Thermal image correction method and facility management system using same

Abstract

A facility management system according to an embodiment of the present invention comprises: a robot arranged in a facility; and a remote control device located in a remote place to receive facility information from the robot, wherein the remote control device receives an image from a camera provided in the robot, separates a target subject from the received image, determines the distance between the separated target subject and the camera, determines a material of the target subject, performs temperature correction on the basis of the measured distance and material, and stores a thermal image converted into a corrected temperature value.

Description

Thermal image correction method and facility management system using the same

[0001] The present invention relates to a thermal image correction method and a facility management system using the same.

[0002] As technology advances, various service devices are emerging, and in particular, technological development for robots that perform various tasks or services is actively underway.

[0003] Furthermore, with the recent advancements in artificial intelligence technology and cloud technology, the utilization of robots is gradually increasing.

[0004] Meanwhile, precise robot control is crucial for providing various tasks or services. Given the practical limitations of allowing users to physically control robots from their immediate vicinity, the need for remote robot control technology is becoming increasingly crucial.

[0005] Conventional robots use expensive IR cameras for reliable temperature measurement, but because they detect by measuring the amount of infrared radiation emitted from an object, there is a problem in that temperature values ​​may vary depending on the distance from the object to be detected and the material.

[0006] The purpose of the present invention is to provide a robot and a remote control device that provide a thermal image correction method.

[0007] In order to achieve the above object, the facility management system of the present invention comprises: a robot placed within a facility; and a remote control device located at a remote location to receive facility information from the robot, wherein the remote control device receives an image from a camera provided in the robot, separates a target subject from the received image, determines a distance between the separated target subject and the camera, determines a material of the target subject, performs temperature correction based on the measured distance and material, and stores a thermal image converted into a corrected temperature value.

[0008] In an embodiment, the remote control device determines the distance between the separated target object and the camera through a sensor disposed on the robot, and determines the distance between the separated target object and the camera based on the position of the robot and the direction of the camera.

[0009] In an embodiment, the remote control device determines the material of the target object through object recognition in the thermal image, and determines the material of the target object based on the position of the robot and the direction of the camera.

[0010] According to an embodiment, the remote control device corrects the determined distance based on the separated target object, and determines whether to reflect temperature compensation based on the emissivity according to the material of the separated target object.

[0011] In an embodiment, the remote control device performs emissivity correction for materials having an emissivity higher than a preset emissivity.

[0012] In an embodiment, the remote control device provides a notification when the corrected temperature value exceeds the detection target temperature value.

[0013] The effects of the robot according to the present invention are described as follows.

[0014] According to at least one of the embodiments of the present invention, temperature compensation is possible according to the distance and material corresponding to the target subject, thereby securing the reliability of the temperature image.

[0015] The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention belongs from the description below.

[0016] FIG. 1 illustrates a facility management system according to one of the embodiments of the present invention.

[0017] FIG. 2 is a drawing illustrating a thermal image before thermal image correction according to one embodiment of the present invention.

[0018] FIG. 3 is a drawing for explaining a temperature difference deviation according to a difference in temperature measurement distance of a subject according to one embodiment of the present invention.

[0019] Figure 4 is a flowchart for explaining a thermal image compensation method in one embodiment of the present invention.

[0020] FIG. 5 is a drawing for explaining a temperature compensation table according to distance according to one embodiment of the present invention.

[0021] FIGS. 6 and 7 are drawings for explaining a temperature compensation method according to emissivity of each material according to one embodiment of the present invention.

[0022] FIG. 8 is a diagram illustrating a thermal image after thermal image correction according to one embodiment of the present invention.

[0023] FIG. 9 is a diagram illustrating data for explaining conversion of thermal image data into temperature values ​​according to one embodiment of the present invention.

[0024] Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components will be given the same reference numbers, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0025] The following examples of the present invention are intended only to illustrate the invention and are not intended to limit or restrict the scope of the invention. Anything readily inferred by a specialist in the technical field of the invention from the detailed description and examples of the invention is construed as falling within the scope of the invention.

[0026] The above detailed description should not be construed as limiting in any respect, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

[0027] FIG. 1 illustrates a facility management system according to one of the embodiments of the present invention.

[0028] As illustrated in FIG. 1, the facility management system connects a robot (100) and a remote control device (200) to each other via a communication network. In this specification, the robot (100) corresponds to any device that is placed within a facility and operates autonomously. Furthermore, the remote control device (200) corresponds to a device that is placed in a remote location and controls the robot (100) via a network. The remote control device (200) can receive facility information from the robot (100).

[0029] The robot (100) may include a camera unit (110), a sensor unit (120), a communication unit (130), and a control unit (140).

[0030] The camera unit (110) may include RGB and IR cameras. The RGB camera can acquire RGB images. The IR camera can acquire thermal images and thermal imaging images.

[0031] The sensor unit (120) may include one or more of a lidar sensor and a radar sensor to detect surrounding objects outside the robot. The sensor unit (120) may measure the distance to the detected surrounding objects.

[0032] The sensor unit (120) may include GPS to obtain location information of the robot (100). This location information may be utilized to control the driving of the robot (100) in autonomous driving mode or manual driving mode through the control unit (140).

[0033] The communication unit (130) can receive map information, driving route information, etc. through communication with the remote control device (200), and can also transmit objects recognized by the camera unit (110) and sensor unit (120) to the remote control device (200).

[0034] The control unit (140) performs the role of controlling the camera unit (110), sensor unit (120), communication unit (130), sensor unit (140), etc.

[0035] For example, the robot (100) can capture an image by taking a picture of a target object within a facility through a camera unit (110). In addition, the robot can measure the distance to the target object through a sensor unit (120).

[0036] Meanwhile, the robot (100) can receive location information of the target object to be photographed from the remote control device through the communication unit (130), and transmit the image acquired from the camera unit (110) and the distance information measured by the sensor unit to the remote control device. Thereafter, the robot (100) can be controlled to move to a location for photographing the target object through the control unit (140).

[0037] Through this, the robot (100) can transmit at least one of coordinate information of the robot driving path and direction information of the camera unit to the remote control device based on the location where the target object was photographed through the communication unit (130).

[0038] The remote control device (200) may include at least one of a communication unit (210), a storage unit (220), an output unit (230), an input unit (240), and a control unit (250).

[0039] The communication unit (210) may be configured to communicate with a robot (100) placed in a facility, either wired or wirelessly. The communication unit (210) may be configured to receive images captured by a camera equipped in the robot (100) through communication with the robot (100).

[0040] The communication unit (210) can receive camera images, sensor information, robot position information (x, y), robot posture information (yaw), and camera PTZ (pan, tilt, zoom) information from the robot (100).

[0041] The storage unit (220) can store pre-built map information. The map information can store information on movable spaces and obstacles within the facility. The map information can include 2D map information and 3D map information.

[0042] Next, a map (or map information) of the facility may be stored in the storage unit (220). Here, the map may be comprised of at least one of a two-dimensional (2D) or three-dimensional (3D) map. The map of the facility may refer to a map that can be utilized to determine the current location of the robot (100) or to set the robot's driving path.

[0043] In particular, in the remote control device (200) according to the present invention, the location of the robot (100) can be identified based on the image received from the robot (100). To this end, the map of the facility stored in the storage unit (220) can be composed of data that enables the location to be estimated based on the image.

[0044] The output unit (230) can output an image received from a camera equipped in the robot (100).

[0045] The output unit (230) can be configured to output at least one of the map images stored in the storage unit (220).

[0046] The output unit (230) can output the location information of the robot, the posture information of the robot, and the angle information of the camera that remotely manages the robot (100).

[0047] The input unit (240) is for inputting information input from the operator, and the input unit (240) can serve as a medium between the operator and the remote control device (200). More specifically, the input unit (240) can mean an input means for receiving a control command from a user to remotely control the movement of the robot (100).

[0048] The control unit (250) can receive images from a camera equipped in the robot (100).

[0049] The control unit (250) can separate a target subject from a received image. The control unit (250) can separate a target subject from an image using a recognition processing technique utilizing various images.

[0050] The control unit (250) can determine the distance between the separated target subject and the camera. To this end, the control unit (250) can determine the distance between the separated target subject and the camera through a sensor disposed on the robot (100). In addition, the control unit (250) can determine the distance between the separated target subject and the camera based on the position of the robot (100) and the direction of the camera. At this time, the control unit (250) can determine the distance based on the coordinates of the driving path of the robot (100) and the directionality of the camera.

[0051] The control unit (250) can determine the material of the target object from the received image.

[0052] The control unit (250) can determine the material of the target object through object recognition in a thermal image. In addition, the control unit (250) can determine the material of the target object based on the position of the robot (100) and the direction of the camera.

[0053] The control unit (250) can perform temperature compensation based on the measured distance and material of the target object. The control unit (250) can compensate for the determined distance based on the separated target object, and determine whether to reflect temperature compensation based on the emissivity of the material of the separated target object. To this end, the control unit (250) can perform emissivity compensation if the target object is made of a material having an emissivity higher than a preset emissivity, and can not perform emissivity compensation if the target object is made of a material having an emissivity lower than the preset emissivity.

[0054] The control unit (250) can store a thermal image converted into a temperature value corrected by temperature compensation reflection.

[0055] The control unit (250) can provide a notification through the output unit (230) when the corrected temperature value exceeds the detection target temperature value.

[0056] FIG. 2 is a drawing illustrating a thermal image before thermal image correction according to one embodiment of the present invention.

[0057] Referring to Fig. 2, the robot (100) detects temperature by measuring the amount of infrared radiation emitted from an object using an IR camera for accurate temperature measurement. However, temperature value deviations occur depending on the distance from the object to be detected and the material, etc.

[0058] As illustrated in Fig. 2(a), when the distance between the robot (100) and the subject is the first distance, the remote control device (200) can determine the measured temperature of the subject in the image as the first temperature (310). For example, the first temperature (310) may be '91' degrees.

[0059] As illustrated in Fig. 2(b), when the distance between the robot (100) and the subject is the second distance, the remote control device (200) can determine the measured temperature of the subject in the image as the second temperature (320). For example, the second temperature (320) may be '83' degrees.

[0060] As illustrated in Fig. 2(c), when the distance between the robot (100) and the subject is the third distance, the remote control device (200) can determine the measured temperature of the subject in the image as the third temperature (330). For example, the third temperature (330) may be '80' degrees.

[0061] At this time, the first, second, and third distances are sequentially far distances.

[0062] In this way, the robot (100) detects the temperature of the same subject being measured, but different temperatures are detected depending on the distance. That is, there is a problem in that there is a difference between the actual temperature and the image camera temperature depending on the distance between the subject and the thermal image camera, and a lower temperature is detected as the distance increases.

[0063] FIG. 3 is a drawing for explaining a temperature error according to a measurement distance from a subject according to one embodiment of the present invention.

[0064] Referring to FIG. 3, the remote control device (200) can obtain the deviation between the actual temperature and the temperature according to image analysis when measuring the temperature of the target object according to the measurement distance.

[0065] The horizontal axis on the graph represents the actual temperature of the target subject, with higher values ​​moving from left to right. The vertical axis represents the temperature difference between the actual temperature and the temperature difference determined by image analysis, with increasing temperature difference from bottom to top.

[0066] The graph shows the actual temperature and temperature difference deviation when the measurement distance is 3 m, 4 m, and 5 m.

[0067] For example, if the measurement distance is 3 m and the actual temperature is 100 degrees, the temperature difference deviation can be 9 to 10 degrees.

[0068] For example, if the measurement distance is 4 m and the actual temperature is 100 degrees, the temperature difference deviation can be 11 to 12 degrees.

[0069] For example, if the measurement distance is 5 m and the actual temperature is 100 degrees, the temperature difference deviation may be 14 degrees.

[0070] Accordingly, as the measurement distance between the robot (100) and the subject increases, the temperature difference between the temperature measured through the thermal image and the actual temperature increases. As a result, temperature value deviations occur depending on the distance from the subject to be detected in the same area due to this method within the facility.

[0071] Figure 4 is a flowchart for explaining a thermal image compensation method in one embodiment of the present invention.

[0072] Referring to FIG. 4, the remote control device (200) can receive video / thermal image data from the robot (100) (S10). The remote control device (200) can capture RGB, thermal image data, or thermal image raw data to generate RGB and thermal image screens for target subject separation. In addition, the remote control device (200) can generate a screen for converting the thermal image into a heat temperature screen.

[0073] The remote control device (200) can isolate a target object from an image using an object recognition method (S20). The target object may include, but is not limited to, objects within a facility, such as transformers and high-voltage lines.

[0074] For example, if the target subject is a transformer, the remote control device (200) can separate the transformer recognized in the image as the target subject and separate everything other than the transformer in the image as non-target subjects.

[0075] Meanwhile, the remote control device (200) can receive distance information of a target object measured through a sensor of the robot (100) (S30). If the sensor of the robot (100) is absent or the object cannot be separated from the image, the distance and object can be determined based on pre-stored map information. To this end, the remote control device (200) can identify the object based on the robot position coordinates and the position of the IR camera, and determine the distance to the identified object (S31).

[0076] The remote control device (200) can select a correction function based on the target subject distance. At this time, the remote control device (200) can apply the correction function determined based on the material to be managed in priority, such as in facility management (S40). A more specific example related to this will be described in more detail later in FIG. 5.

[0077] The remote control device (200) can determine whether correction is required based on the emissivity stored according to the material of the subject (S41). The remote control device (200) can set the emissivity reference value based on the material selected for distance correction. A more specific embodiment related to this will be described in more detail later in FIG. 6.

[0078] The remote control device (200) can receive the emissivity value of the target subject. If the target subject is a material with an emissivity below a certain level, the remote control device (200) can apply an emissivity correction function (S42). A more specific embodiment related to this will be described in more detail later in FIG. 7.

[0079] Meanwhile, the remote control device (200) can select a correction function for the distance to the remaining non-target objects that were not separated from the target object in the image (S50).

[0080] The remote control device (200) can convert the entire thermal image into a corrected temperature value based on at least one of a distance correction function of the target subject, an emissivity correction function of the target subject, and a distance correction function of a non-target subject (S60). Accordingly, the remote control device (200) can convert the thermal image into a temperature video image.

[0081] The remote control device (200) can set the minimum temperature value of the detection target temperature based on the conversion temperature value (S70). The remote control device (200) can generate a notification when the conversion temperature value exceeds the detection target temperature (S80).

[0082] Meanwhile, the remote control device (200) can store the converted temperature image as temperature data (S90). Through this, the remote control device (200) can derive a reliable thermal image (temperature value) and display the temperature value in real time.

[0083] FIG. 5 is a drawing for explaining a temperature compensation table according to distance according to one embodiment of the present invention.

[0084] Referring to FIG. 5, the remote control device (200) can set a distance compensation function of a target subject and a non-target subject based on a temperature compensation table.

[0085] A temperature compensation table can be used to organize temperature compensation values ​​by distance between the subject and the camera and assign them to temperature image data. The temperature compensation table can assign temperature compensation values ​​by distance as 8-bit information, with values ​​ranging from 0 to 255.

[0086] For example, if the value of the temperature image data is 104, the temperature can be corrected to 46 degrees if the distance between the subject and the camera is less than 1 m, 50 degrees if it is 3 m, 52 degrees if it is 4 m, and 53 degrees if it is 5 m.

[0087] However, since temperature compensation according to distance can be added, modified, or deleted according to settings, the scope of the rights of the present invention is not limited to the figures exemplified above.

[0088] FIGS. 6 and 7 are drawings for explaining a temperature compensation method according to emissivity of each material according to one embodiment of the present invention.

[0089] Referring to Figure 6, the horizontal axis on the graph may represent the number of materials. The vertical axis on the graph may represent the emissivity according to the material.

[0090] The remote control device (200) can set an emissivity reference value based on the material selected for distance correction based on the emissivity of each material stored in advance.

[0091] The remote control device (200) can determine an emissivity reference value based on the material of the target object. At this time, the emissivity of the material can use pre-stored emissivity data for each material, as illustrated in FIG. 7.

[0092] For example, when the remote control device (200) sets the emissivity reference value to 0.9 according to the target subject, emissivity correction can be performed on a subject having a material of 0.9 or less. In addition, emissivity correction can be performed on a subject having a material of more than 0.9.

[0093] However, since emissivity correction according to material can be modified according to management standards, the scope of the rights of the present invention is not limited to the figures exemplified above.

[0094] FIG. 8 is a diagram illustrating a thermal image after thermal image correction according to one embodiment of the present invention.

[0095] Referring to Fig. 8(a), a thermal image is shown when the distance between the IR camera and the subject is less than a preset distance and the temperature output value (410) of the IR camera is 95 degrees.

[0096] Referring to Fig. 8(b), when the distance between the IR camera and the subject increases, the temperature output value (420) output from the IR camera may be 85 degrees. Although the IR camera displays the temperature value of the same target subject, it can be confirmed that a temperature error occurs according to the measurement distance as the distance between the IR camera and the target subject increases.

[0097] To address this, the remote control device (200) can analyze the distance between the separated target object and the robot (100) and perform compensation. The remote control device (200) can determine whether to reflect temperature compensation based on the emissivity according to the material of the recognized target object and perform temperature compensation and compensation through the correlation for each. In addition, the remote control device (200) can perform temperature compensation and compensation through distance compensation for objects other than the target object.

[0098] Through this, the remote control device (200) can convert the entire thermal image into a corrected temperature value. Through this, the remote control device (200) can output a thermal image by correcting the corrected temperature value (430) of the target object to 95 degrees, which is the same as the actual temperature value shown in Fig. 8(a).

[0099] FIG. 9 is a diagram illustrating data for explaining conversion of thermal image data into temperature values ​​according to one embodiment of the present invention.

[0100] Referring to Fig. 9, when the distance between the IR camera and the target subject is 4 m, Fig. 9(a) shows raw data of a thermal image, and Fig. 9(b) shows data according to a temperature value changed according to a thermal image correction method.

[0101] Referring to Fig. 9(a), the remote control device (200) can store the raw data of the thermal image received from the IR camera as a target subject with a value of 100 to 190, and a non-target subject with a value of 60 to 80.

[0102] Referring to Fig. 9(b), the remote control device (200) can store the converted temperature value by the thermal image correction method as raw data, with a value of 40 to 100 for the target subject, and a value of 20 to 30 for the non-target subject.

[0103] The remote control device (200) can secure the temperature reliability of the IR camera through this thermal image correction method. Furthermore, it has the advantage of being able to determine replacement cycles due to aging facilities through reliable data obtained through thermal image correction.

[0104] For the convenience of explanation, each drawing has been described separately, but it is also possible to design a new embodiment by combining the embodiments described in each drawing. In addition, designing a computer-readable recording medium having a program recorded thereon for executing the previously described embodiments, as needed by a person skilled in the art, also falls within the scope of the embodiments. The devices and methods according to the embodiments are not limited to the configurations and methods of the embodiments described above, but the embodiments may be configured by selectively combining all or part of the embodiments so that various modifications can be made. Although preferred embodiments of the embodiments have been illustrated and described, the embodiments are not limited to the specific embodiments described above, and various modifications can be made by a person skilled in the art to which the present invention pertains without departing from the gist of the embodiments claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the embodiments.

[0105] The various components of the devices of the embodiments may be implemented by hardware, software, firmware, or a combination thereof. The various components of the embodiments may be implemented by a single chip, for example, a single hardware circuit. According to embodiments, the components according to the embodiments may be implemented by separate chips. According to embodiments, at least one of the components of the devices of the embodiments may be configured with one or more processors capable of executing one or more programs, and the one or more programs may perform, or include instructions for performing, one or more of the operations / methods according to the embodiments. The executable instructions for performing the methods / operations of the devices of the embodiments may be stored in non-transitory CRMs or other computer program products configured to be executed by one or more processors, or may be stored in temporary CRMs or other computer program products configured to be executed by one or more processors. In addition, the memory according to the embodiments may be used as a concept including not only volatile memory (e.g., RAM, etc.), but also non-volatile memory, flash memory, PROM, etc. Additionally, it may include implementations in the form of carrier waves, such as transmissions via the Internet. Furthermore, processor-readable recording media may be distributed across network-connected computer systems, allowing processor-readable code to be stored and executed in a distributed manner.

[0106] In this document, “ / ” and “,” are interpreted as “and / or”. For example, “A / B” is interpreted as “A and / or B”, and “A, B” is interpreted as “A and / or B”. Additionally, “A / B / C” means “at least one of A, B, and / or C”. Also, “A, B, C” means “at least one of A, B, and / or C”. Additionally, “or” in this document is interpreted as “and / or”. For example, “A or B” can mean 1) “A” only, 2) “B” only, or 3) “A and B”. In other words, “or” in this document can mean “additionally or alternatively”.

[0107] Terms such as "first" and "second" may be used to describe various components of the embodiments. However, the various components according to the embodiments should not be interpreted as limited by these terms. These terms are merely used to distinguish one component from another. For example, a first user input signal may be referred to as a "second user input signal." Similarly, a second user input signal may be referred to as a "first user input signal." The use of these terms should be interpreted as not departing from the scope of the various embodiments. Although "first user input signal" and "second user input signal" are both user input signals, they do not mean the same user input signals unless the context clearly indicates otherwise.

[0108] The terminology used to describe the embodiments is for the purpose of describing particular embodiments and is not intended to be limiting of the embodiments. As used in the description of the embodiments and in the claims, the singular is intended to include the plural unless the context clearly dictates otherwise. The expressions “and / or” are used to mean all possible combinations of terms. The expression “includes” describes the presence of features, numbers, steps, elements, and / or components, but does not mean that additional features, numbers, steps, elements, and / or components are not included. Conditional expressions such as “if” or “when” used to describe the embodiments are not intended to be limited to only optional cases. When a specific condition is satisfied, a related action is performed in response to a specific condition, or a related definition is intended to be interpreted.

[0109] Additionally, the operations according to the embodiments described in this document may be performed by a transceiver device including a memory and / or a processor according to the embodiments. The memory may store programs for processing / controlling the operations according to the embodiments, and the processor may control various operations described in this document. The processor may be referred to as a controller, etc. The operations according to the embodiments may be performed by firmware, software, and / or a combination thereof, and the firmware, software, and / or a combination thereof may be stored in the processor or in the memory.

[0110] Meanwhile, the operations according to the embodiments described above may be performed by a transmitting device and / or a receiving device according to the embodiments. The transmitting / receiving device may include a transmitting / receiving unit for transmitting and receiving media data, a memory for storing instructions (program code, algorithm, flowchart, and / or data) for a process according to the embodiments, and a processor for controlling the operations of the transmitting / receiving device.

[0111] The processor may be referred to as a controller or the like, and may correspond to, for example, hardware, software, and / or a combination thereof. The operations according to the above-described embodiments may be performed by the processor. Furthermore, the processor may be implemented as an encoder / decoder or the like for the operations of the above-described embodiments.

[0112] Various embodiments for implementing the present invention have been described in detail in the previous table of contents.

[0113] The present invention is applicable to technology related to facility management systems, and thus its industrial applicability is recognized.

Claims

1. Robots deployed within the facility; Includes a remote control device located at a remote location and receiving facility information from the robot, The above remote control device Receive images from the camera equipped on the above robot, Separate the target subject from the received image, Determining the distance between the separated target subject and the camera, Determine the material of the above target object, Temperature compensation is performed based on the measured distance and material, characterized by storing a thermal image converted into a compensated temperature value. Facility management system.

2. In paragraph 1, The above remote control device The distance between the separated target object and the camera is determined through a sensor placed on the robot, It is characterized in that the distance between the separated target object and the camera is determined based on the position of the robot and the direction of the camera. Facility management system.

3. In paragraph 1, The above remote control device In the above thermal image, the material of the target object is determined through object recognition, It is characterized by determining the material of the target object based on the position of the robot and the direction of the camera. Facility management system.

4. In paragraph 1, The above remote control device Correct the distance judged based on the separated target subject, It is characterized by determining whether temperature compensation is reflected based on the emissivity according to the material of the separated target object. Facility management system.

5. In paragraph 4, The above remote control device For materials with emissivity higher than the preset emissivity, emissivity correction is performed. It is characterized in that emissivity correction is not performed on materials having an emissivity below the above-mentioned preset emissivity. Facility management system.

6. In paragraph 1, The above remote control device characterized in that a notification is provided when the above compensated temperature value exceeds the detection target temperature value. Facility management system.

7. Step of receiving images from a camera equipped on the robot; A step of separating a target subject from a received image; A step of determining the distance between a separated target subject and the camera; A step of determining the material of the above target subject; A step of performing temperature compensation based on the determined distance and material; and A step of storing a thermal image converted into a compensated temperature value; Including Thermal image correction method.

8. In paragraph 7, The step of determining the distance between the above separated target subject and the camera is A step of determining the distance between the separated target object and the camera through a sensor placed on the robot; and A step of determining the distance between the separated target object and the camera based on the position of the robot and the direction of the camera. Thermal image correction method.

9. In paragraph 7, The step of judging the material of the above target subject is A step of determining the material of the target object through object recognition in the above thermal image; and A step of determining the material of the target object based on the position of the robot and the direction of the camera. Thermal image correction method.

10. In paragraph 7, The step of performing temperature compensation based on the distance and material determined above is A step of correcting the distance judged based on the separated target subject; and Including a step of determining whether temperature compensation is reflected based on the emissivity according to the material of the separated target object. Thermal image correction method.

11. In paragraph 10, The step of determining whether temperature compensation is reflected based on the emissivity according to the material of the separated target object is as follows. A step of performing emissivity correction for materials having an emissivity higher than a preset emissivity; and Including a step of not performing emissivity correction on materials having an emissivity below the above preset level. Thermal image correction method.

12. In paragraph 7, Further comprising a step of providing a notification when the above compensated temperature value exceeds the detection target temperature value. Thermal image correction method.

13. A camera section that captures images by photographing target objects within the facility; A sensor unit for measuring the distance to the target object; A communication unit that receives location information of the target object for shooting from a remote control device and transmits an image acquired from the camera unit and distance information measured by the sensor unit to the remote control device; and A control unit including a control unit that controls the robot to move to a position for photographing the target object. Robot.

14. In paragraph 13, The above camera part An RGB camera for capturing an RGB image of the above target object; and Including an IR camera for capturing thermal images of the target metabolite. Robot.

15. In paragraph 13, The above control unit The communication unit is characterized in that it controls the communication unit to transmit at least one of the coordinate information of the robot driving path and the direction information of the camera unit to the remote control device based on the location where the robot photographed the target object. Robot.

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