Thermal imaging monitoring control system

Abstract

The present disclosure relates to a thermal imaging monitoring and control system. A plurality of monitoring nodes are deployed in a monitoring area. The plurality of monitoring nodes include a plurality of first monitoring nodes scattered in the monitoring area. Each first monitoring node includes a first thermal imaging camera. The first thermal imaging cameras are respectively arranged at a first predetermined height from the ground, and the optical axis is substantially perpendicular to the ground, so as to thermally image the corresponding imaging area on the ground, and each pixel area of ​​the obtained thermal imaging image corresponds to each spatial area in the imaging area. The control system analyzes the thermal imaging images from the plurality of first monitoring nodes to identify the temperature-related information therein. Thus, it is possible to accurately identify, analyze and locate the temperature-related information on site. In a fire-fighting application scenario, for example, it is possible not only to reduce the occurrence of missed reports and false reports of fire hazards, but also to accurately locate the fire hazards in the monitoring area, thereby making it easier to carry out effective evacuation and search and rescue of personnel.

Description

Technical Field

[0001] The present disclosure relates to monitoring technology, and in particular to a thermal imaging monitoring and control system. Background Art

[0002] At present, in the field of fire monitoring, especially in indoor environments, smoke detectors or temperature probes are generally deployed to monitor fire risks or fire events. However, smoke detectors and temperature detectors often have false alarms or missed alarms, and often require on-site manual confirmation, which reduces the fire alarm response time, causing a lot of trouble for users and fire-related departments.

[0003] In addition, in some fire monitoring scenarios, such as forest fire prevention and portable fire rescue, a single high-resolution thermal imaging camera is used to perform fire monitoring of the entire monitoring area using thermal imaging technology. However, the thermal imaging camera used in such scenarios needs to have a high resolution in order to accurately monitor a relatively wide monitoring area. Accordingly, the required thermal imaging camera is expensive and is not suitable for promotion, nor is it suitable for fire monitoring in indoor monitoring areas of buildings, for example. Summary of the invention

[0004] A technical problem to be solved by the present disclosure is to provide a thermal imaging monitoring and control system that can accurately identify, analyze and locate temperature-related information on site.

[0005] According to a first aspect of the present disclosure, a thermal imaging monitoring and control system is provided, comprising: a plurality of monitoring nodes, the plurality of monitoring nodes comprising a plurality of first monitoring nodes, the plurality of first monitoring nodes being dispersed in a monitoring area, each first monitoring node comprising a first thermal imaging camera, the first thermal imaging cameras being respectively arranged at a first predetermined height from the ground, 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 respectively corresponds to each spatial area in the imaging area; a control system, acquiring thermal imaging images from the plurality of first monitoring nodes, and analyzing the acquired thermal imaging images to identify temperature-related information therein.

[0006] Optionally, the imaging areas of the first thermal imaging cameras of adjacent first monitoring nodes are adjacent to or overlap each other; and the imaging areas of the first thermal imaging cameras of a plurality of first monitoring nodes substantially cover the ground of the monitoring area.

[0007] Optionally, the first thermal imaging camera is a thermal imaging camera with a wide field of view or a larger field of view to expand the monitoring range of a single first monitoring node; and / or the first thermal imaging camera is a high-resolution thermal imaging camera that can identify the category of the imaging object but not the individual; and / or the first thermal imaging camera includes at least one of a LWIR wavelength range thermal imaging sensor, a MWIR wavelength range thermal imaging sensor, a SWIR wavelength range thermal imaging sensor, a NIR wavelength range thermal imaging sensor, and a FIR wavelength range thermal imaging sensor.

[0008] Optionally, the control system performs at least one of the following functions: identifying a hot spot area in a thermal imaging image; identifying a 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, a living body, a vehicle, a robot, and an instrument, wherein the imaging object has the characteristic of actively emitting radiation within the thermal imaging wavelength range; locating the spatial position corresponding to the hot spot area based on the position of the first monitoring node corresponding to the thermal imaging image in the monitoring area and the relative position of the hot spot area in the thermal imaging image.

[0009] Optionally, the system may also include: an artificial intelligence model system or a machine vision processing system for analyzing thermal images of a single area and the entire building.

[0010] Optionally, training of the artificial intelligence model system is performed in the cloud; and / or the artificial intelligence model system is trained separately for different buildings and / or different cities or countries; and / or the artificial intelligence model system is trained in a classified manner based on building categories and / or human activity categories; and / or the artificial intelligence model system is trained based on the building categories and / or human activity categories and / or city or country information corresponding to the monitoring area targeted by the control system, and the corresponding training results are sent to the corresponding control system.

[0011] Optionally, the control system is a closed-loop automatic control system based on thermal imaging feedback and artificial intelligence or machine vision processing and control.

[0012] Optionally, the artificial intelligence model system or the machine vision processing system sends a linkage control command to the corresponding actuator based on the results of analyzing the thermal imaging image, and uses the linkage control results of the actuator to the linkage control command as training samples to train the artificial intelligence model system.

[0013] Optionally, the first monitoring node also includes a fire monitoring device, which includes a smoke detector and / or a temperature probe, wherein a fire warning is issued to the monitored area through an artificial intelligence model system or a machine vision processing system or manual analysis, and combined with the detection results of the smoke detector and / or the temperature probe, to achieve full-time and full-feature fire alarms in the very early, early, mid-term and late stages, and / or at least part of the training samples used to train the artificial intelligence model system are obtained by combining the thermal images from the first thermal imaging camera of each first monitoring node and the detection results of the fire monitoring equipment.

[0014] Optionally, the multiple monitoring nodes also include a second monitoring node, including a second thermal imaging camera, which is arranged at a second predetermined height from the ground, with an optical axis substantially parallel to the ground, so as to perform thermal imaging of a corresponding spatial area within the monitoring area, the second predetermined height being lower than the first predetermined height, and the control system combines the thermal imaging images from the first thermal imaging camera and the second thermal imaging camera for analysis.

[0015] Optionally, a calculation is performed in combination with the thermal imaging image acquired by the first thermal imaging camera, the first predetermined height, and size information of a spatial area corresponding to a corresponding imaging area to obtain precise position information of an imaging object in the thermal imaging image in the spatial area.

[0016] Optionally, the multiple monitoring nodes also include a third monitoring node, including a third thermal imaging camera, which is arranged in a designated monitoring area to perform thermal imaging of the designated monitoring area, and / or the optical axis of the third thermal imaging camera points to a designated monitoring target to perform thermal imaging of the designated monitoring target.

[0017] Optionally, the monitoring node also includes a fire emergency equipment control device, which, in response to the control system identifying a fire risk, controls the corresponding fire emergency equipment to perform an emergency function based on at least one of the fire risk point, the location of personnel at the fire scene, and the spatial layout of the monitoring area.

[0018] Optionally, the fire emergency equipment includes fire emergency signs and / or fire broadcasts. In response to identifying a fire risk, the fire emergency equipment control device controls the fire emergency equipment to dynamically change the content of local emergency signs and local broadcasts, and optimizes the design from an architectural design perspective to better guide on-site personnel to evacuate by artificial intelligence or manual labor; and / or the fire emergency equipment includes fire sprinklers. In response to identifying a fire risk, the fire emergency equipment control device controls the fire sprinklers to perform sprinkler fire extinguishing operations by artificial intelligence or manual remote commands.

[0019] Optionally, the control system provides on-site feedback information to the central air-conditioning system based on the analysis results of the acquired thermal images so that the central air-conditioning system can perform dynamic adjustments; and / or the control system provides on-site feedback information to the lighting system based on the analysis results of the acquired thermal images so that the lighting system can perform lighting control; and / or the control system provides positioning and tracking information to support active positioning and navigation of living organisms, vehicles or robots; and / or the control system provides on-site personnel temperature information and positioning information to the epidemic prevention system based on the analysis results of the acquired thermal images.

[0020] Optionally, the thermal imaging camera calibrates the camera itself for temperature accuracy and precision based on the temperature constancy of the human body, based on hot spot areas corresponding to the human body identified in the thermal imaging image.

[0021] Optionally, the control system may include: at least one regional control unit, each of which is connected to at least one monitoring node among multiple monitoring nodes through a serial bus; a main control unit, the regional control unit is connected to the main control unit through Ethernet or a wireless network, and the main control unit uploads information to the fire alarm information demander or exchanges information with it through the fire linkage controller.

[0022] Optionally, the first monitoring node also includes: a communication device for communicating with the control system; a local control unit for adjusting the thermal imaging frame rate of the thermal imaging camera and / or the frame rate of the thermal imaging image sent to the communication system in response to instructions from the control system; and an image processing device for performing image processing on the thermal imaging image from the thermal imaging camera in the first monitoring node, the image processing including at least one of the following: image compression processing; identifying hot spots; cropping the thermal imaging image to retain only the image of the identified hot spots, so as to reduce the amount of communication required for the communication system to transmit the thermal imaging image; filtering the thermal imaging image to filter out pixels whose corresponding temperatures are lower than a set temperature threshold; performing artificial intelligence processing on the thermal imaging image to send only the processed information to the control system, so as to reduce the amount of communication required for the communication system to transmit the thermal imaging image and / or improve compatibility with existing fire protection systems; performing artificial intelligence processing on the thermal imaging image to further generalize the identified humans so as to replace the human image with a static graphic (e.g., a cartoon-shaped static graphic) and send only the processed information to the control system, thereby addressing privacy concerns in specific areas.

[0023] Optionally, the monitoring area includes a plurality of monitoring subareas, each of which includes a plurality of monitoring units, and each monitoring unit is provided with at least one first monitoring node. The control system includes a general control unit corresponding to the monitoring area, a plurality of regional control units corresponding to the plurality of monitoring subareas, and a plurality of unit controllers corresponding to the plurality of monitoring units. The monitoring system also includes an execution system, which includes a general actuator corresponding to the monitoring area, a plurality of regional actuators corresponding to the plurality of monitoring subareas, and a plurality of unit actuators corresponding to the plurality of monitoring units, and the unit actuators are used to perform their functions in the corresponding monitoring units. The unit controller receives a thermal image from a first monitoring node provided in the corresponding monitoring unit, and sends a unit control instruction to the unit actuator corresponding to the monitoring unit based on the primary analysis and processing result of the thermal image, so that the unit actuator performs its function in the corresponding monitoring unit according to the unit control instruction. The unit controller also sends the received thermal image and / or its primary analysis and processing result to the regional actuator corresponding to the monitoring subarea to which the corresponding monitoring unit belongs. The regional controller obtains the secondary analysis and processing result based on the received thermal image and / or the primary analysis and processing result, and sends the regional control instruction to the corresponding regional actuator based on the secondary processing result, so that the regional actuator distributes the control instruction to the corresponding multiple unit actuators. The regional controller also sends the received thermal image and / or the received primary analysis and processing result and / or the secondary analysis and processing result to the master controller. The master controller obtains the tertiary analysis and processing result based on the received thermal image and / or the primary analysis and processing result and / or the secondary analysis and processing result, and sends the master control instruction to the master actuator based on the tertiary processing result, so that the master actuator distributes the control instruction to each unit actuator via the regional actuator.

[0024] Optionally, the control system and / or monitoring node can dynamically adjust the working, sleeping and shutdown time and / or time ratio of the control system and / or monitoring node based on manual or artificial intelligence processing analysis results to evaluate the busy and idle periods and / or frame rate requirements, so as to balance the system resource allocation and improve the service life of the system equipment.

[0025] Therefore, by distributing multiple thermal imaging cameras with optical axes perpendicular to the ground in the monitoring area, the present disclosure provides a monitoring system based on thermal imaging, which can accurately identify, analyze and locate the temperature-related information on the scene, so that in fire-fighting application scenarios, for example, it can not only reduce the occurrence of missed reports and false alarms of fire hazards, but also accurately locate the fire hazards in the monitoring area, provide more accurate information for fire-fighting work, and facilitate the smooth development of various tasks such as fire-fighting, for example, it is more convenient to carry out effective evacuation and search and rescue of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] Figure 1 is a schematic block diagram of a monitoring system according to an embodiment of the present disclosure.

[0028] Figure 2 The figure shows the arrangement of multiple monitoring nodes according to one embodiment of the present disclosure.

[0029] Figure 3 An exemplary arrangement scheme of the first monitoring nodes in the monitoring area is schematically shown in the form of a top view. Figure 4 The figure shows an arrangement of multiple monitoring nodes according to another embodiment of the present disclosure.

[0030] Figure 5 The deployment scheme of monitoring nodes and various fire emergency equipment in another embodiment of the present disclosure is schematically shown.

[0031] Figure 6 is a schematic block diagram of a fire alarm monitoring system according to another embodiment of the present disclosure.

[0032] Figure 7 is a schematic block diagram of a monitoring node according to an embodiment of the present disclosure.

[0033] Figure 8 It is a schematic architecture diagram of the existing conventional fire control system.

[0034] Fig. 9 It is a schematic architecture diagram of a fire monitoring system based on thermal imaging that can be used according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] 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.

[0036] Figure 1 is a schematic block diagram of a monitoring system according to an embodiment of the present disclosure.

[0037] like Figure 1 As shown, the monitoring system of the embodiment of the present disclosure includes a control system and multiple monitoring nodes.

[0038] A plurality of monitoring nodes are arranged in the monitoring area, and monitor the corresponding parts of the monitoring area respectively.

[0039] The fire alarm monitoring system disclosed herein can be applied to various scenarios. In some embodiments, the monitoring area can be a space in an industrial or civil building.

[0040] Each monitoring node may include a thermal imaging camera (also referred to as an "infrared camera") to perform thermal imaging of the corresponding imaging area. The control system may obtain thermal imaging images from each monitoring node and analyze the obtained thermal imaging images to identify temperature-related information therein. Thus, the present disclosure provides a monitoring system based on thermal imaging.

[0041] In the context of the present disclosure, "temperature-related information" may refer to various temperature-related information that can be obtained from a thermal imaging image.

[0042] As an example, when the monitoring system is applied to a fire protection application scenario as a fire alarm monitoring system, the temperature-related information may include, for example, fire risk.

[0043] For another example, the temperature-related information may include temperature information of each region in the thermal imaging image.

[0044] For another example, the temperature-related information may include area information in the thermal image that is within a predetermined temperature range, such as area information that is within a constant temperature range of the human body.

[0045] In various application scenarios of firefighting and non-firefighting, various temperature-related information can be obtained from thermal images according to application requirements.

[0046] Multiple monitoring nodes can be arranged in the monitoring area according to certain specifications.

[0047] Figure 2 The figure shows the arrangement of multiple monitoring nodes according to one embodiment of the present disclosure.

[0048] like Figure 2 As shown, a plurality of monitoring nodes T1 may be arranged at a first predetermined height above the ground in the monitoring area. The monitoring nodes T1 arranged in this way may be referred to as "first monitoring nodes" hereinafter.

[0049] Correspondingly, the first thermal imaging camera in the first monitoring node T1 can also be arranged at a first predetermined height from the ground in the monitoring area. The optical axis of the first thermal imaging camera is set to be substantially perpendicular to the ground to perform thermal imaging of the corresponding imaging area on the ground. In this way, each pixel area of ​​the thermal imaging image obtained by the first thermal imaging camera performing thermal imaging can correspond to each spatial area in the imaging area.

[0050] The calculation may also be performed in combination with the thermal imaging image acquired by the first thermal imaging camera, the first predetermined height and the size information of the spatial area corresponding to the corresponding imaging area to obtain more accurate position information of the imaging object in the thermal imaging image in the spatial area.

[0051] For an imaging object within the imaging area of ​​the first thermal imaging camera, such as a person or a vehicle, the first thermal imaging camera will thermally image it, and form a corresponding hot spot area on the thermal imaging map formed on the thermal imaging sensor of the thermal imaging camera.

[0052] 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 first thermal imaging camera, so that the first thermal imaging camera can perform appropriate thermal imaging of the ground in its corresponding imaging area.

[0053] For example, the first predetermined height may correspond to the floor height of a building, that is, the first monitoring node T1 and the first 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 first thermal imaging camera) under the constraints of the floor height or the suspended ceiling height.

[0054] A plurality of first monitoring nodes T1 may be distributed in the monitoring area. A plurality of first monitoring nodes T1 distributed in the monitoring area may form a monitoring network. The imaging areas of the first thermal imaging cameras in the plurality of first monitoring nodes T1 may together substantially cover the ground of the entire monitoring area. For example, the imaging areas of the first thermal imaging cameras of adjacent first monitoring nodes are adjacent to or overlap each other.

[0055] Figure 3 An exemplary arrangement scheme of the first monitoring nodes in the monitoring area is schematically shown in the form of a top view.

[0056] Figure 3 In the figure, small rectangular grids are used to represent spatial areas on the ground of the monitoring area, and four first monitoring nodes T1 are arranged in the monitoring area. The dotted lines respectively show the imaging areas (thermal imaging ranges) of the first thermal imaging cameras of the four first monitoring nodes T1.

[0057] like Figure 3 As shown, the imaging areas of the first thermal imaging cameras of adjacent first monitoring nodes T1 can be set to overlap each other. Thus, by setting the imaging areas of the first thermal imaging cameras of multiple first monitoring nodes T1, the ground of the entire monitoring area can be basically covered.

[0058] In some embodiments, the first thermal imaging camera may be a thermal imaging camera with a wide field of view or above, so as to expand the monitoring range of a single first monitoring node. Figure 2 The dotted line in FIG. 1 shows the field of view angle range of the first thermal imaging camera of each first monitoring node T1.

[0059] For example, the field of view angle of the first thermal imaging camera may be greater than 90 degrees.

[0060] In some embodiments, the first thermal imaging camera 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 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 application, for example, in the case of informing the existence of a thermal imaging monitoring device to provide a privacy prompt.

[0061] In addition, the first thermal imaging camera 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.

[0062] Based on the thermal imaging image from the first monitoring node T1, the control system can perform analysis to identify the fire risk therein.

[0063] For example, the control system can identify hot spots in the thermal image. The hot spots in the thermal image correspond to areas with higher temperatures at the monitoring area site.

[0064] For example, the control system can 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 can include, for example, at least one of fire, life form (such as a person, an animal), a vehicle, a robot, and an instrument. It should be understood that the imaging object here has the characteristic of actively emitting radiation within the thermal imaging wavelength range.

[0065] For example, the control system may also locate the spatial position corresponding to the hot spot area based on the position of the first monitoring node T1 corresponding to the thermal imaging image in the monitoring area and the relative position of the hot spot area in the thermal imaging image.

[0066] The position of the first monitoring node T1 in the monitoring area can be determined based on, for example, its address code. In other words, the position of the first monitoring node T1 in the monitoring area (such as an industrial or civil building) can be determined based on the address code assigned to the first monitoring node T1. Thus, the imaging area of ​​the ground of the monitoring area corresponding to the first monitoring node T1 can be further determined. In addition, since each pixel area of ​​the thermal imaging image sensed by the first thermal imaging camera corresponds to each spatial area in the imaging area, the relative position of the hot spot area on the thermal imaging image can be determined for the imaging object in the imaging area (sensing range) of the first thermal imaging camera. Combined with the position of the first monitoring node T1 in the monitoring area, the specific position of the imaging object in the hot spot area in the monitoring area can be accurately obtained, thereby achieving accurate positioning of the hot spot area.

[0067] The positioning information can be sent to the corresponding personnel / departments / units in real time or non-real time for fire-fighting purposes such as personnel evacuation, dispersal and search and rescue command in fire conditions, as well as other social functions and / or commercial purposes in non-fire conditions.

[0068] Figure 4 The figure shows an arrangement of multiple monitoring nodes according to another embodiment of the present disclosure.

[0069] like Figure 4 As shown, the aforementioned multiple monitoring nodes may further include at least one second monitoring node T2. The second monitoring node T2 includes a second thermal imaging camera. The second thermal imaging camera (and the corresponding second monitoring node T2) may be arranged at a second predetermined height from the ground, with the optical axis substantially parallel to the ground, so as to perform thermal imaging of the corresponding spatial area within the monitoring area.

[0070] Generally, the second predetermined height may be lower than the first predetermined height. For example, the second predetermined height may correspond to the height of a monitored object that may appear in the monitored area. For example, the second predetermined height may be about 1 meter.

[0071] The control system may combine the thermal imaging images from the first thermal imaging camera and the second thermal imaging camera for analysis.

[0072] Figure 4 The dotted line in FIG. 1 shows the field of view angle range of the second thermal imaging camera of each second monitoring node T2.

[0073] For example, the field of view angle of the second thermal imaging camera may be less than 90 degrees.

[0074] By using a thermal imaging camera with a relatively smaller field of view (compared to the first thermal imaging camera), when using a thermal imaging sensor with the same resolution, a horizontally arranged second thermal imaging camera can provide a relatively higher angular resolution, thereby improving the thermal imaging clarity of imaging objects in the space. When the imaging range is relatively narrow (limited floor height inside the building), clearer thermal imaging can be achieved for imaging objects that are farther away in the space.

[0075] In addition, in some embodiments, the second monitoring node T2 may also cover corner areas that are not covered by the first monitoring node T1, such as the ceiling of a building.

[0076] In addition, in some embodiments, the monitoring node may further include a third monitoring node (not shown in the figure), and the third monitoring node may include a third thermal imaging camera.

[0077] For example, the third thermal imaging camera (third monitoring node) can be arranged in a designated monitoring area, such as an equipment room, a pipe shaft, inside a suspended ceiling, an elevator room, an elevator shaft, and other special monitoring areas to perform thermal imaging monitoring of the designated monitoring area.

[0078] For another example, the optical axis of the third thermal imaging camera may be directed to a designated monitoring target, such as a designated equipment, a designated pipeline, or other special monitoring target, so as to perform thermal imaging monitoring on the designated monitoring target.

[0079] In this way, targeted fire monitoring can be carried out on designated monitoring areas or designated monitoring objects with special significance or higher fire risks.

[0080] Furthermore, in some embodiments, the monitoring system may also include an artificial intelligence model system or a machine vision processing system for analyzing thermal images of a single area and the entire building.

[0081] For example, training of artificial intelligence model systems can be performed in the cloud.

[0082] For example, the AI ​​model system can be trained separately for different buildings and / or different cities or countries.

[0083] For another example, the artificial intelligence model system can also perform classified training based on building categories and / or human activity categories.

[0084] In this way, the artificial intelligence model system can be trained based on the building category and / or human activity category and / or city or country information corresponding to the monitoring area targeted by the control system (or a monitoring system deployed somewhere), and the corresponding training results can be sent to the corresponding (monitoring system) control system.

[0085] In some embodiments, the control system may be a closed-loop automatic control system based on thermal imaging feedback (thermal imaging map) and artificial intelligence or machine vision processing and control.

[0086] For example, an artificial intelligence model system or a machine vision processing system can send a linkage control command to the corresponding actuator based on the results of the analysis of the thermal image. The actuators here can include actuators for firefighting purposes, such as fire emergency signs, fire broadcasts, fire sprinklers, etc., and can also include actuators for non-firefighting purposes, such as central air conditioning systems, lighting systems, epidemic prevention systems, etc.

[0087] On the other hand, the linkage control results of the linkage control commands using these actuators can also be used as training samples to train the artificial intelligence model system.

[0088] Furthermore, each monitoring node (the first monitoring node T1, the second monitoring node T2 and the third monitoring node), especially the first monitoring node T1 distributed in the monitoring area, may also include some other types of fire monitoring equipment. Other types of fire monitoring equipment may include smoke detectors and / or temperature sensors.

[0089] In this way, through artificial intelligence model systems or machine vision processing systems or manual analysis, and combined with the detection results of other fire monitoring equipment such as smoke detectors and / or temperature sensors, fire warnings can be issued for the monitored areas, realizing full-time and full-feature fire alarms in the extremely early, early, mid-term and late stages.

[0090] On the other hand, by combining the thermal images from the first thermal imaging camera of each first monitoring node and the detection results of each fire monitoring equipment, training samples (at least part of the training sample set) can be obtained for training the artificial intelligence model system.

[0091] The control system can use the results of analyzing the thermal images obtained from the thermal imaging cameras of each monitoring node for various application scenarios. For example, it can be used for fire monitoring purposes in some scenarios and for non-firefighting purposes in other scenarios.

[0092] As an application scenario for fire fighting purposes, the control system can provide feedback information to the fire emergency equipment control device so as to perform corresponding emergency functions.

[0093] In some embodiments, each monitoring node (a first monitoring node T1, a second monitoring node T2, and a third monitoring node), especially the first monitoring node T1 distributed in the monitoring area, may also include a fire emergency equipment control device. The fire emergency equipment control device responds to the control system identifying a fire risk, and controls the corresponding fire emergency equipment to perform an emergency function based on at least one of the fire risk point, the location of personnel at the fire scene, and the spatial layout of the monitoring area.

[0094] Figure 5 The deployment scheme of monitoring nodes and various fire emergency equipment in another embodiment of the present disclosure is schematically shown.

[0095] Fire emergency equipment may include, for example, fire emergency signs and / or fire broadcasts. In response to identifying a fire risk, the fire emergency equipment control device controls these fire emergency equipment to dynamically change the content of local emergency signs and local broadcasts, and optimizes the design from the perspective of architectural design to better guide the evacuation of on-site personnel by artificial intelligence or manual work.

[0096] like Figure 5 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.

[0097] 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.

[0098] For another example, the fire emergency equipment may also include fire sprinklers. In response to identifying a fire risk, the fire emergency equipment control device may be instructed by artificial intelligence or manual remote control to control the corresponding fire sprinklers to perform sprinkler fire extinguishing operations. In this way, linkage with the fire sprinklers may be achieved. In some embodiments, the design may be optimized from the perspective of architectural design, so that the sprinkler fire extinguishing linkage operation may be performed earlier and more accurately by artificial intelligence or manual remote control.

[0099] As an application scenario for non-firefighting purposes, the control system can provide on-site feedback information to the central air-conditioning system, lighting system, positioning tracking or navigation system, epidemic prevention system, etc.

[0100] For example, the control system can provide on-site feedback information to the central air conditioning system based on the analysis results of the acquired thermal imaging images so that the central air conditioning system can make dynamic adjustments. For example, by analyzing the thermal imaging images, 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.

[0101] For example, the control system can provide on-site feedback information to the lighting system based on the analysis results of the acquired thermal imaging images so that the lighting system can perform lighting control.

[0102] For example, the control system can provide the fan system with feedback information on the location of on-site personnel based on the analysis results of the acquired thermal images, so that the fan system can dynamically adjust and track to provide comfortable services.

[0103] For example, the control system can provide positioning and tracking information to support active positioning and navigation of living things, vehicles, or robots.

[0104] For example, the control system can provide the epidemic prevention system with on-site personnel temperature information and location information based on the analysis results of the acquired thermal imaging images. The existing epidemic prevention system can only monitor the body temperature of mobile personnel in areas such as entrances. According to the embodiment of the present disclosure, the monitoring nodes distributed in the monitoring area can monitor the body temperature of personnel in the entire monitoring area space. When a person whose body temperature exceeds the normal body temperature range is found, the body temperature information and location information of the relevant personnel can be provided to the epidemic prevention system so that the epidemic prevention system can accurately find the relevant personnel.

[0105] For another example, the control system may also provide information for social service functions such as finding lost children and / or pets based on the analysis results of the acquired thermal images.

[0106] For example, the control system can also provide information for security monitoring, patrol systems, etc.

[0107] In addition, considering that the human body temperature range is relatively narrow, generally between 36.5 and 37 degrees Celsius, with a certain degree of constancy, in some embodiments, the thermal imaging camera of each monitoring node can calibrate the temperature accuracy and precision of the camera itself based on the hot spot area corresponding to the human body identified in the thermal imaging image and based on the constancy of the human body temperature.

[0108] Figure 6 is a schematic block diagram of a monitoring system according to another embodiment of the present disclosure.

[0109] like Figure 6 As shown, the control system may include a master control unit and at least one regional control unit.

[0110] The regional control unit may be connected to at least one monitoring node among the plurality of monitoring nodes through a serial bus, respectively.

[0111] The monitoring node network formed by serial field bus connection can be connected to the regional control unit or the total control unit through the 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). In some embodiments, each serial bus can be connected in series with more than 5 monitoring nodes (thermal imaging cameras).

[0112] The regional control unit can be connected to the main control unit via Ethernet or wireless network. The main control unit can upload fire alarm information to the fire alarm information demander or exchange information with it through the fire linkage controller.

[0113] For example, the main control unit can be connected to the corresponding department / unit / equipment / Internet of Things, etc. through the fire linkage controller to upload information to it or exchange information.

[0114] Figure 7 is a schematic block diagram of a monitoring node according to an embodiment of the present disclosure.

[0115] Figure 7 The monitoring node shown can be any one of the aforementioned first monitoring node T1, second monitoring node T2 and third monitoring node, and can particularly be the first monitoring node T1 dispersed in the monitoring area.

[0116] like Figure 7 As shown, the monitoring node may include a thermal imaging camera to perform thermal imaging of imaging objects within its field of view angle.

[0117] In addition, as mentioned above, in some embodiments, the monitoring node may also include a smoke detector and / or a temperature sensor. The corresponding uses and functions have been described above and will not be repeated here.

[0118] In addition, if Figure 7 As shown, the monitoring node may also include a communication device, a local control unit and an image processing device.

[0119] The fire emergency equipment control device mentioned above can also be set in the monitoring node. For example, the fire emergency equipment control device can be used as a part of the local control unit. Alternatively, the local control unit can also be used as the fire emergency equipment control device to perform corresponding control operations on the fire emergency equipment.

[0120] The communication device is used to communicate with the control system. For example, the communication device can be connected to the regional control unit via a serial bus, communicate data and information with the regional control unit, and upload the thermal image or information analyzed from the thermal image to the regional control unit.

[0121] The local control unit may adjust the thermal imaging frame rate of the thermal imaging camera and / or the frame rate of the thermal imaging image sent to the communication system in response to instructions from the control system.

[0122] The image processing device can perform various image processing on the thermal image from the thermal imaging camera in the first monitoring node.

[0123] For example, the image processing device can perform image compression processing on the thermal image to reduce the data volume of the thermal image, thereby reducing the data communication volume between the communication device and the control system and improving the communication speed.

[0124] For another example, the image processing device may also identify a hot spot area from the thermal image, which may be an area corresponding to a temperature corresponding to or higher than a predetermined temperature threshold.

[0125] By identifying the hot spots in the thermal image, it can be analyzed and identified to obtain the corresponding information.

[0126] For another example, the image processing device may also perform cropping processing on the thermal image to retain only the image of the identified hot spot area therein, so as to reduce the communication volume required for the communication system to transmit the thermal image.

[0127] For another example, the image processing device can also filter the thermal image to remove pixels whose corresponding temperature is lower than a set temperature threshold. Similarly, by filtering in this way, the communication volume required for the communication system to transmit the thermal image can be reduced, and the efficiency of the control system, artificial intelligence model system, or machine vision processing system in analyzing and processing can be improved.

[0128] For another example, the image processing device itself may also have certain artificial intelligence or machine vision processing capabilities, perform artificial intelligence or machine vision processing on the thermal image, and only send the processed information to the control system to reduce the amount of communication required for the communication system to transmit the thermal image and / or improve compatibility with existing fire protection systems.

[0129] For another example, the image processing device can also perform artificial intelligence processing on the thermal images and further generalize the identified humans so as to replace the human images with static graphics (such as cartoon-shaped static graphics) and only send the processed information to the control system, thereby addressing privacy concerns in specific areas.

[0130] In addition, the control system and / or each monitoring node of the monitoring system can dynamically adjust the working, sleeping and shutdown time and / or time ratio of the control system and / or monitoring nodes based on manual operations of managers, or through artificial intelligence processing and analysis results to evaluate busy and idle work periods and / or frame rate requirements, so as to balance system resource allocation and improve the service life of system equipment.

[0131] Next, we will refer to Figure 8 and Fig. 9 A control system that can be used for fire alarm according to a monitoring system according to an embodiment of the present disclosure is described.

[0132] Figure 8 It is a schematic architecture diagram of the existing conventional fire control system.

[0133] like Figure 8 As shown, the fire monitoring space is divided into a plurality of fire partitions, such as fire partition 1 to fire partition M. Smoke probes and / or temperature probes are deployed in each fire partition.

[0134] The smoke detector and / or the temperature detector outputs switch quantity feedback information according to their respective detection results.

[0135] There are two ways and scenarios to realize alarm and control based on the switch feedback of smoke probes and / or temperature probes.

[0136] One is the automatic alarm scenario. Only when at least two probes alarm will the fire alarm be considered to be a true alarm, and an alarm message will be sent to the fire alarm controller to start the fire fighting procedure.

[0137] The other is a manual confirmation scenario. When only one probe alarms, the firefighting procedure will not be automatically started. Instead, staff will be required to confirm at the probe site whether the fire alarm is a false alarm. If it is not a false alarm, for example, by pressing the alarm button, an alarm message will be sent to the fire alarm controller to start the firefighting procedure.

[0138] The fire alarm controller sends information to the fire linkage controller. Under the manual control of the staff, the fire linkage controller sends control information to the actuators on site (for example, the fire partition where the probe that sends the alarm information is located). Actuators include fire alarm broadcasts, fire sprinklers, etc. Each actuator performs fire control accordingly.

[0139] In the existing fire control system, when the fire program is started, the smoke / temperature sensors basically lose their function, and the linkage control mainly relies on the preset linkage logic and manual control of the staff. In addition, the minimum linkage control is based on the fire partition.

[0140] It can be seen that the existing fire control system is essentially an open-loop non-automatic control system, which has at least the following disadvantages:

[0141] The alarm information sent by the temperature sensor and / or smoke sensor is a switch quantity with very limited information and low credibility;

[0142] It does not have the ability to provide real-time feedback, whether it is the time delay required for on-site manual confirmation or waiting until multiple points (multiple detectors) alarm in the middle of the fire trigger the automatic alarm program, which means that the fire is irreversible for fires that develop in seconds;

[0143] Coordination, evacuation and search and rescue can only be carried out based on preset linkage logic and the experience of staff. There is no real-time feedback information to assist, and it is impossible to respond correctly to the dynamically changing fire and on-site conditions. In fact, wrong responses are often made, resulting in significant losses.

[0144] Fig. 9 It is a schematic architecture diagram of a fire monitoring system based on thermal imaging that can be used according to an embodiment of the present disclosure.

[0145] like Fig. 9 As shown, the embodiment of the present disclosure is aimed at fire protection application scenarios. In addition to the multiple fire partitions (fire partition 1 to fire partition M, more generally, also referred to as "monitoring partitions") of the existing fire protection monitoring system, it further introduces the new concept of fire protection units (fire protection unit 1 to fire protection unit N, more generally, also referred to as "monitoring units").

[0146] The fire prevention unit may be associated with each of the aforementioned monitoring nodes. Furthermore, the fire prevention unit may correspond to the imaging area of ​​the first thermal imaging camera of one or more first monitoring nodes.

[0147] The monitoring space can contain multiple (for example, M) fire partitions, and each fire partition contains multiple (for example, N) fire units, where M and N are both positive integers. The specific values ​​of M and N can be divided through architectural design optimization. The number of fire units in each fire partition can be the same or different according to actual conditions. In non-fire protection application scenarios, this division scheme can also be used to optimize the application.

[0148] In other words, the monitoring space can be divided into three layers from large to small: the entire monitoring space, fire protection partitions, and fire protection units.

[0149] Correspondingly, the executors can also be divided into three layers according to the management space range from large to small: general executor, regional executor, and unit executor. The general executor manages multiple regional executors (for example, regional executor 1 to regional executor M), and each regional executor manages multiple unit executors (for example, unit executor 1 to unit executor N).

[0150] Furthermore, the control system can also be divided into three layers: a main control unit, multiple regional control units corresponding to multiple fire protection zones (regional control unit 1 to regional control unit M), and monitoring node control units corresponding to multiple fire protection units (monitoring node control unit 1 to monitoring node control unit N, also referred to as "node control unit" or "unit controller" or "local control unit").

[0151] In this way, the embodiments of the present disclosure can realize up to three (three-level) closed-loop control systems based on holographic full-time feedback: fire protection unit-monitoring node control unit-unit actuator, fire protection partition-area control unit-area actuator and monitoring space overall-total control unit-total actuator.

[0152] 1. First level control loop

[0153] Each fire prevention unit can be equipped with at least one monitoring node. The monitoring node sends the collected thermal imaging information (and the fused temperature sensor information / smoke sensor information) to the local control unit in the monitoring node in full time. Fig. 9 The monitoring node control units 1 to N are shown.

[0154] For example, the local control unit can be further divided into a local fire control unit and a local non-fire control unit. Fire control functions can include fire monitoring, linkage, closed-loop positioning, evacuation and search and rescue, etc. Non-fire control functions can include positioning, air conditioning system control, lighting system control, fan control, broadcasting, etc.

[0155] When a fire protection unit corresponds to only one first monitoring node, the local control unit (or unit controller or node control unit) can be set inside the first monitoring node.

[0156] The local control unit or unit controller (monitoring node control unit 1 to monitoring node control unit N) can perform artificial intelligence or machine vision processing based on the thermal image feedback information, and based on the processing results, the local fire control unit of the local control unit issues a control / linkage instruction (unit control instruction) to the corresponding unit actuator of the fire function, and the local non-fire control unit of the local control unit issues a control / linkage instruction to the corresponding unit actuator of the non-fire function. At the same time, the local control unit will also upload the full-time information of the thermal imaging hologram (or processed information) to the upper-level control unit (for example, it can be a regional control unit or a total control unit).

[0157] The unit actuators of the fire protection function may include, for example, fire emergency indication, fire broadcast, fire sprinkler, etc. The unit actuators of the non-fire protection function may include, for example, air conditioning control, lighting control, fan control, broadcast, etc. that support the non-fire protection function.

[0158] The first-level closed-loop control loop is formed by the fire protection unit, the local control unit (monitoring node control unit) and the unit actuator, which is suitable for local control of the fire protection unit. This control loop has the fastest response time and the smallest application space, has extremely high flexibility, and can greatly reduce the interference of linkage control on other monitoring spaces.

[0159] 2. Second level control loop

[0160] Regional control units can also be divided into regional fire control units and regional non-fire control units.

[0161] The regional control unit can receive the full-time holographic information of the thermal imaging images of each fire protection unit from the multiple monitoring node control units associated with it, summarize and process them accordingly, and send regional control instructions to the regional actuator when necessary based on the processing results to perform corresponding regional linkage control.

[0162] The regional actuator can also be divided into a regional fire protection function execution unit and a regional non-fire protection function execution unit.

[0163] The regional actuator can execute regional linkage control functions (such as regional-level fire door linkage, etc.) based on the regional control instructions from the regional controller, and distribute the instructions to each unit actuator to execute the unit linkage control instructions.

[0164] As the actuator of the second-level closed-loop control loop, the regional actuator issues instructions with higher priority than the instructions issued by the unit actuator, so as to facilitate the overall optimal linkage control of the region.

[0165] At the same time, the regional control unit will also upload the full-time information of the thermal image hologram (or processed information) to the upper-level general control unit.

[0166] 3. Third level control loop

[0167] The main control unit can also be divided into a central fire control unit and a central non-fire control unit.

[0168] The overall control unit may summarize and process the received full-time information of the thermal imaging hologram of each unit, and send the processing result to the linkage controller to execute linkage control, for example, after manual confirmation.

[0169] The linkage controller can also be divided into fire linkage control and non-fire linkage control unit.

[0170] The linkage controller can interact with the staff through the human-machine interface after processing the global information, and issue linkage control instructions to the main actuator based on the linkage control logic.

[0171] The master actuator is also divided into fire master actuator and non-fire master actuator.

[0172] The master actuator can execute the master linkage control function based on the instructions, such as non-fire power supply / fire power supply control, elevator control, etc., and distribute the instructions to each area actuator to execute the linkage control instructions.

[0173] As the third-level closed-loop control circuit, the instructions issued by the general actuator have higher priority than the instructions issued by the regional actuator, so as to facilitate overall optimal linkage control.

[0174] At the same time, the master control unit can also upload the full-time information of thermal imaging holograms (or processed information) to a higher-level control system. For example, it can be stored and distributed locally, or stored, distributed and processed in the cloud, or sent to a town management center / command center / control center, etc.

[0175] In addition, manual intervention parts such as manual confirmation and manual control can also be used as training input for artificial intelligence algorithms.

[0176] In addition, virtual thermal imaging information can be generated and artificial intelligence algorithms can be trained for virtual control systems.

[0177] It should be understood that the closed-loop control levels of the above-mentioned system can be adjusted in terms of the number of levels and / or connection methods according to the characteristics of the monitored space.

[0178] Compared with the existing monitoring system, the monitoring system of the embodiment of the present disclosure is based on thermal imaging holographic full-time information feedback and artificial intelligence / machine vision processing, and can truly realize an automatic control system based on control concepts that does not require human participation in the construction field.

[0179] The monitoring system according to the present invention has been described above in detail with reference to the accompanying drawings.

[0180] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system and method according to multiple embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or code, and the part of the module, program segment or 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 square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square 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 square box in the block diagram and / or flow chart, and the combination of the square 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.

[0181] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected 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 thermal imaging monitoring and control system, comprising: A plurality of monitoring nodes, wherein the plurality of monitoring nodes include a plurality of first monitoring nodes, the plurality of first monitoring nodes are dispersed in the monitoring area, each of the first monitoring nodes includes a first thermal imaging camera, the first thermal imaging cameras are respectively arranged at a first predetermined height from the ground, and the optical axis is substantially perpendicular to the ground, so as to perform thermal imaging of a corresponding imaging area on the ground, and each pixel area of ​​the obtained thermal imaging image corresponds to each spatial area in the imaging area; The control system acquires thermal images from the plurality of first monitoring nodes, analyzes the acquired thermal images to identify information related to temperature therein, The control system identifies a hot spot area in the thermal imaging image, the control system identifies the type of imaging object in the hot spot area in the thermal imaging image, the imaging object has the characteristic of actively emitting radiation within the thermal imaging wavelength range, the control system determines the relative position of the imaging object corresponding to the hot spot area in the imaging area of ​​the first thermal imaging camera based on the relative position of the hot spot area in the thermal imaging image, and determines the specific position of the imaging object corresponding to the hot spot area in the monitoring area in combination with the position of the first monitoring node corresponding to the thermal imaging image in the monitoring area. The first thermal imaging camera is a thermal imaging camera with a wide field of view or larger, the first thermal imaging camera is a thermal imaging camera that can identify the category of the imaging object but not the individual, and the resolution of the first thermal imaging camera is a resolution that can identify the category of the imaging object but not the individual.

2. The thermal imaging monitoring and control system according to claim 1, wherein: Imaging areas of the first thermal imaging cameras of adjacent first monitoring nodes are adjacent to or overlap each other; The imaging areas of the first thermal imaging cameras of the plurality of first monitoring nodes substantially cover the ground of the monitoring area.

3. The thermal imaging monitoring and control system according to claim 1, wherein: The first thermal imaging camera includes at least one of a LWIR wavelength range thermal imaging sensor, a MWIR wavelength range thermal imaging sensor, a SWIR wavelength range thermal imaging sensor, a NIR wavelength range thermal imaging sensor, and a FIR wavelength range thermal imaging sensor.

4. The thermal imaging monitoring and control system according to claim 1, wherein: The type of the imaging object in the hot spot area includes at least one of fire, a living being, a vehicle, a robot, and an instrument.

5. The thermal imaging monitoring and control system according to claim 1, further comprising: Artificial intelligence model system or machine vision processing system is used to analyze and process thermal images of single areas and entire buildings.

6. The thermal imaging monitoring and control system according to claim 5, wherein: Perform training of the artificial intelligence model system in the cloud; and / or The artificial intelligence model system is trained for different buildings and / or different cities respectively; and / or The artificial intelligence model system is trained based on building categories and / or human activity categories; and / or Based on the building categories and / or human activity categories and / or urban information corresponding to the monitoring area targeted by the control system, the artificial intelligence model system is trained, and the corresponding training results are sent to the corresponding control system.

7. The thermal imaging monitoring and control system according to claim 5, wherein: The control system is a closed-loop automatic control system based on thermal imaging feedback and artificial intelligence or machine vision processing and control.

8. The thermal imaging monitoring and control system according to claim 7, wherein: The artificial intelligence model system or the machine vision processing system sends a linkage control command to the corresponding actuator according to the result of analyzing the thermal imaging image. The linkage control result of the actuator on the linkage control command is used as a training sample to train the artificial intelligence model system.

9. The thermal imaging monitoring and control system according to claim 5, wherein: The first monitoring node also includes a fire monitoring device, which includes a smoke detector and / or a temperature sensor. Among them, through artificial intelligence model system or machine vision processing system or manual analysis, combined with the detection results of smoke detectors and / or temperature sensors, a fire warning is issued to the monitored area to achieve full-time and full-feature fire alarms in very early, early, mid-term and late stages, and / or At least part of the training samples used to train the artificial intelligence model system are obtained by combining the thermal imaging images from the first thermal imaging camera of each first monitoring node and the detection results of the fire monitoring equipment.

10. The thermal imaging monitoring and control system according to claim 1, wherein: The plurality of monitoring nodes further include a second monitoring node, including a second thermal imaging camera, the second thermal imaging camera being arranged at a second predetermined height from the ground, with an optical axis substantially parallel to the ground, so as to perform thermal imaging of a corresponding spatial area within the monitoring area, the second predetermined height being lower than the first predetermined height, The control system combines the thermal imaging images from the first thermal imaging camera and the second thermal imaging camera for analysis.

11. The thermal imaging monitoring and control system according to claim 1, wherein: The calculation is performed in combination with the thermal imaging image acquired by the first thermal imaging camera, the first predetermined height, and the size information of the spatial area corresponding to the corresponding imaging area to obtain the precise position information of the imaging object in the thermal imaging image in the spatial area.

12. The thermal imaging monitoring and control system according to claim 1, wherein: The plurality of monitoring nodes further include a third monitoring node, including a third thermal imaging camera, The third thermal imaging camera is arranged in a designated monitoring area to perform thermal imaging on the designated monitoring area, and / or the optical axis of the third thermal imaging camera points to a designated monitoring target to perform thermal imaging on the designated monitoring target.

13. The thermal imaging monitoring and control system according to any one of claims 1 to 12, wherein: The monitoring node also includes a fire emergency equipment control device, which controls the corresponding fire emergency equipment to perform emergency functions in response to the control system identifying the fire risk based on at least one of the fire risk point, the location of personnel at the fire scene, and the spatial layout of the monitoring area.

14. The thermal imaging monitoring and control system according to claim 13, wherein: The fire emergency equipment includes a fire emergency indication sign and / or a fire broadcast. In response to identifying a fire risk, the fire emergency equipment control device controls the fire emergency equipment to dynamically change the content of the local emergency indication sign and the local broadcast content, and optimizes 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; and / or The fire emergency equipment includes a fire sprinkler. In response to identifying a fire risk, the fire emergency equipment control device controls the fire sprinkler to perform a sprinkler fire extinguishing operation through artificial intelligence or manual remote instructions.

15. The thermal imaging monitoring and control system according to any one of claims 1 to 12, wherein: The control system provides on-site feedback information to the central air-conditioning system based on the analysis results of the acquired thermal imaging images, so that the central air-conditioning system can make dynamic adjustments; and / or The control system provides on-site feedback information to the lighting system based on the analysis results of the acquired thermal imaging image, so that the lighting system can perform lighting control; and / or The control system provides positioning and tracking information to support active positioning and navigation of a living being, vehicle or robot; and / or The control system provides the on-site personnel's body temperature information and positioning information to the epidemic prevention system based on the analysis results of the acquired thermal imaging images.

16. The thermal imaging monitoring and control system according to any one of claims 1 to 12, wherein: The thermal imaging camera calibrates the camera itself for temperature accuracy and precision based on the temperature constancy of the human body, based on the hot spot areas corresponding to the human body identified in the thermal imaging image.

17. The thermal imaging monitoring control system according to any one of claims 1 to 12, wherein the control system comprises: at least one regional control unit, connected to at least one monitoring node among the plurality of monitoring nodes through a serial bus; The main control unit, the regional control units are connected to the main control unit via Ethernet or a wireless network, and the main control unit uploads the information to the fire alarm information demander or exchanges information with the fire alarm information demander via the fire linkage controller.

18. The thermal imaging monitoring and control system according to any one of claims 1 to 12, wherein: The first monitoring node also includes: a communication device for communicating with the control system; a local control unit, responsive to instructions from the control system, to adjust a thermal imaging frame rate of the thermal imaging camera and / or a frame rate of the thermal image sent to the communication system; and An image processing device is used to perform image processing on a thermal image from a thermal imaging camera in the first monitoring node, wherein the image processing includes at least one of the following: Image compression processing; Identify hot spots; Crop the thermal image to keep only the image of the identified hot spot area, so as to reduce the communication volume required for the communication system to transmit the thermal image; Filter the thermal image to remove pixels whose corresponding temperature is lower than a set temperature threshold; Performing artificial intelligence processing on the thermal image and only sending the processed information to the control system to reduce the communication volume required for the communication system to transmit the thermal image and / or improve compatibility with the existing fire protection system; The thermal images are processed using artificial intelligence, and the identified humans are further generalized so that the human images are replaced with static graphics, and only the processed information is sent to the control system, thereby addressing privacy concerns in specific areas.

19. The thermal imaging monitoring and control system according to any one of claims 1 to 12, wherein: The monitoring area includes a plurality of monitoring zones, each monitoring zone includes a plurality of monitoring units, and each monitoring unit is provided with at least one first monitoring node; The control system includes a general control unit corresponding to the monitoring area, a plurality of area control units corresponding to the plurality of monitoring zones, and a plurality of unit controllers corresponding to the plurality of monitoring units, respectively; The thermal imaging monitoring and control system further comprises an execution system, wherein the execution system comprises a general actuator corresponding to the monitoring area, a plurality of area actuators respectively corresponding to the plurality of monitoring zones, and a plurality of unit actuators respectively corresponding to the plurality of monitoring units, wherein the unit actuator is used to execute its function in the corresponding monitoring unit; The unit controller receives a thermal image from a first monitoring node provided in the corresponding monitoring unit, and sends a unit control instruction to a unit actuator corresponding to the monitoring unit based on a primary analysis result of the thermal image, so that the unit actuator performs its function in the corresponding monitoring unit according to the unit control instruction; The unit controller also sends the received thermal imaging image and / or its primary analysis and processing result to the regional actuator corresponding to the monitoring partition to which the corresponding monitoring unit belongs; The regional control unit obtains a secondary analysis and processing result based on the received thermal imaging image and / or the primary analysis and processing result, and sends a regional control instruction to the corresponding regional actuator based on the secondary analysis and processing result, so that the regional actuator distributes the control instruction to the corresponding multiple unit actuators; The regional control unit also sends the received thermal imaging image and / or the received primary analysis and processing result and / or the received secondary analysis and processing result to the general control unit; The general control unit obtains a tertiary analysis and processing result based on the thermal imaging image and / or the primary analysis and processing result and / or the secondary analysis and processing result it receives, and sends a general control instruction to the general actuator based on the tertiary analysis and processing result, so that the general actuator distributes the control instruction to each unit actuator via the regional actuator.

20. The thermal imaging monitoring and control system according to any one of claims 1 to 12, wherein: The control system and / or the monitoring node dynamically adjusts the working, sleeping and shutdown time and / or time ratio of the control system and / or the monitoring node based on manual or artificial intelligence processing analysis results to evaluate the busy and idle periods and / or frame rate requirements.

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