Monitoring node, monitoring system, terminal device and service system

Abstract

The present application relates to a monitoring node, a monitoring system, a terminal device and a service system. The monitoring node comprises a thermal imaging camera, a processor and a wireless module. The thermal imaging camera is arranged at a first predetermined height from the ground within a monitored area, and the optical axis is substantially perpendicular to the ground to perform thermal imaging on a corresponding imaging area on the ground. The processor analyzes a thermal imaging map to obtain an analysis result. The wireless module uses wireless technology to transmit the analysis result and / or the thermal imaging map. The present application is mainly applied to indoor spaces of buildings, and can also be applied to the interior space of large-scale devices such as trains, ships and airplanes. According to the present application, an on-site object target within the monitored area can be accurately identified, analyzed and positioned at a single node end, and the analysis result and / or the thermal imaging map can be sent (such as broadcast) to a receiving terminal having wireless receiving capability in the monitored area, so that accurate active and passive positioning functions can be provided for the object target, and / or other related uses can be supported.

Description

Monitoring node, monitoring system, terminal device and service system

[0001] The present disclosure claims priority to the Chinese patent application with the application date of April 9, 2024, the application number of 2024104242431, and the invention title of "Monitoring node, monitoring system, terminal device and service system". TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of monitoring, in particular to a monitoring node, a monitoring system, a terminal device and a service system. BACKGROUND

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

[0004] In addition, there is a strong market demand for indoor active and passive positioning at present, but there is no suitable product at present.

[0005] The mainstream solution of indoor positioning at present is wireless positioning. Common wireless positioning technologies include indoor positioning technologies based on Bluetooth, iBeacon, WIFI, RFID, ZIGBEE, UWB, infrared, ultrasonic wave, etc.

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

[0007] In addition, the interference caused by the reflection and transmission of wireless leads to poor accuracy and reliability, making it difficult for wireless positioning technologies to be widely standardized and applied on a large scale, and completely meeting the needs of application scenarios that require passive positioning, such as smart home, fire rescue and evacuation, etc.

[0008] Moreover, with the rapid development of the robot industry, the demand for indoor precise positioning is gradually increasing. The mainstream simultaneous localization and mapping technology (SLAM) in the robot industry relies on expensive photoelectric sensors and graphic processing technology carried by itself, and lacks external positioning and navigation infrastructure support, so it is difficult to meet the positioning and navigation needs of dynamic large-scale indoor space.

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

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

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

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

[0013] Optionally, the processor is further configured to set a relay identifier for the analysis result belonging to emergency information, and the wireless module is configured to wirelessly broadcast the analysis result carrying the relay identifier; and the wireless module is further configured to receive analysis results wirelessly broadcast by other monitoring nodes or terminal devices, and wirelessly broadcast the received analysis results wirelessly broadcast by other monitoring nodes or terminal devices and carrying the relay identifier.

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

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

[0016] Optionally, the monitoring node further comprises a first direction indicating device, the relative position relationship between the first direction indicating device and the thermal imaging camera is fixed, the first direction indicating device is mechanically adjustable and lockable in angle, and the first direction indicating device is used to indicate a first predetermined direction, and the optical axis of the thermal imaging camera is substantially perpendicular to the ground when the first direction indicating device is set to indicate the first predetermined direction.

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

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

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

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

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

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

[0023] Optionally, the monitoring node further comprises one or more direction controllers, each of the direction controllers corresponding to a direction, the processor determines the direction of the imaging object relative to the monitoring node based on the position information of the imaging object in the hot spot region in the thermal imaging map, and controls the corresponding direction controller to emit a control signal to the direction based on the direction, so that the device in the direction in the space performs a corresponding operation based on the control signal.

[0024] According to a second aspect of the present disclosure, a monitoring node is further provided, comprising: a thermal imaging camera arranged at a first predetermined height from the ground in a monitoring area, with an optical axis substantially perpendicular to the ground, to perform thermal imaging on a corresponding imaging area on the ground, and each pixel region of the obtained thermal imaging map corresponds to a spatial region in the imaging area; and a wireless module for wirelessly broadcasting the thermal imaging map.

[0025] Optionally, the thermal imaging camera is a thermal imaging camera with a wide field of view or a larger field of view; and / or the thermal imaging camera is a thermal imaging camera capable of identifying the category of the imaging object but not the individual; and / or the resolution of the thermal imaging camera is a resolution capable of identifying the category of the imaging object but not the individual.

[0026] According to a third aspect of the present disclosure, a monitoring system is further provided, comprising: a plurality of monitoring nodes, the monitoring node being the monitoring node described in one aspect of the present disclosure, the plurality of monitoring nodes being scattered in a monitoring area, the imaging areas of the thermal imaging cameras of adjacent monitoring nodes being adjacent to or overlapping with each other, and the imaging areas of the thermal imaging cameras of the plurality of monitoring nodes substantially covering the ground of the monitoring area.

[0027] Optionally, the monitoring system further comprises: a control system for acquiring the thermal imaging maps from the plurality of monitoring nodes and / or the analysis results obtained by the monitoring nodes analyzing the thermal imaging maps, analyzing the acquired thermal imaging maps and / or analysis results to obtain global information, sending control instructions to corresponding actuators with global functions based on the global information, and pushing the global information to the client software; and / or the monitoring nodes further wirelessly send the analysis results belonging to emergency information to the control system, and the control system pushes the analysis results to all monitoring nodes for wireless broadcasting.

[0028] According to a fourth aspect of the present disclosure, a first terminal device is provided, the first terminal device is adapted to be carried by or inside a first object target, the first terminal device obtains first positioning information of the first object target by using a positioning technology, the first terminal device receives analysis results sent by one or more monitoring nodes by using a wireless technology, the analysis results include second positioning information of one or more second object targets in a thermal image obtained by the monitoring nodes analyzing the thermal image, the thermal image is obtained by a thermal imaging camera in the monitoring nodes performing thermal imaging on a corresponding imaging area on the ground, each pixel area of the thermal image corresponds to a spatial area in the imaging area respectively; or the first terminal device receives the thermal image sent by one or more monitoring nodes by using a wireless technology, and obtains the analysis results by analyzing the thermal image, and the first terminal device determines the second positioning information of the first object target in the obtained analysis results based on the first positioning information.

[0029] Optionally, the wireless technology includes wireless broadcasting.

[0030] Optionally, the first terminal device obtains first trajectory information of the first object target based on a plurality of first positioning information, the first terminal device obtains second trajectory information of the same second object target based on a plurality of second positioning information of the second object target obtained successively, the first terminal device determines the second object target corresponding to the second trajectory information matching the first trajectory information in the plurality of second trajectory information as the first object target, and determines the second positioning information of the determined second object target as the positioning information of the first object target.

[0031] Optionally, the first terminal device divides an area within a predetermined range near the first positioning information into a group, if there are a plurality of second object targets in the group, the first terminal device determines the second object target whose change situation is consistent with the first object target as the first object target according to whether the first object target is located in the group by using the positioning technology successively, and whether the corresponding second object target is located in the group based on the second positioning information obtained successively, and determines the second positioning information of the determined second object target as the positioning information of the first object target.

[0032] Optionally, the first terminal device determines the second object target associated with the first object target by using an association rule algorithm and / or a correlation algorithm, and determines the second positioning information of the second object target associated with the first object target as the positioning information of the first object target.

[0033] Optionally, the positioning technology is at least one of a wireless positioning technology, an inertial navigation positioning technology, and a simultaneous localization and mapping technology; and / or the first terminal device further acquires second auxiliary association information of the second object target, the second auxiliary association information including at least one of second attitude information, second speed information, second trajectory information, and type information, and the first terminal device further acquires first auxiliary association information of the first object target, the first auxiliary association information including at least one of first attitude information, first speed information, first trajectory information, and type information, and the first terminal device determines, in combination with the first positioning information, the first auxiliary association information, and the second auxiliary association information, the second positioning information of the first object target in the acquired analysis result.

[0034] Optionally, the first terminal device emits a sound and light alarm in response to receiving the emergency evacuation state notification or being manually adjusted to the emergency evacuation state, and generates and dynamically adjusts an evacuation route according to the second positioning information of the first object target.

[0035] Optionally, the first terminal device acquires the number and / or position information of the monitoring node by scanning a two-dimensional code arranged on the outer surface of the monitoring node, and / or downloads application software and / or a local building indoor map.

[0036] Optionally, the analysis result further includes an attitude of the second object target, and the first terminal device determines the second object target with the attitude as the scanning action as the first object target, and determines the second positioning information of the determined second object target as the positioning information of the first object target.

[0037] Optionally, the application software generates navigation information based on the second positioning information of the first object target and the local building indoor map; and / or the application software displays the number and / or position information of the monitoring node in the map; and / or the first terminal device determines, based on the first positioning information, the second positioning information of the first object target in the analysis result of the monitoring node corresponding to the number acquired.

[0038] Optionally, the application software prebinds one or more monitoring nodes and presets an event triggering condition, and in response to the event triggering condition being triggered, the monitoring node remotely pushes a notification to the first terminal device.

[0039] Optionally, in response to the acquired analysis result being emergency information containing a fire risk, the first terminal device controls a corresponding emergency device to perform a corresponding function based on the analysis result; or in response to the acquired analysis result being non-emergency information containing a living body and its positioning information, the first terminal device controls a corresponding non-emergency device to perform a corresponding function based on the analysis result.

[0040] Optionally, the first terminal device is arranged inside the first object target, and a pattern containing information is formed on the upper surface of the shell of the first object target based on the difference in material emissivity and / or the difference in heat generation temperature, to facilitate the identification of the device with heat identification capability.

[0041] According to a fourth aspect of the present disclosure, a second terminal device is also provided, which is adapted to be arranged in a monitoring area, the second terminal device receives the analysis result sent by the monitoring node using wireless technology, and in response to the received analysis result, the second terminal device controls the corresponding emergency device to perform the corresponding function based on the analysis result; or in response to the received analysis result, the second terminal device controls the corresponding non-emergency device to perform the corresponding function based on the analysis result.

[0042] Optionally, the second terminal device further receives the ambient light brightness detection information sent by the monitoring node using wireless technology, and the received ambient light brightness detection information is used as the basis for switching the lighting device.

[0043] Optionally, the second terminal device is connected to a power supply system, the emergency information is a power-off instruction, and the second terminal device performs at least one of the following functions: disconnecting the power supply of the loop; indirectly disconnecting the switch of the main power supply of the power supply system by simulating or temporarily activating the leakage and / or short circuit.

[0044] Optionally, the second terminal device is a smart lock, the emergency information is an opening / closing instruction, and the second terminal device performs the opening / closing function based on the opening / closing instruction.

[0045] According to a fifth aspect of the present disclosure, a service system is also provided, which includes a service control module and a plurality of terminal devices, the plurality of terminal devices are scattered in a monitoring area; the service control module receives the global information sent by the control system, generates and sends control instructions to the corresponding execution devices and / or corresponding terminal devices based on the global information, the global information is obtained by the control system analyzing the thermal imaging map and / or analysis result obtained from the plurality of monitoring nodes in the monitoring area; and / or the terminal device receives the thermal imaging map and / or analysis result sent by the monitoring node using wireless technology, and sends the thermal imaging map and / or analysis result to the service control module, the service control module generates corresponding control instructions based on the received thermal imaging map and / or analysis result, and sends the control instructions to the corresponding execution devices and / or corresponding terminal devices for execution.

[0046] The present disclosure adds a processor and a wireless module to the monitoring node, so that the object target in the monitoring area can be accurately identified, analyzed and positioned by the single node, and the analysis result and / or thermal imaging diagram can be wirelessly sent (such as wireless broadcast) to the receiving terminal in the monitoring area with wireless receiving capability, so as to provide accurate active and passive positioning function for the object target, and / or support other related uses. BRIEF DESCRIPTION OF DRAWINGS

[0047] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the different views of the drawings, and in which:

[0048] FIG. 1 is a schematic block diagram showing a monitoring system according to one embodiment of the present disclosure.

[0049] FIG. 2 is a schematic block diagram showing a monitoring node according to one embodiment of the present disclosure.

[0050] FIGS. 3A to 3C are schematic diagrams showing the structure of a monitoring node.

[0051] FIG. 4 is a schematic block diagram showing a monitoring system according to another embodiment of the present disclosure.

[0052] FIG. 5 is a schematic diagram showing the wireless signal broadcasted by the monitoring node in the monitoring area.

[0053] FIG. 6 is a schematic diagram showing a trajectory-based association method.

[0054] FIG. 7 is a schematic diagram showing a grouping-based association method.

[0055] FIG. 8 is a schematic diagram exemplarily showing a pattern arranged on a first object target.

[0056] FIG. 9 is a schematic diagram showing the application of the present disclosure to a non-fire emergency scene.

[0057] FIG. 10 is a schematic diagram showing the application of the present disclosure to a fire emergency scene. DETAILED DESCRIPTION

[0058] 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 drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure is more thorough and complete, and the scope of the present disclosure is fully conveyed to those skilled in the art.

[0059] Those skilled in the art should understand that the terms "first", "second", and the like in the present disclosure are used to distinguish similar objects, and are not used to describe a specific order or sequence, and there is no additional limitation.

[0060] Fig. 1 is a schematic block diagram showing a monitoring system according to one embodiment of the present disclosure.

[0061] Fig. 2 is a schematic block diagram showing a monitoring node according to one embodiment of the present disclosure.

[0062] Referring to Figs. 1 and 2, the monitoring system can include a plurality of monitoring nodes. The plurality of monitoring nodes can be distributed in a monitoring area. Each monitoring node 100 can include at least a thermal imaging camera 110 and a wireless module 130. Optionally, the monitoring node 100 can further include a processor 120 as shown in the dashed box.

[0063] The imaging areas of the thermal imaging cameras of adjacent monitoring nodes can be adjacent to or overlap with each other, and the imaging areas of the thermal imaging cameras of the plurality of monitoring nodes can substantially cover the ground of the entire monitoring area, so as to achieve monitoring of the entire monitoring area.

[0064] The monitoring area can be a space in an industrial or civil building. That is, the monitoring area can refer to an indoor area. In addition, the monitoring area can also be the internal space of a large equipment such as a train, a ship, or an airplane.

[0065] A single monitoring node 100 can correspond to a partial monitoring area. The monitoring node 100 can be used in a fire emergency scenario or a non-fire emergency scenario (such as an indoor positioning and navigation scenario, a smart home scenario).

[0066] The monitoring node 100 can provide services related to specific application scenarios for object targets (such as living beings, robots, vehicles, and device control systems) in its corresponding monitoring area. The device control system can be an emergency device control system that controls emergency devices (such as fire emergency lighting, emergency signs, fire broadcast, fire sprinklers, and pressurized air smoke exhaust systems) to perform emergency functions. The device control system can also be a non-emergency device control system that controls non-emergency devices (such as central air conditioning systems, lighting systems, and epidemic prevention systems) to perform corresponding functions.

[0067] The thermal imaging camera 110 can also be referred to as an "infrared camera". The thermal imaging camera 110 can be arranged at a first predetermined height from the ground in the monitoring area. The optical axis of the thermal imaging camera 110 can be arranged to be substantially perpendicular to the ground, so as to perform thermal imaging on a corresponding imaging area (sensing range) on the ground. In this way, each pixel area of a thermal imaging image obtained by the thermal imaging camera 110 can correspond to a spatial area in the imaging area, respectively.

[0068] The optical axis is substantially perpendicular to the ground, including the case that the optical axis is perpendicular to the ground and the case that the optical axis is not perpendicular to the ground but the angle between the optical axis and the ground is close to 90°. Among them, the angle between the optical axis and the ground close to 90° means that the angle between the optical axis and the ground is not much different from 90°, for example, when the angle between the optical axis and the ground is less than a predetermined threshold (such as 10°-20°) from 90°, it is considered that the optical axis is substantially perpendicular to the ground. In some embodiments, the angle range belonging to the optical axis substantially perpendicular to the ground can be determined according to the business accuracy requirement. In some embodiments, the angle range belonging to the optical axis substantially perpendicular to the ground can also be determined according to the minimum resolution positioning accuracy of the thermal imaging camera. For example, the first predetermined height is about 2.5 meters to 3 meters, and the positioning accuracy requirement for a person is 0.5 meters to 1 meter. When the angle between the optical axis and the ground is within the angle range of 10°-20° from 90°, it can be considered that the optical axis is substantially perpendicular to the ground.

[0069] For the imaging object in the imaging area of the thermal imaging camera 110, the thermal imaging camera will form a corresponding hot spot area on the thermal imaging image formed on the thermal imaging sensor of the thermal imaging camera 110. The type of imaging object can include but is not limited to fire, living beings, vehicles, robots, instruments, etc. Thermal imaging, as part of infrared imaging, mainly detects imaging at a wavelength of 8-14 microns.

[0070] The first predetermined height can be set according to the on-site situation of the monitoring area, and if necessary, the imaging parameters of the thermal imaging camera can be combined to set the first predetermined height accordingly, so that the thermal imaging camera can perform appropriate thermal imaging on the ground of its corresponding imaging area.

[0071] For example, the first predetermined height can correspond to the floor height of a building floor, that is, the monitoring node and the thermal imaging camera can be arranged on the ceiling of the building floor. Alternatively, the first predetermined height can correspond to the height of the suspended ceiling in the building. Alternatively, the first predetermined height can also be set according to the size of the ground imaging area it needs to cover (combined with the field of view of the thermal imaging camera 110) under the constraint of the floor height or the suspended ceiling height.

[0072] In some embodiments, the thermal imaging camera 110 can be a thermal imaging camera with a wide field of view angle and above. For example, the field of view angle of the thermal imaging camera 110 can be greater than 90 degrees.

[0073] In some embodiments, the thermal imaging camera 110 can be a thermal imaging camera that is capable of recognizing the class of the imaged object but not the individual based on the hardware and / or software design. For example, the resolution or sensitivity of the thermal imaging camera 110 can be a resolution or sensitivity that is capable of recognizing the class of the imaged object but not the individual. By using a thermal imaging camera with, for example, a low-to-medium resolution (e.g., less than QVGA resolution, 320x240) or a low-to-medium sensitivity, or using a thermal imaging camera that is post-processed with, for example, software blurring or software encryption, the privacy concern can be reduced, and thus the monitoring area range can be expanded. In addition, for a monitoring area range and / or a monitoring object with special needs, a high-to-medium resolution thermal imaging camera can also be considered, for example, in the case where a privacy prompt is provided by informing the presence of the thermal imaging monitoring device. It should be noted that the low-to-medium resolution in the present disclosure is not limited to the case of "less than or equal to QVGA resolution, 320x240", but can also include other numerical resolutions, for example, in some embodiments, resolutions less than or equal to 640x480 can also be considered as low-to-medium resolutions.

[0074] For monitoring and rescue targets in the field of fire monitoring, only the type and location of the target need to be determined.

[0075] The privacy concern in public places also leads to the fact that the monitoring system cannot identify individuals in principle.

[0076] Therefore, the present disclosure proposes that the thermal imaging camera is a thermal imaging camera that is capable of recognizing the class of the imaged object but not the individual. In order to make the thermal imaging camera recognize the class but not the individual, the spatial resolution of the thermal imaging camera needs to be set. In some embodiments, the three conditions of the wide-angle camera, the optical axis being substantially perpendicular to the ground, and the first predetermined height from the ground are all determined. In the case where the three conditions are all determined, the spatial resolution is only related to the camera resolution. Therefore, setting the spatial resolution of the thermal imaging camera is converted to setting the resolution of the thermal imaging camera. That is, only the resolution of the thermal imaging camera needs to be set to a resolution that is capable of recognizing the class of the imaged object but not the individual. It should be noted that the resolution here can refer to any one resolution within the effective resolution interval. By configuring the thermal imaging camera to be incapable of recognizing the individual from the thermal imaging image, the possibility of recognizing the individual from the data source can be eliminated, and the privacy concern problem can be completely eliminated.

[0077] That is, for the thermal imaging camera, especially when the thermal imaging camera adopts a wide-angle camera, only when the condition of "the first predetermined height from the ground + the optical axis being perpendicular to the ground" is met, a monitoring space that is independent of the information of the on-site building is determined, and the thermal imaging camera can be set to a resolution that enables the thermal imaging camera to recognize only the class of the imaged object but not the individual.

[0078] In addition, under the limitation that the resolution of the thermal imaging camera is limited to a resolution that can identify the category of the imaged object but not the individual, the redundant resolution does not need to be considered, i.e., the resolution of the thermal imaging camera is essentially a non-redundant resolution, thus greatly reducing the cost of the thermal imaging camera (the cost of the thermal imaging camera is extremely sensitive to the resolution) while meeting the needs, facilitating popularization. Moreover, the resolution can also reduce the amount of data to be processed by the algorithm when positioning in the positioning manner described below.

[0079] In addition, the thermal imaging camera 110 can include at least one of an LWIR (Long Wave Infrared) wavelength range thermal imaging sensor, an MWIR (Mid Wave Infrared) wavelength range thermal imaging sensor, an SWIR (Short Wave Infrared) wavelength range thermal imaging sensor, an NIR (Near Infrared) wavelength range thermal imaging sensor, and an FIR (Far Infrared) wavelength range thermal imaging sensor.

[0080] The processor 120 can also be referred to as an "image processing device". The processor 120 can analyze a thermal imaging image obtained by the thermal imaging camera 110 performing thermal imaging to obtain an analysis result.

[0081] The processor 120 can identify temperature-related information in the thermal imaging image by analyzing the thermal imaging image. The "temperature-related information" can represent various temperature-related information that can be obtained from the thermal imaging image. That is, the analysis result can be obtained based on various temperature-related information that can be obtained from the thermal imaging image.

[0082] In various different application scenarios of firefighting and non-firefighting, the processor 120 can obtain various temperature-related information from the thermal imaging image according to application needs to obtain an analysis result that meets the application needs. For example, in a firefighting application scenario, the processor 120 can identify emergency information such as fire risk points and personnel positions in a fire scene by analyzing the thermal imaging image.

[0083] The monitoring node 100 as an identification subject can achieve accurate identification analysis and positioning of the object target in the scene.

[0084] For example, the processor 120 can identify a hot spot region in the thermal imaging image that has a radiation temperature different from the background environment radiation temperature. The hot spot region corresponds to a region in the monitoring area scene that has a higher temperature. The hot spot region may, for example, correspond to a region whose temperature corresponds to or is higher than a predetermined temperature threshold.

[0085] For example, the processor 120 can identify the type of the imaging object of the hotspot region in the thermographic image based on the thermographic image. The type of the imaging object of the hotspot region may, for example, include but is not limited to at least one of fire, living beings (e.g., human, animal), vehicles, robots, instruments, and equipment. For example, the processor 120 can analyze the thermographic image to identify at least one of fire, living beings, vehicles, robots, and instruments by identifying static and dynamic information related to temperature and size in the thermographic image.

[0086] For example, the processor 120 can locate the spatial position of the hotspot region based on the position of the monitoring node in the monitoring area and the relative position of the hotspot region in the thermographic image. The position of the monitoring node 100 (thermographic camera 110) in the monitoring area is known to the processor 120 in the monitoring node 100. Thus, in combination with the monitoring space size and the monitoring angle of view of the thermographic camera, the position information of the corresponding imaging region on the ground of the monitoring area corresponding to the monitoring node 100 can be further determined. Since each pixel region of the thermographic image sensed by the thermographic camera 110 corresponds to a spatial region in the imaging region, the processor 120 can determine the relative position of the imaging object corresponding to the hotspot region in the imaging region of the thermographic camera 110 based on the relative position of the hotspot region in the thermographic image. In combination with the position information of the imaging region in the monitoring area, the specific position of the imaging object corresponding to the hotspot region in the monitoring area can be accurately obtained, thereby realizing accurate (two-dimensional) positioning of the imaging object.

[0087] For example, the processor 120 can also identify the posture of the imaging object of the hotspot region in the thermographic image. Optionally, the processor 120 can also record the trajectory information of the imaging object of the hotspot region in the thermographic image and determine the speed information of the imaging object of the hotspot region in the thermographic image.

[0088] For example, the processor 120 can also determine whether the imaging object of the hotspot region in the thermographic image is in an emergency state. For example, the processor 120 can identify the type and posture of the imaging object of the hotspot region in the thermographic image and determine whether there is an emergency state such as electric shock or falling according to the posture or posture change information of the imaging object (e.g., human).

[0089] To reduce the monitoring blind area and expand the monitoring range, a wide-angle camera can be used.

[0090] In particular, when the optical axis of the camera is installed substantially perpendicular to the ground, it is necessary to use a wide-angle camera. This is because the optical axis perpendicular to the ground essentially reduces the monitoring range, and therefore a wide-angle camera can be used to compensate for the monitoring blind area and the reduction of the monitoring range caused by the optical axis being installed substantially perpendicular to the ground.

[0091] However, under the prior art condition, a direct and inevitable conclusion of the wide-angle camera is severe distortion. Whether the imaging principle of the wide-angle camera is linear mapping or nonlinear mapping, severe distortion will cause a nonlinear mapping relationship between the final pixel region and the monitoring region. Moreover, distortion based on nonlinear mapping will make the final mapping relationship more nonlinear.

[0092] The prior art mainly reduces severe distortion by compensating for the severe distortion of the wide-angle camera. The compensation method is divided into optical compensation and digital processing. Optical compensation refers to weakening severe distortion from the source by additionally adding multiple lenses, however, additional lenses will bring negative effects in technology, such as flare caused by multiple reflections, ghosting, etc., and the lens of the thermal imaging camera (commonly a germanium lens of a rare metal) is relatively expensive, so the optical compensation requires additional lenses and therefore the cost is extremely high.

[0093] Digital processing compensation generally reduces severe distortion through linearization processing, that is, a general approximate model is obtained by modeling for a specific distortion correction target (commonly linear mapping). The general model is generally more complex and does not have precision because it is an approximate process, and can only be used to compensate for global distortion but cannot compensate for local distortion, and cannot compensate for distortion caused by individual errors. In addition, the model compensation process also needs to be performed online, which is difficult to calibrate and does not have precision, and because the calculation formula is complex, the performance requirements of the processor are relatively high, especially in the case of high resolution. In addition, especially in the case of large wide-angle nonlinear mapping, information loss caused by severe distortion does not have the feasibility of linearizing nonlinear mapping from the mapping principle (see the example of the world map), which will generally result in low positioning accuracy, and even false positioning due to distortion.

[0094] Therefore, the present disclosure proposes a positioning scheme suitable for a wide-angle camera. The positioning scheme does not require the above-mentioned optical or digital processing compensation, and can truly achieve accurate positioning.

[0095] The present disclosure sets the optical axis of the wide-angle camera (i.e., the thermal imaging camera) substantially perpendicular to the ground, and arranged at a first predetermined height from the ground.

[0096] The first predetermined height is a height (not a horizontal absolute height or other height) from the ground, and the optical axis of the wide-angle camera is substantially perpendicular to the ground.

[0097] The "first predetermined height from the ground + optical axis perpendicular to the ground" not only makes each pixel region of the thermal imaging image correspond to each spatial region in the imaging region, but also makes it possible to obtain this correspondence relationship in advance through various ways. For example, the correspondence relationship can be obtained in advance through a calibration object, or obtained through calculation based on the nonlinear mapping relationship of the wide-angle camera.

[0098] Based on the correspondence, the disclosure determines the relative position of the imaging object corresponding to the hotspot region in the imaging region of the thermal imaging camera based on the relative position of the hotspot region in the thermal imaging image, and determines the specific position of the imaging object corresponding to the hotspot region in the monitoring region in combination with the position of the first monitoring node corresponding to the thermal imaging image in the monitoring region.

[0099] Unlike the optical or digital processing compensation methods described above, for the severe distortion existing in the wide-angle camera, the disclosure is positioned by "a first predetermined height from the ground + the optical axis perpendicular to the ground + the correspondence", so that precise positioning can be achieved without using conventional optical or digital processing compensation methods.

[0100] In the disclosure, "a first predetermined height from the ground + the optical axis perpendicular to the ground" is a fixed and unchangeable parameter for all cameras, which makes the correspondence between each pixel region of the thermal imaging image and each spatial region in the imaging region determined when the camera is manufactured. Therefore, "a first predetermined height from the ground + the optical axis perpendicular to the ground" (including the correspondence between each pixel region of the thermal imaging image and each spatial region in the imaging region) essentially defines a complete positioning system, and the definition does not depend on specific monitored space field conditions or information, so it can be used as an independent product for offline positioning. Offline positioning means that no information needs to be collected on site, and positioning can be achieved when the camera is manufactured. Of course, the disclosure can also be implemented for online positioning, but one advantage of offline positioning is that the positioning relationship obtained offline (the relative positioning relationship between the relative position of the hotspot region in the thermal imaging image and the relative position of the imaging object in the imaging region) can greatly simplify online positioning calculation, such as simple lookup table method, so that online calculation processing can be simple, and therefore a low processing power processor can be used for offline positioning. A major problem of nonlinear mapping online positioning is that the calculation formula is complex and sensitive to internal and external parameters, so the processing power requirement is high and the final positioning accuracy is low. In addition, offline positioning also has an advantage that it can be calibrated offline to achieve precise positioning, and the positioning relationship after calibration is stable and can be saved for all monitoring spaces that meet the conditions (i.e., for all thermal imaging cameras), which is particularly important for nonlinear mapping, because online calibration is complex and expensive, and it is not practical for a large number of monitoring arrays.

[0101] As mentioned above, the light axis being substantially perpendicular to the ground includes two cases: the light axis is perpendicular to the ground, and the light axis is not perpendicular to the ground but the angle between the light axis and the ground is close to 90°. The correspondence between each pixel region of the thermal image and each spatial region in the imaging region is accurate when the light axis is perpendicular to the ground, and the correspondence is deviated when the light axis is not perpendicular to the ground but the angle between the light axis and the ground is close to 90°. In actual applications, whether the deviation needs to be compensated can be determined according to actual business requirements.

[0102] In some embodiments, the present disclosure can also obtain the positioning information of one or more specific parts of the imaging object according to the type of the imaging object. Specifically, first, the hot spot region corresponding to the specific part of the imaging object in the thermal image can be identified according to the type of the imaging object, and the pixel region belonging to the specific part of the imaging object in the thermal image can also be identified; then, the relative position of the specific part in the imaging region of the thermal imaging camera can be determined according to the correspondence between each pixel region in the thermal image and each spatial region in the imaging region, and the specific position of the specific part of the imaging object in the monitoring region can be determined in combination with the position of the monitoring node corresponding to the thermal image in the monitoring region. For example, when the type of the imaging object is a person, the hot spot region corresponding to the feet of the person in the thermal image can be identified, and the position information of the feet of the person can be determined accordingly. For another example, when the type of the imaging object is a vehicle, the hot spot regions corresponding to the specific parts such as the front hood, front wheels, rear wheels, trunk, etc. of the vehicle in the thermal image can be identified, and the position information of these specific parts of the vehicle can be identified and determined accordingly. In this way, by determining the position information of one or more specific parts of the imaging object based on the type of the imaging object instead of the position information of the entire imaging object, the accuracy of the final positioning result can be improved.

[0103] In some further embodiments, the present disclosure can also identify the posture of the imaging object and determine the posture information of the imaging object according to the determined position information of one or more specific parts of the imaging object.

[0104] In some embodiments, the disclosure can also calculate the height or length of the imaging object according to the type of the imaging object. Specifically, according to the type of the imaging object, the size relationship between the height in the vertical direction and the length in the horizontal direction of the imaging object is analyzed, and the size of the pixel in the boundary range of the hotspot region corresponding to the imaging object in the thermal imaging image is determined, that is, the height or length of the imaging object, and the height or length of the imaging object is calculated. In some further embodiments, the identification result of the type of the imaging object can also be verified according to the calculated height or length of the imaging object, to determine whether the identification result of the type of the imaging object is accurate. For example, in the case where the calculated height or length of the imaging object is obviously not matched with the type of the imaging object, it can be determined that the identification result of the type of the imaging object is incorrect, and the type of the imaging object can be re-identified.

[0105] The disclosure can support pixel-level positioning and sub-pixel-level positioning. For example, when the size of the positioning target (the imaging object or a specific part of the imaging object) is large and occupies multiple pixels in the thermal imaging image, or when the positioning accuracy requirement is not high, pixel-level positioning can be implemented. For another example, when the size of the positioning target is small and only occupies less than one complete pixel in the thermal imaging image, or when the positioning accuracy requirement is high, sub-pixel-level positioning can be implemented. The principle of sub-pixel-level positioning can be generally summarized as that the area occupied by the positioning target in a single pixel and the temperature value information (or called brightness information) of the single pixel meet a certain functional relationship (which can be understood as a linear relationship), and the proportion of the imaging object in the single pixel can be determined according to the functional relationship, and the sub-pixel-level positioning information can be determined accordingly. Under different designs, pixel-level positioning can achieve decimeter-level to centimeter-level positioning accuracy, and sub-pixel-level positioning can achieve millimeter-level (even lower than millimeter-level) positioning accuracy.

[0106] In some embodiments, such as high-precision positioning requirement scenarios, the type of the thermal imaging object can be identified first, and it is determined whether sub-pixel-level positioning is needed according to the type identification result. In the case where sub-pixel-level positioning is needed, one or more specific parts of the imaging object are subjected to sub-pixel-level positioning. In some embodiments, for the imaging object (such as fire) located at the edge of the monitoring area (such as a wall), the disclosure can also calculate the height information of the imaging object, so as to provide more auxiliary information for thermal imaging monitoring.

[0107] The thermal imaging camera in the present disclosure can include at least one thermal imaging sensor and at least one thermal imaging lens. For example, the thermal imaging camera can be composed of one thermal imaging sensor and one thermal imaging lens, i.e., the thermal imaging camera can be a single camera. For another example, the thermal imaging camera can also be composed of multiple thermal imaging sensors and / or multiple thermal imaging lenses, i.e., the thermal imaging camera can be composed of multiple cameras. In the case where the thermal imaging camera is composed of multiple thermal imaging sensors and / or multiple thermal imaging lenses, the field of view angles of adjacent thermal imaging lenses can be abutted at the boundary without overlap, or can also have overlap.

[0108] The analysis result obtained by the processor 120 and / or the thermal imaging image obtained by the thermal imaging camera 110 can be wirelessly broadcasted via the wireless module 130.

[0109] The wireless module 130 can employ at least one of the following wireless technologies: Bluetooth, iBeacon, WIFI, RFID, ZIGBEE, UWB, Infrared, ultrasonic wave, Thread, Z-Wave5, cellular low-power wide-area network technology (NB-IoT, LTE-M), non-cellular low-power wide-area network technology (LoRaWAN, Sigfox), 2nd, 3rd, 4th, 5th generation mobile communication system. For example, the wireless module 130 can support multiple wireless technologies at the same time, and can select a suitable wireless technology to send corresponding data according to the data transmission requirement.

[0110] The output power and / or coverage range and / or emission angle of the wireless module 130 can be pre-set and / or dynamically adjusted and optimized based on different scenarios. For example, when there is a positioning and navigation requirement, the coverage range of the wireless module 130 can be slightly larger than the thermal imaging coverage range, and the emission angle is close to the field of view angle; in the case of fire, old people falling, etc. Emergency state, the output power, coverage range and / or emission angle of the wireless module 130 can be increased.

[0111] For example, the processor 120 can also perform encryption processing on the analysis result to keep the analysis result secret. For example, the processor 120 can use a predetermined encryption algorithm to perform encryption processing on the analysis result based on a pre-set privacy scenario (such as an office scenario with a security requirement). The wireless module 130 can broadcast the encrypted analysis result.

[0112] The processor 120 can also perform at least one of encryption processing, compression processing, and blurring processing on the thermographic image. The compression processing and the blurring processing on the thermographic image can reduce the amount of data and reduce privacy concerns to some extent, thereby expanding the monitoring area. For example, the encryption processing, the compression processing, and the blurring processing can be performed on the thermographic image. The blurring processing can be performed on the thermographic image first, the compression processing can be performed on the blurring processing result, and the encryption processing can be performed on the compression processing result. The wireless module 30 can broadcast the thermographic image processed by at least one of the above processing operations.

[0113] The analysis result wirelessly broadcast by the wireless module 130 can be received by a terminal device (i.e., a receiving terminal) in the monitoring area that has wireless receiving capability. The terminal device can be carried by an object target (e.g., a living body, a robot, or a vehicle) or can be installed inside an existing object target (e.g., a machine). The analysis result wirelessly broadcast by the wireless module 130 can also be received by other adjacent or nearby monitoring nodes.

[0114] The thermographic image wirelessly broadcast by the wireless module 130 can be received by a terminal device (e.g., a first terminal device as described below) in the monitoring area that has wireless receiving capability and information processing capability. The terminal device can analyze the received thermographic image to obtain an analysis result. For the analysis operation performed by the terminal device on the thermographic image, refer to the description of the processor 120.

[0115] The analysis result obtained by the processor 120 from the thermographic image can be an analysis result of emergency information (e.g., a fire, a person being electrocuted, an old person falling, etc.) or an analysis result of non-emergency information. The analysis result of emergency information can be emergency information containing a fire risk, which can include but is not limited to a fire risk point, a location of a person at a fire scene, and spatial layout information of the monitoring area. The analysis result of non-emergency information can be non-emergency information containing a living body and its positioning information.

[0116] The processor 120 can also set a relay identifier for the analysis result of emergency information. The wireless module 130 can wirelessly broadcast the analysis result carrying the relay identifier. The analysis result carrying the relay identifier sent by the wireless module 130 can be received by other monitoring nodes or terminal devices. After receiving the analysis result carrying the relay identifier, the other monitoring nodes or terminal devices can wirelessly broadcast the analysis result carrying the relay identifier. The wireless module 130 can also receive the analysis result wirelessly broadcast by the other monitoring nodes or terminal devices and wirelessly broadcast the analysis result carrying the relay identifier received from the other monitoring nodes or terminal devices.

[0117] Thus, the monitoring node or the terminal device with wireless transceiver capability in the monitoring area can broadcast the analysis result carrying the relay identifier if it receives the analysis result broadcasted by other monitoring node or terminal device. In this way, the analysis result belonging to the emergency information monitored by a single monitoring node will be broadcasted to the whole monitoring area in the form of relay broadcast with the support of other monitoring nodes or terminal devices in the monitoring area, so that the receiving terminal in the whole monitoring area can perceive the analysis result belonging to the emergency information.

[0118] For example, the processor 120 can also generate a first instruction for dynamic optimization of the area based on the received information (such as the analysis result and / or the thermal imaging map) of at least one monitoring node in the pre-bound adjacent area. The first instruction can be an instruction for controlling the devices in the area corresponding to the current monitoring node based on the information of the monitoring nodes in the adjacent area to dynamically adjust the state and / or start of the devices in the non-emergency state. For example, the processor 120 can generate corresponding control instructions according to the presence or absence, number and location information of people in the adjacent area to dynamically adjust the temperature, air volume and / or switch of the central or single air conditioner, the lighting brightness or switch of the lighting device, or the state or switch of other devices in the area where the processor is located, etc. to achieve the requirements of comfort, energy saving, safety, etc. The first control instruction can be sent to the corresponding device by the wireless module 130 in a wireless manner, and the corresponding device executes the operation corresponding to the first control instruction. For example, the wireless module 130 can include a wireless infrared transmitter, which can encode the first control instruction into an infrared light signal for wireless broadcast. The device (such as an air conditioner) can receive the infrared light signal by using a wireless infrared receiver and decode it. The decoded signal can be parsed by the device to identify the specific control instruction and execute the corresponding operation.

[0119] For example, the monitoring node 100 can further comprise one or more types of sensors. The processor 120 can further generate a second control instruction based on the thermal imaging image and / or information detected by the at least one type of sensor in the monitoring node. The second control instruction can be sent by the wireless module 130 to the corresponding device wirelessly, and the corresponding device can execute the operation corresponding to the first control instruction. Alternatively, the wireless module 130 can also turn on the emergency communication in response to the second control instruction, to provide emergency communication function for the personnel in the current area. In other words, the processor 120 can analyze the thermal imaging image and / or information collected by the one or more types of sensors, and issue the second control instruction to the wireless module for broadcasting or communication in combination with the preset scenario. Different from the first control instruction described above, the second control instruction can comprise a control instruction in an emergency state. For example, a fire or electric shock scenario can issue a control instruction to turn off the power switch and turn on the emergency lighting; a scenario of an old person falling down, a child falling down, etc. can issue an alarm instruction, and / or turn on the emergency communication such as a fire alarm phone, an emergency phone or other preset emergency communication mode, etc.

[0120] Therefore, the analysis result described above can comprise a control instruction (the first control instruction and / or the second control instruction). The control instruction can be sent by the wireless module 130 to the corresponding device wirelessly (such as an infrared signal), and the corresponding device can execute the operation corresponding to the control instruction. The specific sending principle of the control instruction can be referred to the relevant description above.

[0121] In some embodiments, the monitoring node 100 can further comprise at least one of an audible and light alarm device, an audio input device, and an audio output device. If the analysis result obtained by the processor 120 belongs to emergency information, or the analysis result received by the wireless module 130 from other monitoring nodes or terminal devices is carrying a relay identifier, the audible and light alarm device can give an audible and light alarm. Thus, the monitoring node can remind the user that there is emergency information in the monitoring area in the form of audible and light alarm. The audio input device, which can also be referred to as a sound pickup device, can include but is not limited to a microphone. The audio input device can collect audio data in the area where the monitoring node is located. The processor 120 can further perform voice recognition on the audio data collected by the audio input device, and generate a second control instruction according to the voice recognition result. For example, when the voice recognition result indicates that the user has uttered a specific key voice (such as a help-seeking voice or other specific wake-up word), a corresponding control instruction can be generated. For example, the control instruction can be an instruction to control the audible and light alarm device to give an audible and light alarm, an instruction to turn on emergency communication, an instruction to turn off the power switch, and the like. The processor 120 can generate a control instruction that matches a specific scenario. The audio output device is used to output sound information. The audio output device can be but is not limited to a loudspeaker. The audio output device is used to output sound information. The sound information output by the audio output device can be voice information sent by an emergency communication service party after the wireless module 130 turns on the emergency communication. Thus, the audio input device and the audio output device can realize the communication function.

[0122] FIGS. 3A and 3B are structural schematic diagrams of the monitoring node.

[0123] Referring to FIGS. 3A and 3B, the outer surface of the monitoring node 100 can be provided with a two-dimensional code that can be scanned. The two-dimensional code can be a fluorescent material. The two-dimensional code can contain at least one of the following information: the number and / or location information of the monitoring node; a wireless network link; an application software download link; a local building indoor map download link. The wireless network link can be used to download application software and building map information. The user can use a terminal device (such as a mobile phone) to scan the two-dimensional code to obtain the at least one information.

[0124] The monitoring node 100 can further comprise a first direction indicating device. The relative position relationship between the first direction indicating device and the thermal imaging camera is fixed, the first direction indicating device can be mechanically adjusted and locked in angle, and the direction indicating device is used to indicate a first predetermined direction. When the first direction indicating device is set to indicate the first predetermined direction, the optical axis of the thermal imaging camera is substantially perpendicular to the ground.

[0125] As shown in FIG. 3A and FIG. 3B, the first direction indicating device can indicate the first predetermined direction (e.g. north) by a direction indicating mark (e.g. an arrow mark). The two-dimensional code and the first direction indicating mark can be set independently or in association. For example, the two-dimensional code can be part of the first direction indicating mark.

[0126] When deploying a plurality of monitoring nodes in the monitoring area, by adjusting the first direction indicating device, it can be ensured that all the monitoring nodes are pointing to the first predetermined direction when installed, so that the monitoring nodes can serve as a direction reference in navigation, and at the same time, it can also be ensured that the optical axes of the imaging cameras of all the monitoring nodes are substantially perpendicular to the ground. Thus, the first direction indicating device can facilitate the installation of the monitoring nodes.

[0127] In some embodiments, the monitoring node 100 can further include a second direction indicating device. The second direction indicating device is a dynamic direction indicating device. The second direction indicating device can employ, but is not limited to, devices such as LCD, OLED, MICROLED, and LED array, etc., and can control to emit red, yellow, and other eye-catching and / or smoke-penetrating light. The second direction indicating device can dynamically adjust the indicated direction based on the emergency evacuation indication generated by the monitoring node or received from the control system. And / or, the second direction indicating device can also dynamically adjust the brightness of the indicated direction based on the smoke concentration information in the monitoring area where the monitoring node is located. The smoke concentration information can be detected by the smoke sensor in the monitoring node.

[0128] In some embodiments, the monitoring node 100 can further include a battery and a photoelectric converter. The battery is used to power the monitoring node 100. The photoelectric converter is used to convert the collected ambient light into current to charge the battery. The battery can also be directly wired or wirelessly charged by an external power source, or the battery can also be detached from the monitoring node and powered by an external power source. The processor 120 can also analyze the current information converted by the photoelectric converter to obtain ambient light brightness detection information. The processor 120 can use an A / D conversion device to collect current information and analyze the collected current information to obtain ambient light brightness detection information. The wireless module 130 can also broadcast the ambient light brightness detection information wirelessly. The ambient light brightness detection information broadcasted wirelessly can be received by a receiving terminal (e.g. a lighting device), and can be used as a basis for brightness adjustment and / or switching of the receiving terminal.

[0129] In some embodiments, the monitoring node 100 can further comprise a storage device. The storage device is used to store algorithms used by the processor 120. The algorithms can include, but are not limited to, analysis algorithms used by the processor 120 to analyze the thermographic image. The monitoring node 100 can upload the thermographic image or the analysis result to the control system, receive an updated algorithm based on the thermographic image or the analysis result sent by the control system, and update the algorithms stored in the storage device.

[0130] For example, the processor 120 can analyze the thermographic image by using an artificial intelligence model system or a machine vision processing system. The control system can perform training on the artificial intelligence model system or the machine vision processing system based on the received thermographic image or analysis result, and send the trained artificial intelligence model system or machine vision processing system to the monitoring node 100, so that the monitoring node 100 can analyze the thermographic image by using the latest artificial intelligence model system or machine vision processing system. As described above, the installation mode of “a first predetermined height from the ground + optical axis perpendicular to the ground” defines a fixed monitoring space that is independent of the scene, which can be regarded as a finite space, and the samples in the finite space are enumerable. The monitoring space defined by other installation modes is related to the scene, and can be regarded as an infinite space in which the samples are not enumerable. Compared with the infinite space in which the samples are not enumerable, the finite space in which the samples are enumerable defined based on the present disclosure makes the trained artificial intelligence model system or machine vision processing system more accurate.

[0131] In some embodiments, the monitoring node 100 can further comprise at least one of a lighting device, a battery, and an ambient light sensor. The lighting device is used for emergency lighting. In addition, the lighting device can also be used for non-emergency lighting. Referring to FIG. 3C, the monitoring node can comprise an emergency lighting device. The battery is used to power the monitoring node and / or the lighting device. The ambient light sensor is used to detect the ambient light brightness to obtain ambient light brightness detection information. The processor 120 can further control whether the battery powers the lighting device to provide emergency lighting. For example, the processor 120 can determine whether there is an emergency state and whether the battery needs to power the lighting device to provide emergency lighting by analyzing the thermographic image in combination with the ambient light brightness detection information and the related information set by the user in advance, and generate a corresponding control instruction to instruct the battery to power or not to power the lighting device.

[0132] In some embodiments, the monitoring node 100 can further comprise at least one of a smoke sensor, a toxic and harmful gas sensor, and a flammable gas sensor. The smoke sensor is configured to detect a smoke concentration in a monitoring area where the monitoring node is located. The toxic and harmful gas sensor is configured to detect a toxic and harmful gas concentration in the monitoring area where the monitoring node is located. The toxic and harmful gas can include, but is not limited to, carbon dioxide, nitric oxide, carbon monoxide, hydrogen sulfide, hydrogen cyanide, etc. The toxic and harmful gas in the present disclosure refers to a toxic gas and / or a harmful gas. The toxic and harmful gas concentration can also be referred to as a toxic gas concentration and / or a harmful gas concentration. The flammable gas sensor is configured to detect a flammable gas concentration in the monitoring area where the monitoring node is located. The flammable gas can include, but is not limited to, methane, liquefied petroleum gas, and other flammable gases (such as flammable vapors released by solvents, paints, adhesives, etc.).

[0133] The processor 120 can confirm the fire information based on at least one of the smoke concentration, the toxic and harmful gas concentration, and the flammable gas concentration, and an analysis result obtained by analyzing the thermal imaging image. With the smoke sensor, the toxic and harmful gas sensor, and the flammable gas sensor, the fire information can be more accurately confirmed at a single node.

[0134] In some embodiments, the monitoring node 100 can further comprise one or more direction controllers, each direction controller corresponding to a direction. For example, the monitoring node 100 can comprise four direction controllers, each direction controller corresponding to one of the clock directions in a horizontal plane. For example, the four direction controllers can correspond to one of the 3 o'clock direction, the 6 o'clock direction, the 9 o'clock direction, and the 12 o'clock direction, respectively. The direction controller can emit a control signal to the corresponding direction. The control signal can be, for example, but not limited to, an infrared signal. The control signal emitted by the direction controller can be received by a device (such as a lighting device) in the corresponding direction and perform a corresponding operation. Based on the position information of the imaging object of the hot spot area in the thermal imaging image in the monitoring area, the processor can determine the direction of the imaging object relative to the monitoring node, and based on the direction, the corresponding direction controller can be controlled to emit a control signal to the direction, so that the device in the direction in the space performs a corresponding operation based on the control signal. For example, when the processor determines that the imaging object (such as a person) is in the 6 o'clock direction of the monitoring node, the direction controller in the 6 o'clock direction can be controlled to emit a control signal, so that the device in the 6 o'clock direction performs a corresponding operation based on the received control signal.

[0135] FIG. 4 is a schematic block diagram illustrating a monitoring system according to another embodiment of the present disclosure.

[0136] Referring to FIG. 4, the monitoring system can further include a control system, which can be connected to the monitoring nodes by wire or wirelessly. For example, the control system can be connected to the monitoring nodes by a serial field bus. The serial field bus can include, but is not limited to, RS485 / RS422, etc. Each serial field bus can be connected to at least two monitoring nodes (thermal imaging cameras and / or processors). In some embodiments, each serial field bus can be connected to more than five monitoring nodes (thermal imaging cameras and / or processors).

[0137] The control system can acquire thermal images from the monitoring nodes and / or information processed by the monitoring nodes (e.g., analysis results), analyze the acquired thermal images and / or information to obtain global information, send control instructions to corresponding actuators with global functions based on the global information, and push the global information to client software.

[0138] The global information can include emergency information (e.g., fire point location information, security information) and non-emergency information (e.g., crowd density, equipment maintenance information, customized information for management departments, and building facility integrity information) in the entire building.

[0139] The client software refers to an application software installed and registered in a terminal device carried by an object target (e.g., a person). When using the client software, the object target can choose to register with the local control system to obtain global information in a timely manner to plan navigation and form a closed loop of interaction in emergency and non-emergency situations.

[0140] The actuators can include actuators for fire-fighting purposes, such as fire emergency lighting, emergency indication signs, fire-fighting broadcasting, fire-fighting sprinklers, pressurized air supply and smoke exhaust systems, etc., and actuators for non-fire-fighting purposes, such as central air conditioning systems, lighting systems, epidemic prevention systems, etc.

[0141] The monitoring nodes can also send analysis results belonging to emergency information to the control system by wire. The control system can push the analysis results to all monitoring nodes for wireless broadcasting. The control system can also push the analysis results to the client software, so that the terminal devices installed with the client software can obtain the analysis results.

[0142] The monitoring system or the monitoring nodes of the present disclosure can provide high-precision active positioning and passive positioning services for object targets (e.g., living beings, robots) in the monitoring area. Active positioning refers to the object target (e.g., a person) actively obtaining its own location information by means of a mobile terminal (e.g., a mobile phone, an iPad, etc.) to actively locate and navigate indoors. Passive positioning refers to a positioning method in which the object target is detected and informed by the monitoring nodes.

[0143] Based on this, the present disclosure also proposes a first terminal device.

[0144] The first terminal device is adapted to be carried by a first object target, or is adapted to be arranged inside the first object target. The first object target refers to an object target with active positioning needs, which can be, but is not limited to, a living body, a robot, or a vehicle.

[0145] The first terminal device has wireless transceiving capability and certain information processing capability. For example, the first object target is a human being, and the first terminal device can be a smart phone carried by the human being.

[0146] The first terminal device can obtain first positioning information of the first object target by using a positioning technology. The positioning technology can be, but is not limited to, any one or more of a wireless positioning technology, an inertial navigation positioning technology, or a Simultaneous Localization And Mapping (SLAM) technology. The wireless positioning technology can be, but is not limited to, a wireless signal attenuation distance (RSSI) technology or an AOA technology. By using the inertial navigation positioning technology (accelerometer, gyroscope, electronic compass), not only the positioning information of the first object target can be obtained, but also the speed information, the attitude information (such as direction, angle), and the like of the first object target can be obtained. The SLAM can be a 2D / 3D machine vision-based SLAM or a laser radar-based SLAM. The map downloaded by the first terminal device by scanning the monitoring node can save the necessity of SLAM mapping. In addition, some first terminal devices that traditionally rely on SLAM navigation, such as robots, can navigate based on the thermal imaging map or the analysis result received from the monitoring node broadcast, without relying on SLAM navigation, thereby greatly saving the cost of machine vision, laser radar, and the like.

[0147] FIG. 5 is a schematic diagram of a wireless signal wirelessly broadcasted by a monitoring node in a monitoring area. As shown in FIG. 5, the interference caused by the reflection and transmission of the wireless signal will result in poor accuracy and reliability of wireless positioning.

[0148] Therefore, the first terminal device can receive one or more analysis results wirelessly broadcasted by the monitoring node, which can include second positioning information of one or more second object targets (i.e., imaging objects) in the thermal imaging map obtained by the monitoring node analyzing the thermal imaging map. The first terminal device can achieve high-precision active positioning based on the received analysis result wirelessly broadcasted by the monitoring node. The first terminal device can also receive one or more thermal imaging maps wirelessly broadcasted by the monitoring node, and analyze the thermal imaging map to obtain the above-mentioned analysis result.

[0149] The second positioning information is accurate positioning information obtained by the monitoring node or the first terminal device performing thermal imaging positioning (passive positioning) on the second object target in the imaging area corresponding to the monitoring node. The first positioning information is non-accurate positioning information obtained by the first terminal device performing active positioning by using a positioning technology (such as a wireless positioning technology). The accuracy of the second positioning information is higher than that of the first positioning information.

[0150] The first terminal device needs to associate the obtained second positioning information (received or obtained by analyzing the received thermal imaging image) with the first positioning information, so as to identify the second positioning information belonging to the first terminal device, that is, to identify the second object target belonging to the first object target from the second object targets corresponding to the obtained multiple second positioning information.

[0151] Since the thermal imaging areas of adjacent monitoring nodes are adjacent or overlapped, theoretically, the first terminal device can track the identified second object target after performing association once. However, in some scenarios, the tracking may fail. Therefore, the first terminal device can perform association confirmation in a continuous or spot-check manner, so as to ensure the positioning accuracy. That is, the first terminal device can continuously or intermittently perform multiple association operations, so as to identify the second positioning information belonging to the first terminal device from the obtained second positioning information.

[0152] The first terminal device can determine the second positioning information belonging to the first object target in the obtained analysis result based on the first positioning information. That is, the first positioning information can be used to assist in determining the second positioning information belonging to the first object target from the obtained multiple second positioning information.

[0153] Exemplarily, the first terminal device can further acquire second auxiliary association information of the second object target. The second auxiliary association information can include, but is not limited to, at least one of second attitude information, second speed information, second trajectory information and type information of the second object target. Part or all of the second auxiliary association information can be generated by the monitoring node and sent to the first terminal device in a wireless broadcast manner. Alternatively, part or all of the second auxiliary association information can also be generated by the first terminal device. For example, the second attitude information and the type information of the second object target can be generated by the monitoring node and sent to the first terminal device in a wireless broadcast manner; the first terminal device can determine the second trajectory information and the second speed information of the second object target based on the continuously received second positioning information and the second attitude information of the second object target. The first terminal device can further acquire first auxiliary association information of the first object target. The first auxiliary association information can include, but is not limited to, at least one of first attitude information, first speed information, first trajectory information and type information of the first object target. The first terminal device can determine the second positioning information of the first object target in the received analysis result by combining the first positioning information, the first auxiliary association information and the second auxiliary association information. In this way, the association speed can be improved, and the positioning accuracy and precision can be increased. For example, the first terminal device can compare the first positioning information and the first auxiliary association information with the second positioning information and the second auxiliary association information of the second object target respectively, and identify the second object target whose position, attitude, speed and object type are the same as or similar to those of the first object target as the first object target.

[0154] Exemplarily, the first terminal device can further determine the second positioning information of the first object target in the following manner.

[0155] 1) Trajectory-based association manner

[0156] The analysis result received by the first terminal device, or the analysis result obtained by the first terminal device by analyzing the received thermal imaging image, can further include second trajectory information of the second object target.

[0157] The first terminal device can obtain first trajectory information of the first object target based on a plurality of first positioning information obtained by continuously positioning using a positioning technology before the current time, for example, a plurality of first positioning information within a certain time length before the current time.

[0158] The first terminal device can determine the second object target corresponding to the second trajectory information matched with the first trajectory information in the plurality of acquired (received or obtained by analyzing the received thermal imaging image) second trajectory information as the first object target, and determine the second positioning information of the determined second object target as the positioning information of the first object target.

[0159] The first terminal device can determine the second trajectory information matched with the first trajectory information by calculating the similarity between the first trajectory information and each second trajectory information. For example, the first terminal device can determine the second trajectory information most similar to the first trajectory information as the second trajectory information matched with the first trajectory information. The similarity mentioned herein can refer to the similarity in overall shape of the two pieces of trajectory information.

[0160] FIG. 6 is a schematic diagram illustrating a trajectory-based association manner.

[0161] Referring to FIG. 6, the position of the black man represents the wireless positioning position of the first object target (i.e., the first positioning information), and the position of the white man represents the thermal imaging positioning position of the second object target (i.e., the second positioning information). The dashed arrow line at the position of the black man represents the continuous wireless positioning trajectory of the first object target (i.e., the first trajectory information). The dashed arrow line at the position of the white man represents the continuous thermal imaging positioning trajectory of the second object target (i.e., the second trajectory information).

[0162] The trajectory of the first object target A0 is similar in shape to the trajectory of the second object target A1, and the trajectory of the first object target B0 is similar in shape to the trajectory of the second object target B1. Therefore, the first object target A0 can be associated with the second object target A1, and the first object target B0 can be associated with the second object target B1.

[0163] 2) Group-based association manner

[0164] The first terminal device can divide the area located within the predetermined range near the first positioning information into a group.

[0165] The first object target is initially located in the group. In addition, one or more second object targets can also be located in the group.

[0166] The second object targets initially located in the group can all be associated with the first object target.

[0167] If there is only one second object target in the group, the second object target can be directly determined as the first object target.

[0168] If there are multiple second object targets in the group, the first terminal device can determine the second object target consistent (and unique) with the first object target in terms of the change of whether the first object target is located in the group and the change of whether the corresponding second object target is located in the group based on the second positioning information obtained (received or obtained by analyzing the received thermal imaging image) subsequently, so as to realize the association of the first object target and the second object target.

[0169] Specifically, in the case where there are multiple second object targets in the group, the first terminal device can continue to obtain the first positioning information of the first object target by using the positioning technology, and determine whether the first object target is still located in the group according to the first positioning information. At the same time, the first terminal device can determine whether the second object target originally located in the group is still located in the group according to the analysis result obtained (received or obtained by analyzing the received thermal imaging image) thereafter. After each execution of the above two aspects of determination, the second object target consistent with the change of whether the first object target is still located in the group can be retained, and the second object target inconsistent with the change of whether the first object target is still located in the group can be ignored. In this way, the only second object target finally retained is the second object target associated with the first object target.

[0170] FIG. 7 is a schematic diagram of an association mode based on grouping.

[0171] Referring to FIG. 7, the black man represents a thermal imaging object target (i.e., a first object target), and the white man represents a thermal imaging non-object target (i.e., a second object target not associated with the first object target). First, a wireless positioning group can be constructed according to the positioning information (i.e., first positioning information) obtained by wireless positioning of the first object target. The area corresponding to the wireless positioning group is an area located within a predetermined range near the first positioning information.

[0172] Initially, the thermal imaging object target and multiple thermal imaging non-object targets are located in the wireless positioning group. That is, initially, the black man and multiple white men are located in the positioning group (i.e., the first positioning group shown in the figure). At this time, it is not possible to distinguish whether the thermal imaging object in the group is a thermal imaging object target or a thermal imaging non-object target.

[0173] If the positioning information obtained based on wireless positioning of the first object target indicates that the first object target moves out of the wireless positioning group, and at this time only one thermal imaging object (i.e., the black man) moves out of the group, then the thermal imaging object is the thermal imaging object target (i.e., the first object target).

[0174] 3) Association mode based on association rule algorithm

[0175] The first terminal device can determine the second object target associated with the first object target by using the association rule algorithm.

[0176] The association rule algorithm can be a traditional association rule algorithm, such as the Apriori algorithm, the FP-growth algorithm, the Eclat algorithm, the association rule tree algorithm, the pattern growth-based association rule algorithm, the COFI algorithm, the association rule network algorithm, etc.

[0177] The association rule algorithm can also be an AI algorithm trained based on artificial intelligence.

[0178] The first terminal device can obtain a plurality of sets of first positioning data of the first object target through continuous positioning. The first terminal device can obtain a plurality of sets of second positioning data of the second object target according to analysis results of received data at multiple time points or according to analysis results of received thermal images at multiple time points.

[0179] The plurality of sets of first positioning data can refer to positioning data at multiple time points. The multiple time points can include a current time point and a plurality of historical time points. Each set of first positioning data corresponds to a time point, and each set of first positioning data can include first positioning information at the time point. Optionally, each set of first positioning data can further include, but is not limited to, attitude, speed, trajectory, and the like.

[0180] Similarly, the plurality of sets of second positioning data can also refer to positioning data at multiple time points. Each set of second positioning data corresponds to a time point, and each set of second positioning data can include second positioning information at the time point. Optionally, each set of second positioning data can further include, but is not limited to, attitude, speed, trajectory, and the like.

[0181] The first terminal device can calculate a support degree and / or a confidence degree of each second object target based on the plurality of sets of first positioning data of the first object target and the plurality of sets of second positioning data of each second object target, and determine the second object target associated with the first object target based on the support degree and / or the confidence degree.

[0182] The support degree can reflect a frequency of simultaneous occurrence of a data set (i.e., first positioning data and second positioning data) corresponding to the same time point and related to the first positioning data and the second positioning data in the plurality of sets of first positioning data of the first object target and the plurality of sets of second positioning data of the second object target. The data set corresponding to the same time point and related to the first positioning data and the second positioning data can refer to first positioning data and second positioning data with high similarity at the same time point. For example, if the second positioning data of the second object target at a time point is the same as or similar to the position of the first positioning data of the first object target at the time point, the attitude is the same or similar, the speed is the same or similar, and the trajectory is the same or similar, it can be considered that the second positioning data at the time point is related to the first positioning data, and the second positioning data and the first positioning data form a related data set. For example, the support degree can be obtained by calculating a ratio of a number of data sets corresponding to the same time point and related to the first positioning data and the second positioning data to a number of all data sets corresponding to the same time point and formed by all second object targets. When calculating the support degree, different weighting values can be adopted for different data sets for optimization. For example, a data set closer to the current time point can be assigned a higher weight value.

[0183] The confidence degree can reflect the confidence degree of the corresponding same time and related data groups (i.e., the first positioning data and the second positioning data) in the multiple sets of second positioning data of the second object target and the multiple sets of first positioning data of the first object target. For example, the confidence degree can be obtained by calculating the ratio of the number of the corresponding same time and related data groups to the number of all data groups corresponding to the same time and formed by the second object target.

[0184] After obtaining the support degree and / or the confidence degree, the second object target associated with the first object target can be determined based on the support degree and / or the confidence degree. The greater the support degree or the confidence degree of the second object target, the greater the probability that the second object target is associated with the first object target. That is, the probability that the second object target is associated with the first object target is positively correlated with the support degree and the confidence degree of the second object target, respectively.

[0185] 4) Association method based on correlation algorithm

[0186] The first terminal device can determine the second object target associated with the first object target by using the correlation algorithm.

[0187] Correlation is a statistical analysis method used to assess the relationship between two variables and its strength. In data analysis and machine learning, correlation algorithms are often used to explore the linear relationship between two variables. Common correlation algorithms include Pearson correlation coefficient and Spearman correlation coefficient.

[0188] The first terminal device can obtain multiple sets of first positioning data of the first object target through continuous positioning. The first terminal device can also obtain multiple sets of second positioning data of the second object target according to the analysis results received at multiple times or the analysis results obtained by analyzing the thermal imaging images received at multiple times. For the multiple sets of first positioning data and the multiple sets of second positioning data, please refer to the relevant description above.

[0189] The first terminal device can calculate the correlation coefficient of each second object target and the first object target by using the correlation algorithm based on the multiple sets of first positioning data of the first object target and the multiple sets of second positioning data of each second object target, and determine the second object target associated with the first object target based on the correlation coefficient. For example, the second object target with the correlation coefficient closest to 1 can be determined as the object target associated with the first object target.

[0190] As described above, each set of first positioning data can include first positioning information at the time. Optionally, each set of first positioning data can further include, but is not limited to, attitude, speed, trajectory, etc. Each set of second positioning data can include second positioning information at the time. Optionally, each set of second positioning data can further include, but is not limited to, attitude, speed, trajectory, etc. For example, when calculating the correlation coefficient of the second object target and the first object target, the correlation coefficient of the second object target and the first object target at each item of data (such as position, attitude, speed, trajectory) in the multiple sets of positioning data can be calculated, and then the average (such as arithmetic mean or weighted average) of all correlation coefficients is taken as the correlation coefficient of the second object target and the first object target. The value range of the correlation coefficient is -1 to 1, where -1 represents complete negative correlation, 0 represents no correlation, and 1 represents complete positive correlation. The calculation method of the correlation coefficient can use, but is not limited to, the Pearson correlation coefficient calculation method or the Spearman correlation coefficient calculation method. The Pearson correlation coefficient measures the linear relationship between two variables. The Spearman correlation coefficient is used to measure the monotonic relationship between two variables, that is, the order relationship between variables.

[0191] In some embodiments, the first terminal device (such as the application software installed and registered in the first terminal device) can issue an audible and visual alarm in response to receiving an emergency evacuation state notification or manually adjusting to an emergency evacuation state, and generate and dynamically adjust an evacuation route according to the second positioning information belonging to the first object target.

[0192] In some embodiments, the first terminal device can obtain the number and / or location information of the monitoring node by scanning the two-dimensional code provided on the outer surface of the monitoring node, and / or download the application software and / or the local building indoor map.

[0193] For example, the analysis result received by the first terminal device can also include the attitude of the second object target. The first terminal device can associate the second positioning information in the currently received analysis result when scanning the two-dimensional code to determine the second object target with the attitude of the scanning action as the first object target, and determine the second positioning information of the determined second object target as the positioning information of the first object target.

[0194] The application software scanned and downloaded by the first terminal device can generate navigation information based on the second positioning information belonging to the first object target and the local building indoor map. The application software can also display the number and / or location information of the monitoring node in the map. The first terminal device can also determine the second positioning information belonging to the first object target in the analysis result of the monitoring node corresponding to the number in the scanned two-dimensional code based on the first positioning information.

[0195] The application software scanned and downloaded by the first terminal device can also be pre-bound with one or more monitoring nodes and pre-set trigger event conditions. The monitoring nodes remotely push notifications to the first terminal device in response to the trigger event conditions being triggered. In this way, the first terminal can achieve remote monitoring of the monitoring area.

[0196] In some embodiments, the first terminal can also have emergency equipment control functions and / or non-emergency equipment control functions. In response to the analysis result obtained (received or obtained by analyzing the received thermal image) being emergency information containing fire risk, the first terminal device can control the corresponding emergency equipment to perform corresponding functions based on the analysis result. In response to the analysis result obtained (received or obtained by analyzing the received thermal image) being non-emergency information containing living beings and their positioning information, the first terminal device can control the corresponding non-emergency equipment to perform corresponding functions based on the analysis result.

[0197] In some embodiments, the first terminal device can be arranged inside the first object target. The first object target can refer to a machine, such as a robot. In order to facilitate the identification of devices with thermal identification capabilities (such as monitoring nodes), the upper surface of the first object target shell can form a pattern containing information based on the difference in material emissivity and / or the difference in heat generation temperature.

[0198] The upper surface of the first object target shell can form a specific pattern based on the difference in material emissivity and / or the difference in heat generation temperature. Different upper surfaces of the first object target shell can form different patterns. And the association between the pattern and the identity of the first object target can be pre-specified. In this way, the thermal identification device (such as a monitoring node) can identify the identity of the first object target by identifying the pattern corresponding to the imaging object of the hot spot area. Taking the first object target as a robot as an example, the upper surface of different models of robots can form different patterns based on the difference in material emissivity and / or the difference in heat generation temperature, so that the thermal identification device can easily identify different models of robots.

[0199] FIG. 8 schematically illustrates a pattern arranged on the first object target. Referring to FIG. 8, the first object target can refer to a robot. The upper surface of the robot shell can include a high emissivity surface composed of high emissivity material and a low emissivity surface composed of low emissivity material. Emissivity is a measure of the ability of an object to absorb and emit radiant energy. Low emissivity material can refer to smooth or unoxidized metal, and high emissivity material can refer to rough or oxidized metal. The high emissivity surface can form a specific pattern, such as a cross, to identify the first object target. The device with thermal identification capability (such as a monitoring node) can identify the first object target by identifying the pattern of the high emissivity surface of the first object target.

[0200] In view of the monitoring node having the thermal imaging picture analysis processing and the wireless broadcasting capability of the analysis result, the present disclosure further proposes a second terminal device. The second terminal device is adapted to be arranged in the monitoring area. The second terminal device can be a receiving terminal (such as a remote controller) having an emergency equipment control function and / or a non-emergency equipment control function.

[0201] The second terminal device can receive the analysis result wirelessly broadcasted by the monitoring node.

[0202] In response to the received analysis result being emergency information, such as fire risk, person electric shock, etc., the second terminal device controls the corresponding emergency equipment to perform the corresponding function based on the analysis result. For example, the second terminal device can be connected to a power supply system, the emergency information can be a power supply disconnection instruction made by the monitoring node when detecting an emergency scene such as fire risk or person electric shock, the second terminal device can disconnect the local power supply switch, and indirectly disconnect the switch (such as air switch, leakage switch, etc.) of the main power supply of the power supply system by simulating or briefly activating the leakage and / or short circuit. For example, the second terminal device can also be a smart lock, which can be a stand-alone smart lock or a part of other equipment (such as fire-fighting equipment), the second terminal device receives an opening and closing instruction made by the monitoring node when detecting a fire risk, and the second terminal device can perform the opening and closing function based on the switch instruction, for example, automatically opening the smart door lock in the case of fire to allow personnel to use the fire-fighting equipment and evacuate or allow fire-fighting personnel to enter the fire-fighting.

[0203] In response to the received analysis result being non-emergency information containing a living body and its positioning information, the second terminal device controls the corresponding non-emergency equipment to perform the corresponding function based on the analysis result.

[0204] As described above, the analysis result received by the second terminal device can be a control instruction, at this time the second terminal device directly controls the corresponding equipment to perform the operation matched with the control instruction.

[0205] The second terminal device can also receive the ambient light brightness detection information wirelessly broadcasted by the monitoring node, and use the received ambient light brightness detection information as the basis for adjusting the brightness and / or switching of the lighting equipment. For example, the second terminal device can control the on and off and brightness value of the lighting equipment according to the received ambient light brightness detection information wirelessly broadcasted by the monitoring node and the living body information in the analysis result. For example, the second terminal device can control the on and off and temperature adjustment of the air conditioner, fan, etc. cooling or heating equipment according to the received ambient temperature information wirelessly broadcasted by the monitoring node and the living body information in the analysis result.

[0206] In some embodiments, the second terminal device can also serve as an executor, receiving the control instruction sent by the control system based on the global information, and executing the control instruction.

[0207] FIG. 9 is a schematic diagram showing the application of the present disclosure to a non-fire emergency scenario.

[0208] Referring to FIG. 9, a plurality of monitoring nodes and non-emergency devices can be deployed in the monitoring area.

[0209] The non-emergency devices may, for example, include central air conditioning, lighting devices, and fans.

[0210] By way of example, a plurality of remote controllers can also be deployed in the monitoring area. Each remote controller can correspond to a portion of the monitoring area, and be used to control the turning on and / or off of non-emergency devices in the portion of the monitoring area. The remote controller can serve as the second terminal device mentioned above, receive the non-emergency information wirelessly broadcast by the monitoring nodes in its corresponding monitoring area, and control its associated non-emergency devices to perform corresponding functions.

[0211] By way of example, the monitoring nodes can provide on-site feedback information to the central air conditioning system in a wireless broadcast manner based on the analysis result of the acquired thermal imaging map, so that the central air conditioning system can be dynamically adjusted. For example, by analyzing the thermal imaging map, hotter and / or colder areas can be identified, and thus on-site temperature information can be provided to the central air conditioning system, so that the central air conditioning system can be dynamically adjusted to bring each area into an appropriate temperature range.

[0212] By way of example, the monitoring nodes can provide on-site feedback information to the lighting system in a wireless broadcast manner based on the acquired ambient light brightness detection information, so that the lighting system can be controlled.

[0213] By way of example, the monitoring nodes can provide on-site personnel position feedback information to the fan system in a wireless broadcast manner based on the analysis result of the acquired thermal imaging map, so that the fan system can be dynamically adjusted and tracked to provide comfortable service.

[0214] By way of example, a wireless receiving module (such as an infrared receiver) can be provided in the non-emergency device (such as an air conditioner), and the monitoring nodes can use a wireless module (such as an infrared emitter) to send the generated control instruction (such as the first control instruction and the second control instruction mentioned above) to the non-emergency device, to instruct the non-emergency device to perform an operation corresponding to the control instruction.

[0215] FIG. 10 is a schematic diagram showing the application of the present disclosure to a fire emergency scenario.

[0216] Referring to FIG. 10, a plurality of monitoring nodes and fire emergency devices can be deployed in the monitoring area.

[0217] The fire emergency equipment can include, for example, fire emergency lighting (not shown in the figure) and / or fire emergency indication signs and / or fire broadcast and / or smoke exhaust equipment. In response to receiving the fire risk identification information wirelessly broadcast by the monitoring node, the fire emergency equipment control device can control these fire emergency equipment to dynamically change the local emergency indication sign content and the local broadcast content, and optimize the design from the perspective of building design, so as to better guide the on-site personnel to evacuate by artificial intelligence or manual.

[0218] As shown in FIG. 10, the fire emergency indication signs on both sides of the ignition point respectively give opposite direction evacuation direction indications, so as to indicate the on-site personnel to evacuate to the safe area as soon as possible in the direction away from the ignition point.

[0219] Similarly, the fire broadcast arranged at different positions can also broadcast the optimized evacuation prompt sentences based on the position of itself and the position of the ignition point, if necessary, in combination with the building design structure, so as to enable the on-site personnel to understand the correct evacuation direction in time and evacuate to the safe area as soon as possible.

[0220] In the case of fire, the fire emergency lighting can be turned on in the whole area, so that the on-site personnel can conveniently identify the evacuation route and safely leave the risk area and reach the safe area.

[0221] For another example, the fire emergency equipment can also include fire sprinklers. In response to receiving the fire risk identification information wirelessly broadcast by the monitoring node, the fire emergency equipment control device can control the corresponding fire sprinklers to perform sprinkler fire extinguishing operation. In this way, the linkage with the fire sprinklers can be realized, and in some embodiments, the design can also be optimized from the perspective of building design, so as to perform the sprinkler fire extinguishing linkage operation by artificial intelligence or manual remote control earlier and more accurately.

[0222] For another example, the fire emergency equipment can also include a pressurized air supply and smoke exhaust system (not shown in the figure). In response to receiving the fire risk identification information wirelessly broadcast by the monitoring node, the fire emergency equipment control device can control the fire pressurized air supply and smoke exhaust control.

[0223] In summary, the present disclosure enables the monitoring node to have processing capability, so that the monitoring node can accurately identify and analyze the object target in the field as an identification subject. On this basis, considering that some object targets also have positioning and navigation needs for their own position information, a wireless module is added to the monitoring node to broadcast the object identified by the monitoring node and its positioning information, thereby realizing the positioning and navigation function of the object target. This function requires object targets, such as people carrying mobile phones, robots or vehicles, to have wireless signal receiving capability to receive the above positioning information, and to perform rough positioning and narrow down the positioning area through RSSI and other technologies, and to perform static and dynamic correlation based on the received accurate positioning information and wireless rough positioning, so that the object target can identify itself from the broadcast information to perform accurate positioning and navigation.

[0224] The wireless module in the monitoring node can also be used for communication between the host and the object to support other related uses. The positioning and navigation function and the communication function can be applied in, for example, a fire emergency application scenario, thereby effectively providing evacuation paths and interaction for fire victims. It can also be applied in non-fire scenarios, such as indoor navigation, optimized path, etc. of vehicles, personnel, robots, etc. Details are as follows: to realize indoor high-precision active navigation; to provide feedback information for other intelligent building products as an application basis; to provide timely feedback and control information for the control command system in emergency situations such as fire; to provide evacuation guidance information for object targets in emergency situations; to provide positioning and navigation for large-scale movement of robots; and in non-emergency situations, the positioning function also has broad application prospects, such as achieving comfort, convenience, environmental protection, energy saving, etc. to bring corresponding benefits to customers.

[0225] The present disclosure also proposes a service system. The service system is used to provide specific services. The service system can be, but is not limited to, a heating system, a central air conditioning system, a fresh air system, a fan system, and a lighting system. The service system can include a service control module and a plurality of terminal devices. The plurality of terminal devices can be scattered in a monitoring area. Each terminal device can correspond to a part of the monitoring area. Each terminal device can be used to provide services (such as air conditioning services, fan services, and lighting services) for the monitoring area corresponding to the terminal device. The service control module can be wired or wirelessly connected to each terminal device.

[0226] The service control module can receive global information sent by the control system, generate and send control instructions to the corresponding execution device and / or the corresponding terminal device based on the global information. The global information is obtained by analyzing the thermal imaging map and / or analysis result obtained from the plurality of monitoring nodes in the monitoring area by the control system. For the global information, please refer to the related description above.

[0227] The terminal device can also receive the thermal imaging image and / or analysis result broadcasted by the monitoring node wirelessly, and send the thermal imaging image and / or analysis result to the service control module. The service control module can also generate corresponding control instructions based on the received thermal imaging image and / or analysis result, and send the control instructions to the corresponding execution device and / or the corresponding terminal device for execution.

[0228] Thus, for a service system including a plurality of terminal devices, the service system can dynamically adjust or control the terminal devices in the service system according to the information (such as the analysis result and / or the thermal imaging image) sent by the plurality of (such as at least two) monitoring nodes in the monitoring area and / or the global information sent by the control system, so as to achieve the purpose of dynamic optimization. Taking the service system as a central air conditioning system, the plurality of terminal devices can be devices for adjusting the air outlets of different areas, and the central air conditioning system can adjust the air volume of the air outlets at different positions and / or the overall load of the machine based on the overall area information obtained from the monitoring nodes or the control system, so as to achieve the purpose of energy saving and comfort.

[0229] The monitoring node, the monitoring system, the terminal device and the service system according to the present disclosure have been described in detail above with reference to the accompanying drawings.

[0230] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, function and operation of the system and method according to the embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions marked in the blocks can also occur in different order from that marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system performing the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0231] The above has described the embodiments of the present disclosure, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles, practical applications or improvements to the technology in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A monitoring node, comprising: a thermal imaging camera disposed at a first predetermined height above the ground within the monitoring area, with an optical axis substantially perpendicular to the ground, for thermally imaging a corresponding imaging area on the ground, wherein each pixel area of ​​the resulting thermal image corresponds to each spatial area in the imaging area; A processor analyzes the thermal image to obtain an analysis result; A wireless module transmits the analysis result and / or the thermal image using wireless technology.

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

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

4. The monitoring node according to claim 3, further comprising at least one of the following devices: An audible and visual alarm device, wherein if the analysis result obtained by the processor is emergency information, or the analysis result of the wireless broadcast of other monitoring nodes or terminal devices received by the wireless module carries the relay identifier, the audible and visual alarm device performs an audible and visual alarm; an audio input device for collecting audio data within the area where the monitoring node is located, the processor further performing speech recognition on the audio data collected by the audio input device and generating a second control instruction based on the speech recognition result; Audio output device, used to output sound information. The monitoring node according to claim 1 , wherein: The outer surface of the monitoring node is provided with a QR code. The QR code includes at least one of the following information: the number and / or location information of the monitoring node; a wireless network link; an application software download link; and a local building indoor map download link. The monitoring node according to claim 1 , wherein: The monitoring node also includes a first direction indicating device, the relative position relationship between the first direction indicating device and the thermal imaging camera is fixed, the first direction indicating device can mechanically adjust the installation angle and can be locked, the first direction indicating device is used to indicate a first predetermined direction, and when the first direction indicating device is set to indicate the first predetermined direction, the optical axis of the thermal imaging camera is basically perpendicular to the ground.

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

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

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

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

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

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

13. The monitoring node according to claim 1, further comprising: One or more direction controllers, each of which corresponds to a direction, The processor determines the direction of the imaging object relative to the monitoring node based on the position information of the imaging object in the hot spot area in the thermal imaging image in the monitoring area, and controls the corresponding direction controller to transmit a control signal in the direction based on the direction, so that the device in the direction in the space performs corresponding operations based on the control signal.

14. A monitoring node, comprising: a thermal imaging camera disposed at a first predetermined height above the ground within the monitoring area, with an optical axis substantially perpendicular to the ground, for thermally imaging a corresponding imaging area on the ground, wherein each pixel area of ​​the resulting thermal image corresponds to each spatial area in the imaging area; The wireless module uses wireless technology to send the thermal image.

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

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

17. The monitoring system according to claim 16, further comprising: a control system that acquires thermal images from the plurality of monitoring nodes and / or analysis results obtained by the monitoring nodes analyzing the thermal images, analyzes the acquired thermal images and / or analysis results to obtain global information, sends control instructions to corresponding actuators having global functions based on the global information, and pushes the global information to client software; and / or The monitoring node also sends the analysis result of the emergency information to the control system via wired communication, and the control system pushes the analysis result to all monitoring nodes for wireless broadcasting.

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

19. The first terminal device according to claim 18, wherein: The wireless technology includes wireless broadcasting.

20. The first terminal device according to claim 18, wherein: The first terminal device obtains first trajectory information of the first object target based on the multiple first positioning information, The first terminal device obtains second trajectory information of the second object target based on a plurality of second positioning information of the same second object target obtained continuously, The first terminal device determines the second object target corresponding to the second trajectory information matching the first trajectory information among the plurality of second trajectory information as the first object target, and uses the second positioning information of the determined second object target as the positioning information of the first object target.

21. The first terminal device according to claim 18, wherein: The first terminal device divides areas within a predetermined range near the first positioning information into groups, If there are multiple second object targets in the group, the first terminal device determines the second object target whose change is consistent with that of the first object target as the first object target based on the changes in whether the first object target is located in the group obtained subsequently using positioning technology, and the changes in whether the corresponding second object target is located in the group obtained based on the second positioning information obtained subsequently, and uses the second positioning information of the determined second object target as the positioning information of the first object target.

22. The first terminal device according to claim 18, wherein: The first terminal device determines a second object target associated with the first object target using an association rule algorithm and / or a correlation algorithm, and determines second positioning information corresponding to the second object target associated with the first object target as positioning information belonging to the first object target.

23. The first terminal device according to claim 18, wherein: The positioning technology is at least one of the following: wireless positioning technology, inertial navigation positioning technology, simultaneous positioning and mapping technology; and / or The first terminal device further acquires second auxiliary association information of the second object target, where the second auxiliary association information includes at least one of second posture information, second speed information, second trajectory information, and type information. The first terminal device further acquires first auxiliary association information of the first object target, where the first auxiliary association information includes at least one of first posture information, first speed information, first trajectory information, and type information. The first terminal device determines the second positioning information belonging to the first object target in the acquired analysis result by combining the first positioning information, the first auxiliary association information, and the second auxiliary association information.

24. The first terminal device according to claim 18, wherein: The first terminal device emits an audible and visual alarm in response to receiving an emergency evacuation status notification or manually adjusting the emergency evacuation status by the user, and generates and dynamically adjusts an evacuation route based on the second positioning information belonging to the first object.

25. The first terminal device according to claim 18, wherein: The first terminal device obtains the number and / or location information of the monitoring node by scanning the QR code set on the outer surface of the monitoring node, and / or downloads application software and / or a local building indoor map.

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

27. The first terminal device according to claim 25, wherein: The application software generates navigation information based on the second positioning information of the first object and the local building indoor map; and / or The application software displays the number and / or location information of the monitoring node on a map; and / or The first terminal device determines, based on the first positioning information, second positioning information belonging to the first object target in the acquired analysis result of the monitoring node corresponding to the number.

28. The first terminal device according to claim 25, wherein: The application software is pre-bound to one or more monitoring nodes and presets a triggering event condition. In response to the triggering event condition, the monitoring node remotely pushes a notification to the first terminal device.

29. The first terminal device according to claim 18, wherein: In response to the obtained analysis result being emergency information containing fire risk, the first terminal device controls corresponding emergency equipment to perform corresponding functions based on the analysis result; or In response to the obtained analysis result being non-emergency information including information of a living body and its location, the first terminal device controls a corresponding non-emergency device to perform a corresponding function based on the analysis result.

30. The first terminal device according to claim 18, wherein: The first terminal device is set inside the first object, and the upper surface of the first object shell forms a pattern containing information based on different material emissivities and / or different heat generation temperatures to facilitate recognition by a device with thermal recognition capability.

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

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

33. The second terminal device according to claim 31, wherein: The second terminal device is connected to the power supply system, The emergency information is a power off instruction, and the second terminal device performs at least one of the following functions: Disconnect the power supply of this circuit; A switch that indirectly disconnects the main power supply of the power supply system by simulating or briefly activating a leakage and / or short circuit.

34. The second terminal device according to claim 31, wherein: The second terminal device is a smart lock. The emergency information is an opening and closing instruction, and the second terminal device performs an opening and closing function based on the opening and closing instruction.

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

Images