, read the circular fisheye photo; otherwise, check the fisheye photo module I and reconnect it;

[0062] Connect the thermal imaging module II and check whether the connection is normal; if the connection is normal, read the thermal imaging pseudo-color photo; otherwise, automatically identify the sky according to the grayscale for inspection;

[0063] The dedicated software built into the host III automatically converts the orientation of the fisheye photo, automatically captures the 180° effective field of view of the fisheye photo, automatically corrects the standard distortion of the fisheye photo image, automatically identifies the sky in the fisheye photo based on the temperature difference, automatically converts the identified fisheye photo to black and white, and automatically performs SVF integral calculation;

[0064] When in use, the wireless data transmission unit of the host III is connected to the remote mobile terminal, and the fisheye photos taken on site are automatically marked with time stamps and geographic location stamps through the time and GPS of the remote mobile terminal for future reference;

[0065] The host III can be controlled by the remote mobile terminal.

[0066] In one embodiment, the full-circle fisheye lens 1 and the long-wave thermal imaging panoramic lens 5 need to be calibrated for effective field of view range correction (correction A) and standard distortion correction function (correction B) before use.

[0067] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for measuring a sky view factor automatic measuring instrument, the sky view factor automatic measuring instrument comprising a fisheye photo module (I), a thermal imaging module (II), a host (III) and a pan / tilt platform, the fisheye photo module (I) and the thermal imaging module (II) are both electrically connected to the host (III), the host (III) is internally provided with a memory, a processor and a wireless transmission unit, the host (III) is connected to a remote mobile terminal via the wireless transmission unit, and the host (III) is connected to the pan / tilt platform; The fisheye photograph module (I) comprises a full-circle fisheye lens (1) and a visible light imaging engine (3); The thermal imaging module (II) comprises a long-wave thermal imaging panoramic lens (5) and a thermal imager core (7); Features: The specific steps include: Connect the fisheye photo module (I) and check whether the connection is normal; If the fisheye photo module (I) is connected normally, the circular fisheye photo is read in; otherwise, the fisheye photo module (I) is checked and reconnected after passing the inspection; Connect the thermal imaging module (II) and check whether the connection is normal; If the thermal imaging module (II) is connected normally, the thermal imaging pseudo-color photo will be read in; otherwise, the sky will be automatically identified and checked based on the grayscale; The software built into the host (III) automatically converts the orientation of the fisheye photo, automatically captures the effective field of view of the fisheye photo at 180°, automatically corrects the standard distortion of the fisheye photo image, automatically identifies the sky in the fisheye photo based on the temperature difference, automatically converts the identified fisheye photo to black and white, and automatically performs SVF integral calculation; The full-circle fisheye lens (1) of the fisheye photo module (I) and the long-wave thermal imaging panoramic lens (5) of the thermal imaging module (II) are both required to be calibrated for effective field of view range correction and standard distortion correction function before use; infrared radiation of the same field of view as the fisheye photo is collected by the thermal imaging system and converted into a digital signal to form a pseudo-color thermal map; software is used to automatically identify the uniform low-temperature area in the middle of the fisheye photo as the sky based on the pseudo-color thermal map, and the fisheye photo is automatically black-and-white processed accordingly; When in use, the wireless data transmission unit of the host (III) is connected to the remote mobile terminal, and the fisheye photos taken on site are automatically marked with time stamps and geographic location stamps through the time and GPS of the remote mobile terminal for future reference; The host (III) is controlled by the remote mobile terminal.

2. The sky view factor automatic measuring instrument measurement method according to claim 1, characterized in that: The focal length of the full-circle fisheye lens (1) is 4 mm and the viewing angle is 210°.

3. The sky view factor automatic measuring instrument measurement method according to claim 1, characterized in that: The fisheye photo module (I) and the thermal imaging module (II) are both detachably electrically connected to the host (III); the fisheye photo module (I) is connected to the communication contact 3 (11) of the host (III) via the communication contact 1 (4), and the thermal imaging module (II) is connected to the communication contact 4 (12) of the host (III) via the communication contact 2 (8).

4. The sky view factor automatic measuring instrument measurement method according to claim 1, characterized in that: The host (III) is connected to the pan / tilt head via a physical connection component (15).

5. The sky view factor automatic measuring instrument measuring method according to claim 1, characterized in that: The host (III) is also provided with a display (10).

6. The sky view factor automatic measuring instrument measuring method according to claim 1, characterized in that: The fisheye photo module (I) is installed on the host (III) via a card slot and a first fixed rotary plate (13); the thermal imaging module (II) is installed on the host (III) via a card slot and a second fixed rotary plate (14).

7. The sky view factor automatic measuring instrument measuring method according to claim 1, characterized in that: When the fisheye photo module (I) is separated from the host (III), the fisheye lens protective cover (2) needs to be fastened; when the thermal imaging module (II) is separated from the host (III), the thermal imaging lens protective cover (6) needs to be fastened; when the host (III) is separated from the fisheye photo module (I), the contact three protective buckle (16) needs to be fastened; when the host (III) is separated from the thermal imaging module (II), the contact four protective buckle (17) needs to be fastened.

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