Method and system for controlling the patrol route of a thermal camera

Abstract

The present disclosure relates to a method and system for controlling a patrol route of a thermal camera, wherein the thermal camera is a pan-tilt camera or a pan-tilt-zoom camera, and the method includes the following steps: obtaining a patrol route, the patrol route including a plurality of views of an area or a facility and the moving order and / or viewing time of the thermal camera for traversing the plurality of views; controlling the thermal camera to traverse the plurality of views according to the moving order and viewing time of the patrol route; for each view: calculating or extracting a temperature distribution based on a thermal image from the thermal camera; estimating whether there is an increased risk of overheating or overcooling in the view based on the temperature distribution; and if there is an increased risk of overheating or overcooling, adjusting the moving order and viewing time of the thermal camera to more frequently show the view with the increased risk of overheating or overcooling. The present disclosure further relates to a monitoring system.

Description

Technical Field

[0001] The present disclosure relates to an improved method for controlling the patrol of a thermal pan-tilt camera or a pan-tilt-zoom camera. The method can be used for monitoring, for example, a substation, a manufacturing area, a processing industrial site, or a waste management area or facility. The present disclosure further relates to a monitoring system including a thermal pan-tilt camera or a pan-tilt-zoom camera, wherein the monitoring system is configured to control the patrol route of the thermal pan-tilt camera or the pan-tilt-zoom camera. Background Art

[0002] Fires in various systems and areas result in a large number of repairs, replacements, and unavailability every year. For example, a fire in a substation that performs various conversion operations as part of a power generation, transmission, and distribution system usually has significant consequences. A substation may include transformers to change the voltage level between a high transmission voltage and a low distribution voltage or at the interconnection of two different transmission voltages. These and other operations are associated with the risk of a fire occurring in the substation.

[0003] Other examples of facilities with a risk of fire and spontaneous combustion are waste management sites and landfills. For example, high-risk wastes include residual waste, batteries, and electrical and electronic waste.

[0004] Traditional methods for solving this problem are based on reacting quickly once a fire occurs. However, some systems have recently been proposed in which, for example, if the temperature is higher than normal, thermal cameras and software are used to monitor and alarm. Although these systems are useful, there are still challenges associated with the need to cover a large potential area and perform a risk assessment. Summary of the Invention

[0005] The present disclosure relates to methods and systems for solving some of these challenges. A pan-tilt-zoom (PTZ) camera is a camera capable of direction and zoom control by physically adjusting the aiming and zoom of the camera through optical zoom and motors or by electronic navigation and zooming within a visible area. In an area or system monitored by a thermal PTZ camera, the thermal PTZ camera can be configured to scan multiple views of the area or facility. The order of movement of the thermal PTZ camera covering certain views of the area or facility can be referred to as a "patrol route". Generally, the thermal PTZ camera can be a fixed thermal PTZ camera. As described above, it may take some time to study the temperature development in a particular view to evaluate whether there is a fire risk in that view. Therefore, when the PTZ camera stays in one view, the risk of fire may increase in other views.

[0006] According to a first embodiment, a method for controlling a patrol route of a thermal camera is disclosed, wherein the thermal camera is a pan-tilt camera or a pan-tilt-zoom camera, and the method includes the following steps:

[0007] Obtain a patrol route, which includes multiple views of an area or facility and the moving order and viewing time of the thermal camera for traversing the multiple views;

[0008] Control the thermal camera to traverse the multiple views according to the moving order and viewing time of the patrol route;

[0009] For each view:

[0010] Calculate or extract a temperature distribution based on a thermal image from the thermal camera;

[0011] Based on the temperature distribution, estimate whether there is an increased risk of overheating or overcooling in the view; and if there is an increased risk of overheating or overcooling, adjust the moving order and / or viewing time of the thermal camera to show the view with the increased risk of overheating or overcooling more frequently.

[0012] The area or facility may be, but is not limited to, a substation, a manufacturing area, a processing industrial site, or a waste management area or facility.

[0013] By adjusting the moving order and / or viewing time of the patrol route to show the view with the increased risk of overheating or overcooling more frequently, the patrol route is optimized in a way that increases the chance of generating early warnings and reduces the risk of late warnings (where, for example, when the thermal PTZ camera reaches the view in question, a fire has already occurred).

[0014] The calculation or extraction of the temperature distribution, the estimation of whether there is an increased risk of overheating or overcooling in the view, and the adjustment of the patrol route can be performed in certain ways, which will be further described in detail in the present disclosure. For example, the temperature distribution may include the current temperature or the current temperature gradient of the view. If the current temperature exceeds a predefined temperature limit and / or if the current temperature gradient exceeds a predefined temperature gradient limit, there may be an increased risk of overheating. Alternatively or in combination, the temperature distribution may include a spatial temperature distribution. Then, the increased risk of overheating or overcooling can be evaluated based on the spatial temperature distribution in the view. The patrol route can also be adjusted in various ways to show the view with the increased risk of overheating or overcooling more frequently. For example, the order can be changed so that the identified view with the increased risk of overheating or overcooling can appear more than once in the route covering all views. Alternatively or in combination, the viewing time of some or all of the other views can be at least temporarily reduced.

[0015] The present disclosure further relates to a monitoring system, including:

[0016] A thermal pan-tilt camera or a pan-tilt-zoom camera, configurable to capture thermal images of an area or a facility;

[0017] A processing unit, configured to perform the following operations:

[0018] Obtain a patrol route, which includes multiple views of the area or the facility and the moving sequence and viewing time of the thermal camera for traversing the multiple views;

[0019] Control an operator or a control unit or provide control data to the operator or the control unit to control the thermal camera to traverse the multiple views according to the moving sequence and viewing time of the patrol route;

[0020] For each view:

[0021] Calculate or extract a temperature distribution based on the thermal image from the thermal camera;

[0022] Based on the temperature distribution, estimate whether there is an increased risk of overheating or overcooling in the view; and if there is an increased risk of overheating or overcooling, adjust the moving sequence and / or viewing time of the thermal camera to show the view with the increased risk of overheating or overcooling more frequently.

[0023] The present disclosure further relates to a computer program with instructions that, when executed by a computing device or a computing system, cause the computing device or the computing system to execute any embodiment of the method for controlling the patrol route of a thermal camera currently disclosed. In this case, the computer program should be interpreted broadly and includes, for example, a computer program running on a PC or a computer suitable for running as part of a monitoring system.

[0024] The above and other aspects of the present invention will be presented in the following detailed description. Description of the Drawings

[0025] The present invention will be described below with reference to the drawings. The drawings are examples of embodiments and are not limited to the method and system for controlling the patrol route of a thermal camera currently disclosed.

[0026] Figure 1 An embodiment of a monitoring system for controlling the patrol route of a thermal pan-tilt camera or a pan-tilt-zoom camera currently disclosed is shown, where the patrol route is used to monitor a substation.

[0027] Figure 2 An example of a patrol route executed by the method for controlling the patrol route of a thermal camera currently disclosed is shown.

[0028] Figures 3A to 3B An example of a thermal image of multiple views of a substation is shown.

[0029] Figure 4 An example of how to measure and extrapolate temperature in different views is shown.

[0030] Figure 5 A flowchart showing an embodiment of a method for controlling a patrol route of a thermal camera currently disclosed is shown. Detailed Description

[0031] The present disclosure relates to a method for controlling a patrol route of a thermal camera. Preferably, the thermal camera is a pan-tilt camera or a pan-tilt-zoom camera. The method includes the following steps:

[0032] Obtain a patrol route, which includes multiple views of an area or facility and the order and viewing time of the movement of the thermal camera for traversing the multiple views; and

[0033] Control the thermal camera to traverse the multiple views according to the order and viewing time of the movement of the patrol route.

[0034] Preferably, for each view, a temperature distribution is calculated or extracted based on a thermal image from the thermal camera. Based on the temperature distribution, it is possible to estimate whether there is a risk of overheating or overcooling in the view. An increased risk of overheating or overcooling may thereby trigger the method to adjust the movement order and / or viewing time of the thermal camera to show the view with the increased risk of overheating or overcooling more frequently. These steps can be iteratively repeated. The method can be a computer-implemented method.

[0035] Figure 1 An embodiment of a monitoring system (100) for controlling a patrol route of a thermal pan-tilt camera (200) or a pan-tilt-zoom camera (200) currently disclosed is shown, where the patrol route is used to monitor a substation (300). The monitoring system (100) includes a processing unit (110), and the processing unit (110) can be configured to perform any task related to the method for controlling a patrol route of a thermal camera currently disclosed, including any control or calculation task. The monitoring system (100) generally includes an internal memory (120), and the internal memory (120) can be used to store instructions executable by the processing unit (110) and / or data collected by the thermal PTZ camera (200). The monitoring system (100) may further include additional peripheral devices, such as a network interface (130) for communicating with the PTZ camera (200) and an operation interface (140) for programming the monitoring system (100) or obtaining results that can be displayed to the user. The PTZ camera (200) is preferably connected to the monitoring system (100) via a communication network (400), and the communication network can be, for example, an Internet protocol network (400) and / or a wireless network (400). The area or facility (in Figure 1In the example, the substation (300) is divided into multiple views (310a, 310b, 310c, 310d, 310e). A view (310) may include sub-views (320, 330), which may be specific areas or objects of interest, such as an object related to temperature change, such as a transformer in a substation. In view 310c, one of the sub-views (330) is identified as a sub-view with an increased risk of overheating. Therefore, view 310c can be considered as a view with an increased risk of overheating. Figure 1 In the example, the inspection route is the movement sequence of the thermal PTZ camera (200) to cover the views (310a, 310b, 310c, 310d, 310e). As shown, there are multiple transitions (340a, 340b, 340c, 340d, 340e) for sequentially traversing the views (310a, 310b, 310c, 310d, 310e). Generally, the thermal PTZ camera (200) stays in each view for a given period of time. Initially, the viewing time for multiple views can but does not necessarily have to be the same for all views. There may even be reasons for multiple views to have separate viewing times.

[0036] The viewing time generally depends on the characteristics of the area or facility being monitored. The viewing time for multiple views can be, for example, at least 10 seconds or at least 20 seconds initially. In one embodiment, the viewing time can also be limited within the range of 10 to 180 seconds.

[0037] Figure 5 A flowchart showing an embodiment of the method for controlling the inspection route of a thermal camera (600) currently disclosed is presented. The method includes the following steps: obtaining an inspection route, which includes multiple views of an area or facility and the movement sequence and viewing time of the thermal camera for traversing the multiple views (610); controlling the thermal camera to traverse the multiple views according to the movement sequence and viewing time of the inspection route (620); for each view: calculating or extracting the temperature distribution based on the thermal image from the thermal camera (630); estimating whether there is an increased risk of overheating or overcooling in the view based on the temperature distribution (640); and if there is an increased risk of overheating or overcooling, adjusting the movement sequence and / or viewing time of the thermal camera to show the view with an increased risk of overheating or overcooling more frequently (650).

[0038] In the context of the present disclosure, a "patrol route" can be defined as the order of movement of a camera. More specifically, a thermal PTZ camera or a PTZ camera can be used, such as a fixed thermal PTZ camera or a PTZ camera. Generally, a thermal PTZ camera will be configured to cover a first sub - view of the area or facility during a first time period. When the first time period has elapsed, the thermal PTZ camera is re - configured to cover a second sub - view of the area or facility during a second time period. When the second time period has elapsed, the thermal PTZ camera is re - configured to cover a third sub - view of the area or facility during a third time period, and so on. When all the selected sub - views have been traversed, the thermal PTZ camera will generally start again from the first sub - view.

[0039] As will be understood by those skilled in the art, the use of a thermal PTZ camera does not exclude having additional thermal PTZ cameras. For example, a first thermal PTZ camera can cover multiple views related to a first part of the area or facility, while a second thermal PTZ camera can cover multiple views related to a second part of the area or facility.

[0040] As described above, there are certain methods to implement the step of adjusting the movement order and / or viewing time of the thermal camera to more frequently show views with an increased risk of overheating or over - cooling. In one embodiment, the step of adjusting the movement order and / or viewing time of the thermal camera to more frequently show a view includes reducing the viewing time of at least one of the other views. In effect, this means that the observation interval time of the view with the risk of overheating or over - cooling is reduced. In this case, the patrol route will return to the view with the risk of overheating or over - cooling faster compared to the original or previous configuration of the patrol route. The viewing time of one or more other views can thus be reduced by at least 2 seconds or at least 5 seconds.

[0041] In a further embodiment, the step of adjusting the movement order and / or viewing time of the thermal camera to more frequently show a view includes reducing the viewing time of all other views, or reducing the viewing time of all other views not estimated to have the indicated risk of overheating or over - cooling. This can be regarded as a more aggressive reduction, as it will cut the viewing time of all views that do not include a direct risk of overheating or over - cooling. Thus, the viewing time of a view not estimated to have the indicated risk of overheating or over - cooling can be reduced by at least 2 seconds, or at least 5 seconds.

[0042] In a further embodiment, the step of adjusting the movement order and / or viewing time of the thermal camera to more frequently show a view includes adding at least one further instance of a view with an increased risk of overheating or over - cooling to the movement order and / or viewing time of the camera for traversing multiple views. In effect, this means that the patrol may return to a view with an increased risk of overheating or over - cooling more than once in each round of the patrol route.

[0043] Figures 1 to 2 can be used to illustrate the concept. In Figure 1 , the inspection route includes transformation sequences 340a, 340b, 340c, 340d, 340e for traversing views 310a, 310b, 310c, 310d, 310e. In Figure 1 , a sub - view (330) of view 310c is identified as a sub - view with an increased overheating risk. For this reason, view 310c is classified as a view with an increased overheating or over - cooling risk. In Figure 2 , the inspection route has been adjusted to include a further instance of view 310c, which has an increased overheating or over - cooling risk. The transformation sequences 340a, 340b, 340c, 340d, 340e now traverse the views in the following order: 310a, 310b, 310c, 310d, 310c, 310e. In one embodiment, during an inspection route, a view with an increased overheating or over - cooling risk is accessed at least twice. A view with an increased overheating or over - cooling risk can also be accessed at least three times, at least four times or any suitable number of times in each inspection route. In one embodiment, a view with an increased overheating or over - cooling risk is accessed after every other view.

[0044] "Temperature distribution" can be a simple extraction of the temperature based on a thermal image in the view. The colors in the thermal image can usually be directly converted to temperature. The temperature can be the temperature of a specific point, or for example, the average temperature in a view or a sub - view (such as a transformer in a substation, a part of a machine or an item in a waste management area or facility). The sub - view may cover a specific risk of overheating or over - cooling. Thus, "temperature" can be the temperature of a point at a certain moment, the average value of that point over a part or the whole viewing time, or the average temperature of a part or the whole view over the whole or part of the viewing time.

[0045] "Temperature distribution" can include a temperature gradient, which can be the temperature gradient over the whole viewing time or a part of the viewing time of the view. The purpose of such a temperature gradient is usually to provide a measurement of the temperature change. A rapid increase in temperature usually indicates a fire risk. The temperature gradient can also be a longer - term gradient, where the temperature in the current view and the temperature from one or more previous stop points of a thermal PTZ camera in the same view are used for the extraction or calculation of the temperature gradient.

[0046] Accordingly, in one embodiment of the presently disclosed method of controlling a patrol route of a thermal camera, the temperature distribution of each view includes the current temperature of the view and / or the viewing time or the current temperature gradient of a part of the view, wherein if the current temperature exceeds a predefined temperature limit and / or if the current temperature gradient exceeds a predefined temperature gradient limit, an increased risk of overheating or overcooling is estimated to exist.

[0047] Figures 3A to 3B An example of a thermal image of multiple views of a substation is shown. Figure 3A Represents a situation where a thermal image has been captured during a first patrol route. Figure 3B Represents a situation where a thermal image has been captured during a second patrol route. In Figure 3A there are no major signs of high or low temperature or rapid temperature change. In Figure 3B compared with Figure 3A certain areas (350, 350a, 350b, 350c) within the views (310a, 310b, 310c, 310d, 310e, 310f) show signs of higher temperature. Based on the temperature distribution, it is now possible to estimate whether there is an increased risk of overheating. This can be done, for example, by checking whether the current temperature exceeds a predefined temperature limit and / or whether the current temperature gradient exceeds a predefined temperature gradient limit. In case an overheating risk is estimated, the movement sequence and / or viewing time of the thermal camera can be adjusted accordingly, as shown in Figure 3B For example. In Figure 3B it can be noted that for some views, such as view 310a, areas (350a, 350b, 350c) with different temperature rises have been identified. For example, this can be used during the process of determining the spatial distribution of temperature in the view.

[0048] In a further embodiment, the temperature distribution of each view includes a spatial temperature distribution, where if the spatial temperature distribution exceeds a predefined temperature distribution limit, an increased risk of overheating or overcooling is estimated. The "spatial temperature distribution" can be regarded as the spread of temperature rise or fall within a region. For example, if a short circuit occurs in a certain component or cable, a temperature rise may be observed and spread to the area directly in contact with or near the component or cable. From the perspective of a thermal camera, this may be regarded as a "spatial temperature distribution", usually achieved by observing the spread of colored areas representing higher temperatures. The same phenomenon may occur in other types of areas, such as waste management sites and landfills. If the temperature rises at a specific point (e.g., in a landfill, manufacturing area, or processing industrial site), then the temperature rise may spread to the area where it is located. Accordingly, there are certain methods for observing or extracting the spatial temperature distribution. As a non-limiting example, the temperature at one or more predefined distances from a first point can be observed at certain time points. If the comparison with a predefined temperature provides that the temperature exceeds the predefined temperature at the first point and then exceeds the predefined temperature at the first distance, it can be said that the spatial temperature distribution exceeds the predefined temperature distribution limit. The concept of spatial temperature distribution applies to both temperature rise (related to overheating) and temperature fall (overcooling).

[0049] The temperature distribution of each view can include spatial and temporal temperature distributions. This can be regarded as the spatial temperature distribution over time, i.e., a certain minimum temperature (or maximum temperature in the case of overcooling) spreads over a larger area over time. Based on the spatial and temporal temperature distributions, if the spatial and temporal temperature distributions exceed a predefined spatial and temporal temperature distribution limit, an increased risk of overheating or overcooling can be estimated.

[0050] In an embodiment of the currently disclosed method for controlling the patrol route of a thermal camera, the temperature distribution of each view includes temperature data from at least one corresponding view of multiple previously traversed views, where the step of estimating whether there is an increased risk of overheating or overcooling in a view is based on the temperature gradient between different traversals. The concept of "patrol route" for a thermal PTZ camera generally means that the thermal PTZ camera cannot monitor and analyze the entire area simultaneously, so time needs to be divided among multiple views. As a result, when the present system and method estimate whether there is an increased risk of overheating or overcooling in a view, changes may occur in other views that are not covered by the thermal PTZ camera at that time. Within the concept of the currently disclosed method and system for controlling the patrol route of a thermal camera, views that are not currently covered by the thermal PTZ camera can be processed. In an embodiment, the temperature distribution of at least one view is an extrapolation of the temperature distributions of multiple previously traversed views. Figure 4 An example of temperature monitoring based on thermal images in three views is shown: View A, View B, and View C. Figure 4In the example of the thermal PTZ camera, it can only cover one area of views A, B, and C at a time. During the first time period, the thermal PTZ camera captures a thermal image (510) of view C. During this time period, views A and B are extrapolations of previous measurements. At 530a, the thermal PTC camera moves to view B, and the temperature of view B is adjusted to the temperature from the real thermal image, while the temperatures of views A and C are extrapolations. At 530b, the thermal PTC camera moves to view A, and the temperature of view A is adjusted to the temperature from the real thermal image, while the temperatures of views B and C are extrapolations. Views that are not currently covered by the thermal PTZ camera can be processed. In this case, the extrapolated temperature distribution can be used to estimate whether there is an increased risk of overheating or overcooling in the view, rather than the actual temperature distribution.

[0051] The present disclosure further relates to a surveillance system, including:

[0052] A thermal pan-tilt camera or a pan-tilt-zoom camera, configurable to capture thermal images of an area or a facility;

[0053] A processing unit, configured to:

[0054] Obtain a patrol route, which includes multiple views of an area or a facility and the moving order and viewing time of the thermal camera for traversing the multiple views;

[0055] Control an operator or a control unit or provide control data to an operator or a control unit to control the thermal camera to traverse the multiple views according to the moving order and viewing time of the patrol route;

[0056] For each view:

[0057] Calculate or extract a temperature distribution based on the thermal image from the thermal camera;

[0058] Based on the temperature distribution, estimate whether there is an increased risk of overheating or overcooling in the view; and

[0059] If there is an increased risk of overheating or overcooling, adjust the moving order and / or viewing time of the thermal camera to show the view with the increased risk of overheating or overcooling more frequently.

[0060] As those skilled in the art will understand, the method of controlling the patrol route of the thermal camera currently disclosed can be performed using any embodiment of the currently disclosed surveillance system, and vice versa.

Claims

1. A method for controlling the inspection route of a thermal camera, wherein, The thermal camera is a pan-tilt camera or a pan-tilt-zoom camera, and the method includes the following steps: a) Obtain a patrol route, which includes multiple views of an area or facility and the moving sequence and viewing time of the thermal camera for traversing the multiple views; b) Control the thermal camera to traverse the multiple views according to the moving sequence and viewing time of the patrol route, wherein the thermal camera stays at each of the multiple views for a given time; For each view: c) Calculate or extract the temperature distribution based on the thermal image from the thermal camera; d) Estimate whether there is an increased risk of overheating or overcooling in the view based on the temperature distribution; It is characterized in that: e) If there is an increased risk of overheating or overcooling, adjust the moving sequence and / or viewing time of the thermal camera to show the view with the increased risk of overheating or overcooling more frequently.

2. The method according to claim 1, wherein, Steps b) to e) are iteratively repeated.

3. The method according to claim 1, wherein, The patrol route obtained in step a) has the same viewing time for all of the multiple views.

4. The method according to claim 1, wherein The step of adjusting the moving sequence and / or viewing time of the thermal camera to show the view more frequently includes: reducing the viewing time of at least one other view.

5. The method according to claim 1, wherein, The step of adjusting the moving sequence and / or viewing time of the thermal camera to show the view more frequently includes: reducing the viewing time of all other views, or reducing the viewing time of all other views that have not been estimated to have the indicated risk of overheating or overcooling.

6. The method according to claim 1, wherein The step of adjusting the moving sequence and / or viewing time of the thermal camera to show the view more frequently includes: adding at least one further instance of the view with the increased risk of overheating or overcooling to the moving sequence and / or viewing time of the camera for traversing the multiple views.

7. The method according to claim 6, wherein, During one patrol route, the view with the increased risk of overheating or overcooling is visited at least twice.

8. The method according to claim 1, wherein, The temperature distribution of each view includes the current temperature of the view and / or the viewing time or the current temperature gradient of a part of the view, wherein if the current temperature exceeds a predefined temperature limit and / or if the current temperature gradient exceeds a predefined temperature gradient limit, it is estimated that there is an increased risk of overheating, or wherein if the current temperature is lower than a predefined temperature limit and / or if the current temperature gradient is lower than a predefined temperature gradient limit, it is estimated that there is an increased risk of overcooling.

9. The method according to claim 1, wherein The temperature distribution of each view includes a spatial temperature distribution, wherein if the spatial temperature distribution exceeds a predefined temperature distribution limit, it is estimated that there is an increased risk of overheating or overcooling.

10. The method according to claim 1, wherein, The temperature distribution of each view includes a spatial and temporal temperature distribution, wherein if the spatial and temporal temperature distribution exceeds a predefined spatial and temporal temperature distribution limit, it is estimated that there is an increased risk of overheating or overcooling.

11. The method according to claim 1, wherein, The temperature distribution of each view includes temperature data from at least one corresponding view of the plurality of previously traversed views, wherein the step of estimating whether there is an increased risk of overheating or overcooling in the view is based on the temperature gradient between different traversals.

12. The method according to claim 1, wherein, The temperature distribution of at least one view is an extrapolation of the temperature distributions of the previously traversed views of the plurality of views.

13. The method according to claim 1, wherein, The area or facility is a substation, a manufacturing area, a processing industrial site, or a waste management area or facility.

14. A computer program product having instructions that, when executed by a computing device or computing system, cause the computing device or computing system to perform the method according to claim 1.

15. A monitoring system, comprising: A thermal camera, wherein the thermal camera is a thermal pan-tilt camera or a pan-tilt-zoom camera and is configurable to capture thermal images of an area or facility; A processing unit configured to perform the following operations: a) Obtain a patrol route, the patrol route including a plurality of views of the area or facility and the movement order and viewing time of the thermal camera for traversing the plurality of views; b) Control an operator or a control unit or provide control data to the operator or the control unit to control the thermal camera to traverse the plurality of views according to the movement order and viewing time of the patrol route, wherein the thermal camera stays at each of the plurality of views for a given time; For each view: c) Calculate or extract a temperature distribution based on the thermal image from the thermal camera; d) Estimate whether there is an increased risk of overheating or overcooling in the view based on the temperature distribution; Characterized in that: e) If there is an increased risk of overheating or overcooling, adjust the movement order and / or viewing time of the thermal camera to more frequently show the view having the increased risk of overheating or overcooling.

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