JP7162763B2 - temperature identification system - Google Patents

Description

The present disclosure relates to temperature identification systems.

In recent years, there has been an increasing demand for measuring the temperature distribution of air. Since the temperature of air, which is a gas, cannot be measured directly from a remote location, it is necessary to measure the temperature by means such as installing a temperature sensor. However, in this case, since many temperature sensors must be installed, there is a problem that the cost becomes very high.

On the other hand, Patent Document 1 discloses a temperature measuring device composed of a temperature measuring target installed in an area where the indoor temperature is to be measured, and a thermography device for measuring the temperature distribution of the temperature measuring target. ing.

JP-A-10-176956

However, in the conventional temperature measurement device, there is a limit to the imaging range of the thermography device. For this reason, it is necessary to install a large number of thermography devices in order to evenly measure the entire floor.
In addition, it is necessary to manually measure the three-dimensional coordinates on the floor of the temperature measurement target of interest in advance.

Accordingly, it is an object of one or more aspects of the present disclosure to easily identify a position in space and the temperature at that position from a remote location.

A temperature identification system according to one aspect of the present disclosure includes a temperature identification target used to identify the temperature of air in a space in which it is arranged; a first thermal imaging device arranged in the space; and a second thermal imaging device arranged in the space at a position different from that of the first thermal imaging device, wherein the second thermal imaging device comprises the a second imaging unit that captures a second thermal image showing heat distribution in space; and a second rotation unit that rotates the second imaging unit about a second axis by a predetermined angle. and connecting a plurality of the second thermal images captured by the second imaging unit every time the second rotating unit rotates the object by the predetermined angle, a second control unit that generates a second panoramic image including a second area that is an area showing the radiated heat distribution; and a second controller that transmits the second panoramic image to the first thermal imaging device. 2 communication units, the first thermal imaging device includes: a first imaging unit that captures a first thermal image showing a heat distribution in the space; a first rotating section that rotates the first imaging section by the predetermined angle; A first panorama image including a first area indicating a heat distribution radiated from the temperature-specific object is generated by connecting the plurality of first thermal images, and the a position where the first thermal imaging device is arranged, a position where the second thermal imaging device is arranged in the space, a position of the first region in the first panoramic image; The position of the second area in the second panorama image is used to specify an arrangement position, which is the position where the temperature-specific object is arranged in the space, and the position of the first area and the second area is specified. and a first control unit that specifies the temperature of the air at the arrangement position based on the region.

According to one or more aspects of the present disclosure, a location in space and the temperature at that location can be easily identified remotely.

1 is a schematic diagram showing the overall configuration of a temperature identification system; FIG. 1 is a perspective view of a measurement tag; FIG. FIG. 2 is a side view of a first rotary thermo camera and a second rotary thermo camera; FIG. 3 is a schematic diagram showing an example of the layout of a measurement tag, a first rotary thermocamera, and a second rotary thermocamera on a floor; 1 is a block diagram schematically showing the configuration of a first rotary thermo camera; FIG. (A) and (B) are block diagrams showing hardware configuration examples. FIG. 4 is a block diagram schematically showing the configuration of a second rotary thermo camera; 3 is a block diagram schematically showing the configuration of a controller; FIG. 4 is a flow chart showing an operation of measuring the temperature of a space by the first rotary thermo camera; 10 is a flow chart showing an operation of generating a second panorama image by a second rotary thermo-camera and transmitting it to the first rotary thermo-camera; 4 is a flow chart showing the operation when the controller creates a contour diagram and presents the temperature distribution of the space to the user. It is a schematic diagram showing an example of a contour figure. (A) to (E) are schematic diagrams for explaining the process of generating a panorama image.

FIG. 1 is a schematic diagram showing the overall configuration of a temperature identification system 100 according to an embodiment.
The temperature identification system 100 includes a measurement tag 110, a first rotary thermocamera 130 as a first thermal imaging device, a second rotary thermocamera 150 as a second thermal imaging device, and information. and a controller 170 as a processing device.

The measurement tag 110 is a temperature identification object used to identify the air temperature in the space in which it is placed. For example, the measurement tag 110 is a circular tag made of a material with low heat capacity and high emissivity. The temperature of the metering tag 110 will match the temperature of the air in a very short time.

FIG. 2 is a perspective view of the measurement tag 110. FIG.
The measurement tag 110 includes a base 111 , a radial disk 112 and a strut 113 .

The base 111 is a portion in contact with an installation location such as a wall. For example, the base 111 is made of a resin material.
Radiation disk 112 is a radiation part that matches the temperature of the space in which metrology tag 110 is located. For example, the radiation disk 112 is made of a material with a high thermal emissivity and is formed to be a very thin disk, so that the heat capacity is small. Therefore, the temperature of the radiating disk 112 almost instantaneously matches the temperature of the air in the room. For example, the radiation disk 112 is made of PTFE (polytetrafluoroethylene) or the like painted black.
The support 113 is provided between the base 111 and the radial disc 112 and joins the base 111 and the radial disc 112 . The strut 113 is made of a member with poor thermal conductivity and serves to block heat. For example, the strut 113 is made of rubber or the like.

Since the base 111 is in contact with the installation location, the surface 111a of the base 111 in contact with the installation location matches the temperature of the installation location. However, this heat is not transferred to the radiating disk 112 due to the presence of the struts 113 . In addition, since the base 111 and the radiating disk 112 are separated by a sufficient distance by the support 113, the air layer between the base 111 and the radiating disk 112 causes heat to be transferred from the base 111 to the radiating disk 112. is prevented from being transmitted.

As described above, the radiating disk 112 stably matches the temperature of the air by arranging the support 113 that cuts off the temperature between the base 111 that matches the temperature of the installation location.

Returning to FIG. 1, the first rotary thermo camera 130 captures a thermal image.
FIG. 3 is a side view of the first rotary thermo camera 130 and the second rotary thermo camera 150. FIG.
The first rotary thermal camera 130 comprises a camera base 131 , an imaging device 132 , a rotating device 133 and a protective dome 134 . The first rotary thermo camera 130 is attached to the ceiling 190, for example.

The camera base 131 is, for example, a base for attachment to the ceiling 190 or the like. The camera base 131 is made of a high hardness material so that the rotating shaft 133a of the rotating device 133 does not shake. For example, the camera base 131 is made of a resin molding having high strength, such as ABS resin. The camera base 131 is attached to the ceiling 190 with screws or the like so as not to fall.

The imaging device 132 collects light in the infrared region with a lens to capture an image. The number of pixels is asymmetrical, with more pixels in the vertical direction and fewer pixels in the horizontal direction. This is because imaging is repeated while being rotated by the rotating device 133 .

The imaging device 132 can capture and store a thermal image of a certain range at the moment the shutter is released. Here, a thermal image is image data such as a photograph, and indicates an image in which each pixel indicates a temperature. Specifically, the RGB values of each pixel of the thermal image can be converted to degrees Celsius by a predetermined formula. The imaging device 132 is configured by a microbolometer array sensor or the like.

The rotating device 133 includes a control unit (not shown) such as a microcomputer, and rotates around a rotating shaft 133a extending vertically with respect to the camera base 131 by a specified angle. For example, the rotating device 133 repeats the operation of rotating the imaging device 132 by a certain angle each time the shutter is released. As a result, the imaging device 132 can capture thermal images in all directions (360 degrees) around the rotation axis 133a. Rotation shaft 133a preferably extends in a direction perpendicular to ceiling 190, which is the surface on which first rotary thermo camera 130 or second rotary thermo camera 150 is mounted.

Here, the rotating device 133 further includes a driving unit (not shown) such as a motor that provides driving force for rotation, and a sensor (not shown) for measuring the rotation angle of the rotating device 133 . A signal designating an angle is input to the drive unit from the control unit. For example, the rotating device 133 is composed of a stepping motor, gears, resin supports, and the like.

Protective dome 134 is a cover for protecting imaging device 132 and rotating device 133 . Ingress of dust or water may adversely affect the imaging device 132 or the rotating device 133, so the protective dome 134 prevents such intrusion. In addition, the protective dome 134 does not block light in the infrared range used for imaging by the imaging device 132, but is coated with a coating that blocks visible light, and it is desirable to prevent the inside from being seen from the outside. The protective dome 134 is made of a dome-shaped material made of acrylic resin or the like.
It should be noted that the protective dome 134 may be omitted in an environment free from dust and water.

The second rotary thermocamera 150 includes a camera base 151 , an imaging device 152 , a rotating device 153 and a protective dome 154 , similar to the first rotary thermocamera 140 . A second rotary thermo camera 150 is also attached to the ceiling 190, for example.

Camera base 151 , imaging device 152 , rotator 153 and protective dome 154 of second rotary thermocamera 150 are similar to camera base 131 , imaging device 132 , rotator 133 and protective dome 134 of first rotary thermocamera 140 . is configured similarly.
Therefore, the imaging device 152 can also capture thermal images in all directions around the rotating shaft 153a.

The second rotary thermo camera 150 has a function of capturing an image in synchronization with the first rotary thermo camera 130 when a synchronization signal is received from the first rotary thermo camera 130. there is Specifically, a rotation instruction is transmitted from first rotary thermo-camera 130, and based on this, second rotary thermo-camera 150 is also rotated by a predetermined angle. In addition, an imaging instruction is also transmitted from first rotary thermo-camera 130 to second rotary thermo-camera 150 . Thereby, the second rotary thermo camera 150 can capture and store a thermal image in the designated direction at the same time as the first rotary thermo camera 130 .

Returning to FIG. 1, the controller 170 communicates with the first rotary thermocamera 130, acquires temperature data from the first rotary thermocamera 130, and calculates the temperature of the air on the floor based on the temperature data. display to the user. Note that the controller 170 may be a controller for an air conditioner (not shown).

FIG. 4 is a schematic diagram showing an example of the arrangement on the floor of the measurement tag 110, the first rotary thermocamera 130, and the second rotary thermocamera 150 in this embodiment.
A measurement tag 110A, a first rotary thermocamera 130A, and a second rotary thermocamera 150A are installed in the first room R1, which is the first space. The temperature of the first room R1 is identified by the measurement tag 110A, the first rotary thermocamera 130A, and the second rotary thermocamera 150A.

A measurement tag 110B, a first rotary thermocamera 130B, and a second rotary thermocamera 150B are installed in the second room R2, which is the second space. The temperature of the second room R2 is identified by the measurement tag 110B, the first rotary thermocamera 130B, and the second rotary thermocamera 150B.

A measurement tag 110C, a first rotary thermocamera 130C, and a second rotary thermocamera 150C are installed in the third room R3, which is the third space. The temperature of the third room R3 is identified by the measurement tag 110C, the first rotary thermocamera 130C, and the second rotary thermocamera 150C.

A measurement tag 110D, a first rotary thermocamera 130D, and a second rotary thermocamera 150D are installed in the fourth room R4, which is the fourth space. The temperature of the fourth room R4 is identified by the measurement tag 110D, the first rotary thermocamera 130D, and the second rotary thermocamera 150D.

In the example described above, one measurement tag 110 is arranged in one room. Temperature can be specified.

Although not shown in FIG. 4, the controller 170 is located off the floor. The controller 170 is connected to the first rotary thermocamera 130 and the second rotary thermocamera 150 via communication lines (not shown).

FIG. 5 is a block diagram schematically showing the configuration of the first rotary thermo camera 130. As shown in FIG.
The first rotary thermo camera 130 includes a first imaging unit 141 , a first imaging control unit 142 , a first rotation unit 143 , a first rotation control unit 144 , and a first communication unit 145 . , a first temperature data storage unit 146 , a first imaging data storage unit 147 , and a first control unit 148 .

The first imaging unit 141 captures a thermal image showing the heat distribution in the space in which the first rotary thermo camera 130 is arranged. A first imaging unit 141 is a functional unit corresponding to the imaging device 132 .

The first image capturing control unit 142 instructs the first image capturing unit 141 about the timing of image capturing, reads the electric signal of the thermal image captured by the first image capturing unit 141, and converts it into digital data. A thermal image captured by the first imaging unit 141 and converted into digital data is stored in the first imaging data storage unit 147 as first imaging data.

The first rotating section 143 rotates the first imaging section 141 around a rotation axis that is a predetermined first axis. The first rotating section 143 is a functional section corresponding to the rotating device 133 . Here, the first rotating portion 143 rotates by a predetermined angle.

The first rotation control section 144 controls the first rotation section 143 . The first rotation control unit 144 acquires the current state of the first rotation unit 143 from the sensor provided in the first rotation unit 143, and rotates the first rotation unit 143 up to the target rotation angle. Let

The first communication unit 145 communicates with the controller 170 and the second rotary thermo camera 150 via communication lines (not shown). For example, the first communication unit 145 transmits temperature data to the controller 170 . Also, the first communication unit 145 transmits a rotation instruction to the second rotary thermo camera 150 in synchronization with the rotation control by the first rotation unit 143 . Furthermore, the first communication unit 145 transmits an imaging instruction to the second rotary thermo camera 150 in synchronization with the imaging timing of the first imaging unit 141 .

The first temperature data storage unit 146 stores the temperature of the air calculated by the first control unit 148 and the temperature data indicating the arrangement position, which is the coordinates of the measurement tag 110 in the space, including past data. For example, between 06:01:01 and 06:02:01 on January 1, 2010, the estimated temperature of the measurement tag 110 estimated at the position of X=100, Y=100, Z=100 is 25° C., the temperature data are recorded in the following form.
Measurement start time = 6:01:01 on January 1, 2010 Measurement end time = 6:02:01 on January 1, 2010, X = 100, Y = 100, Z = 100, T = 25°C .

The first image data storage unit 147 stores the first image data captured by the first image capturing unit 141 including past data.
The first image data storage unit 147 also stores first panorama image data representing a first panorama image generated by joining together first thermal images represented by the first image data. For example, the first panorama image data generated from the first imaging data captured from 6:01:01 to 6:02:01 on January 1, 2010 is recorded in the following format. be.
Measurement start time=Jan. 1, 2010 6:01:01, measurement end time=Jan. 1, 2010 6:02:01, Z1=100, Z2=100, . . . , ZN=30.
Note that Z1 to Zn indicate pixels of the first panorama image data.

The first control unit 148 controls processing in the first rotary thermo camera 130 .
For example, the first control unit 148 connects the first thermal images represented by the first imaging data captured by the first imaging unit 141 to obtain a first panorama image representing a first panoramic image. Generate image data. The generated first panorama image data is stored in the first imaging data storage unit 147 .

In addition, the first control unit 148 controls the panoramic image data captured by the first rotary thermo camera 130 and the second rotary thermo camera 150 and the panoramic image data captured by the first rotary thermo camera 130 and the second rotary thermo camera 150 . From the installation position information indicating the installation position on the floor of the thermo camera 150, the coordinates indicating the arrangement position, which is the position on the floor of the measurement tag 110, are specified.
Specifically, the first control unit 148 controls the position where the first rotary thermo-camera 130 is arranged in the space where the measurement tag 110 is arranged, and the position where the second rotary thermo-camera 150 is arranged in that space. is arranged, the position of the first region, which is the region indicating the heat distribution radiated from the measurement tag 110, in the first panoramic image, and the position of the heat radiated from the measurement tag 110 in the second panoramic image The placement position, which is the position where the measurement tag 110 is placed in the space, is specified based on the position of the second region, which is the region showing the heat distribution.

Furthermore, the first control unit 148 identifies the temperature of the measurement tag 110 from the pixel values of the panoramic image data. Then, the first control unit 148 causes the first temperature data storage unit 146 to record temperature data indicating the specified coordinates and the specified temperature.

Part or all of the first imaging control unit 142, the first rotation control unit 144, and the first control unit 148 described above may be implemented in a memory as shown in FIG. 6A, for example. 10 and a processor 11 such as a CPU (Central Processing Unit) that executes programs stored in the memory 10 . Such a program may be provided through a network, or recorded on a recording medium and provided. That is, such programs may be provided as program products, for example.

Also, part or all of the first imaging control unit 142, the first rotation control unit 144, and the first control unit 148 are, for example, as shown in FIG. It can also be composed of a processing circuit 12 such as a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).
As described above, the first imaging control section 142, the first rotation control section 144, and the first control section 148 can be implemented by a processing circuit network.

The first communication unit 145 can be realized by a communication interface, and the first temperature data storage unit 146 and the first imaging data storage unit 147 can be realized by volatile or nonvolatile memory. can.

FIG. 7 is a block diagram schematically showing the configuration of the second rotary thermo camera 150. As shown in FIG.
The second rotary thermo camera 150 includes a second imaging unit 161, a second imaging control unit 162, a second rotation unit 163, a second rotation control unit 164, and a second communication unit 165. , a second imaging data storage unit 167 , and a second control unit 168 .

The second imaging unit 161 captures a second thermal image showing the heat distribution in the space where the second rotary thermo camera 150 is arranged. A second imaging unit 161 is a functional unit corresponding to the imaging device 152 .

The second image capturing control unit 162 instructs the second image capturing unit 161 about the timing of image capturing, reads the electric signal of the thermal image captured by the second image capturing unit 161, and converts it into digital data. A thermal image captured by the second imaging unit 161 and converted into digital data is stored in the second imaging data storage unit 167 as second imaging data. The second imaging control unit 162 instructs the second imaging unit 161 to perform imaging at the timing when the second communication unit 165 receives the imaging instruction from the first rotary thermo camera 130 .

The second rotating section 163 rotates the second imaging section 161 around a rotation axis that is a predetermined second axis. The second rotating section 163 is a functional section corresponding to the rotating device 153 . Here, the second rotation section 163 rotates the second imaging section 161 by a predetermined angle at the timing instructed by the second rotation control section 164 .

The second rotation control section 164 controls the second rotation section 163 . The second rotation control unit 164 acquires the current state of the second rotation unit 163 from a sensor provided in the second rotation unit 163, and rotates the second rotation unit 163 up to the target rotation angle. Let The second rotation control unit 164 instructs the second rotation unit 163 to rotate at the timing when the second communication unit 165 receives the rotation instruction from the first rotary thermo camera 130 .

The second communication unit 165 communicates with the controller 170 and the first rotary thermo camera 130 via a communication line (not shown). For example, the second communication unit 165 transmits the second panorama image data recorded in the second captured data storage unit 167 to the first rotary thermo camera 130 . Second communication unit 165 also receives a rotation instruction and an imaging instruction from first rotary thermo camera 130 .

The second image data storage unit 167 stores the second image data captured by the first image capturing unit 141 including past data. The second image data storage unit 167 also stores second panorama image data representing a second panorama image generated by combining second thermal images represented by the second image data.

A second control unit 168 controls processing in the second rotary thermo camera 150 .
For example, the second control unit 168 joins the second thermal images represented by the second imaging data captured by the second imaging unit 161 to obtain a second panorama image representing a second panoramic image. Generate image data. The generated second panorama image data is stored in the second imaging data storage unit 167 .
Also, the second control unit 168 transmits the second panorama image data stored in the second captured data storage unit 167 to the first rotary thermo camera 13 via the second communication unit 165. send.

Part or all of the second imaging control unit 162, the second rotation control unit 164, and the second control unit 168 described above may be implemented in a memory, for example, as shown in FIG. 10 and a processor 11 . Such a program may be provided through a network, or recorded on a recording medium and provided. That is, such programs may be provided as program products, for example.
Further, part or all of the second imaging control unit 162, the second rotation control unit 164, and the second control unit 168 are implemented by the processing circuit 12 as shown in FIG. 6B, for example. Can also be configured.
As described above, the second imaging control section 162, the second rotation control section 164, and the second control section 168 can be realized by a processing circuit network.

Note that the second communication unit 165 can be realized by a communication interface, and the second imaging data storage unit 167 can be realized by a volatile or nonvolatile memory.

FIG. 8 is a block diagram schematically showing the configuration of controller 170. As shown in FIG.
The controller 170 includes a communication section 171 , a floor data storage section 172 , a display section 173 , an operation section 174 and a control section 175 . Here, the communication section 171 is also called a device communication section, and the control section 175 is also called a device control section.

The communication unit 171 communicates with the first rotary thermo camera 130 and the second rotary thermo camera 150 . The communication unit 171 also communicates with an air conditioner (not shown). Specifically, the communication unit 171 acquires temperature data from the first rotary thermo camera 130 .

The floor data storage unit 172 shows layout information indicating the layout of the floor, which is the space in which the measurement tag 110, the first rotary thermocamera 130, and the second rotary thermocamera 150 are arranged, and the image of the floor. store floor data including floor maps; Specifically, the layout information includes the position of the wall on the floor, the position of the door, the installation position of the controller 170, the installation position of the first rotary thermocamera 130, the installation position of the second rotary thermocamera 150, and the like. It is shown. More specifically, the layout information includes the three-axis coordinates of an object on the floor, the X-, Y-, and Z-axes, and DX, DY, which is information on the width of the object with respect to the X-, Y-, and Z-axes. and DZ, and type information indicating whether the object is a door, a wall, a camera, or the like. A floor map is a plan view of the space in which the measurement tags 110 are installed.

The display unit 173 displays various screen images. For example, the display unit 173 displays the contour chart generated by the control unit 175 .
The control unit 175 controls processing in the controller 170 .
For example, in accordance with the temperature data given from the first rotary thermo-camera 130, the control unit 175 places the measurement tag 110 at the location indicated by the temperature data in the plan view of the space where the measurement tag 110 is installed. Generate a contour plot showing the temperature.

Part or all of the control unit 175 described above can be composed of a memory 10 and a processor 11, for example, as shown in FIG. 6(A). Such a program may be provided through a network, or recorded on a recording medium and provided. That is, such programs may be provided as program products, for example.
Also, part or all of the control unit 175 can be configured by the processing circuit 12 as shown in FIG. 6B, for example.
As described above, the control unit 175 can be realized by a processing circuit network.

Note that the communication unit 171 can be realized by a communication interface, and the floor data storage unit 172 can be realized by a volatile or nonvolatile memory.

FIG. 9 is a flow chart showing the operation of the first rotary thermo camera 130 to measure the temperature of the space.
First, the first control unit 148 of the first rotary thermo camera 130 sends a rotation instruction to the second rotary thermo camera 150 via the first communication unit 145 (S10). If imaging is possible, the second control unit 168 of the second rotary thermo camera 150 responds to the first rotary thermo camera 130 via the second communication unit 165 as "possible". do. If imaging is not possible, second control unit 168 of second rotary thermo-camera 150 waits until imaging becomes possible, and responds “possible” via second communication unit 165 .

The first control unit 148 of the first rotary thermo-camera 130 determines whether or not it has received a “possible” response from the second rotary thermo-camera 150 via the first communication unit 145 ( S11). If a response of "possible" is received (Yes in S11), the process proceeds to step S12.

In step S12, first control unit 148 of first rotary thermo camera 130 gives a rotation instruction to first rotation control unit 144, and first rotation control unit 144 follows the rotation instruction to target rotation. The first rotating part 143 is controlled to rotate by an angle. Specifically, the first rotation control unit 144 of the first rotary thermo-camera 130 calculates a signal for rotating the target rotation angle and sends it to the first rotation unit 143 . Here, the "target rotation angle" is, for example, 1 degree when a panorama image for one round is acquired by imaging 360 times. Here, the number of imaging times for one round is called resolution, and the resolution is determined in advance according to the state of the floor.

Next, the first control unit 148 of the first rotary thermo camera 130 gives an imaging instruction to the first imaging control unit 142 and, via the first communication unit 145, the second rotary thermo camera. An imaging instruction is sent to the camera 150 (S13).

Upon receiving the imaging instruction, the first imaging control unit 142 of the first rotary thermo-camera 130 sends an electrical signal for imaging to the first imaging unit 141, thereby causing the first imaging unit 141 to Imaging is performed (S14). The imaged data is sequentially read from the first imaging unit 141, converted into a digital signal by the first imaging control unit 142, and stored in the first imaging data storage unit 147 as first imaging data. be done. The value of each pixel of the first imaging data indicates temperature. Thereby, the temperature of the object reflected in each pixel can be determined by reading the pixel value of the imaging data.

As described above, the relationship between the digital value (Xθi) of each pixel i converted by the first imaging control unit 142 and the temperature (Yθi) at the rotation angle θ is defined by the following equation (1). .
Yθi=AXθi+B (1)
where A and B are predetermined constants.

The temperatures (Yθ1 to Yθn) calculated as described above are stored in the first imaging data storage unit 147 together with the imaging start time and the imaging end time. The imaging start time and the imaging end time are preferably indicated by date and time, for example.

The first controller 148 of the first rotary thermo-camera 130 determines whether or not the first rotating part 143 has been rotated 360 degrees (S15). If the first rotating part 143 has rotated 360 degrees (Yes in S15), the process proceeds to step S16, and if the first rotating part 143 has not rotated 360 degrees (No in S15), the process returns to step S10.

In step S16, the first control unit 148 of the first rotary thermo-camera 130 reads the imaging data recorded in the first imaging data storage unit 147 and joins them together to obtain a first panoramic image. Generate. Specifically, the first control unit 148 converts the imaged data (Yθ1 to Yθn) and the imaged data (Y(θ+1)1 to Y(θ+1)n) obtained after the rotation axis rotates 1 degree from that state. A portion where the arrangement of pixel values matches is searched for by comparison, and concatenation is performed at that portion. The first panorama image (Z1 to ZN) is created by performing the above linking process for all the captured data. Z1 to ZN are pixel values of a panorama image with a rotation angle of 360 degrees. First panorama image data representing the first panorama image is stored in the first imaging data storage unit 147 .

The first control unit 148 of the first rotary thermo camera 130 receives the first image generated by the second rotary thermo camera 150 from the second rotary thermo camera 150 via the first communication unit 145 . 2 is acquired (S17). The second panorama image data is also stored in the first imaging data storage unit 147 .

The first control unit 148 of the first rotary thermo camera 130 compares the first panoramic image and the second panoramic image to estimate the arrangement position, which is the spatial position of the measurement tag 110. (S18). Here, the arrangement position is indicated by the X coordinate, Y coordinate and Z coordinate on the floor. The procedure for calculating the X, Y, and Z coordinates using two panoramic images is as follows.

First, the first control unit 148 finds a portion corresponding to the measurement tag 110 in the first panorama image. For example, the first control unit 148 may find the portion corresponding to the measurement tag 110 using an algorithm such as machine learning.
Next, the first control unit 148 calculates the horizontal and vertical directions of the measurement tag 110 as seen from the first rotary thermo camera 130 from the position of the detected portion on the image. Specifically, the first control unit 148 may count the number of pixels from a predetermined reference point to the found portion.

Similarly, the first control unit 148 finds a portion corresponding to the measurement tag 110 in the second panorama image, and calculates the horizontal and vertical directions of the measurement tag 110 as seen from the second rotary thermo camera 150 . and

Next, the first control unit 148 controls the X, Y, and Z coordinates on the floor of the first rotary thermocamera 130 and the X and Y coordinates on the floor of the second rotary thermocamera 150. and Z coordinates, the horizontal and vertical directions from the first rotary thermocamera 130 to the measurement tag 110, and the horizontal and vertical directions from the second rotary thermocamera 150 to the measurement tag 110, the measurement tag 110 position is calculated. Here, the principle of triangulation may be used. For example, based on these pieces of information, the first control unit 148 may draw lines from the respective rotary thermo cameras in the three-dimensional space and obtain points where the lines intersect or the closest points.

Next, the first controller 148 of the first rotary thermo-camera 130 identifies the current temperature of the measurement tag 110 from the position on the image of the measurement tag 110 identified in step S18 (S19). Specifically, the average value of the temperature of the measurement tag 110 included in the first panoramic image and the temperature of the measurement tag 110 included in the second panoramic image is calculated, and the calculated average value may be taken as the temperature of the measurement tag 110 . Note that the first control unit 148 measures either the temperature of the measurement tag 110 included in the first panoramic image or the temperature of the measurement tag 110 included in the second panoramic image. It may be the temperature of the tag 110 .

The first control unit 148 of the first rotary thermo camera 130 generates a first It is recorded in the temperature data storage unit 146 (S20).

FIG. 10 is a flowchart showing the operation of second rotary thermocamera 150 to generate a second panoramic image and transmit it to first rotary thermocamera 130 .
First, the second control unit 168 of the second rotary thermo camera 150 receives a rotation instruction from the first rotary thermo camera 130 via the second communication unit 165 (S30).

Upon receiving the rotation instruction, the second control unit 168 of the second rotary thermo camera 150 determines whether or not the second imaging unit 161 is ready for imaging (S31). If the second imaging unit 161 is ready for imaging (Yes in S31), the process proceeds to step S32.

In step S32, second control unit 168 of second rotary thermo camera 150 responds to first rotary thermo camera 130 via second communication unit 165 with "possible".

Then, second control unit 168 of second rotary thermo camera 150 gives a rotation instruction to second rotation control unit 164, and second rotation control unit 164 follows the rotation instruction by the target rotation angle. The second rotating part 163 is controlled to rotate (S33).

Next, the second control unit 168 of the second rotary thermo camera 150 determines whether or not an imaging instruction has been received from the first rotary thermo camera 130 via the second communication unit 165 ( S34). If the imaging instruction is received from the first rotary thermo camera 130 (Yes in S34), the process proceeds to step S35.

In step S35, the second control section 168 of the second rotary thermo-camera 150 gives an imaging instruction to the second imaging control section 162. FIG.
Upon receiving the imaging instruction, the second imaging control unit 162 of the second rotary thermo-camera 150 sends an electrical signal for imaging to the second imaging unit 161 . to perform imaging (S36). The imaged data is sequentially read from the second imaging unit 161, converted into a digital signal by the second imaging control unit 162, and stored in the second imaging data storage unit 167 as the second imaging data. be done. The value of each pixel of the second imaging data indicates temperature.

The second controller 168 of the second rotary thermo camera 150 determines whether or not the second rotating part 163 has been rotated 360 degrees (S37). If the second rotating part 163 has rotated 360 degrees (Yes in S37), the process proceeds to step S38, and if the second rotating part 163 has not rotated 360 degrees (No in S37), the process returns to step S30.

In step S38, the second control unit 168 of the second rotary thermo-camera 150 reads out the second image data recorded in the second image data storage unit 167 and joins them together to obtain the second image data. Generate panoramic images. Second panorama image data representing the second panorama image is stored in the second imaging data storage unit 167 .

The second control unit 168 of the second rotary thermo camera 150 transmits the second panorama image data to the first rotary thermo camera via the first communication unit 145 (S39).

FIG. 11 is a flow chart showing the operation when the controller 170 creates a contour diagram and presents the temperature distribution of the space to the user.
First, in the controller 170, the operation unit 174 receives a request from the user (S40).

Upon receiving a request from the user, the control unit 175 of the controller 170 acquires the latest temperature data of the measurement tag 110 from the first rotary thermo camera 130 via the communication unit 171 (S41). Specifically, control unit 175 instructs first rotary thermo camera 130 to transmit temperature data via communication unit 171 . Upon receiving the instruction, the first control unit 148 of the first rotary thermo camera 130 transmits the latest temperature data stored in the first temperature data storage unit 146 via the first communication unit 145. and transmits it to the controller 170 . Note that when a plurality of first rotary thermocameras 130 are arranged on the floor, the controller 170 acquires temperature data from all of the first rotary thermocameras 130 .

The control unit 175 of the controller 170 reads the floor map from the floor data storage unit 172, and displays the temperature indicated by the temperature data superimposed on the coordinates indicated by the temperature data acquired in step S41 on the floor map. (S42).
Specifically, the control unit 175 expresses the temperature of the measurement tag 110 as a color based on pre-stored color map information. For example, the temperature of the measurement tag 110 is displayed as red (255, 0, 0 in RGB values) for 32 degrees, blue (0, 0, 255 in RGB values) for 22 degrees, and the like. Then, the control unit 175 sets the opacity at the central coordinates of the measurement tag 110 to 100%, decreases the further away from the measurement tag 110, and sets it to 0% (transparent) at a position 3 m away. By performing the above processing for all the measurement tags 110 placed on the floor, the control unit 175 creates one contour chart. Finally, the control unit 175 of the controller 170 causes the display unit 173 to display the created contour diagram and presents it to the user.

Note that FIG. 12 is a schematic diagram showing an example of the contour diagram displayed on the display unit 173. As shown in FIG.
As shown in FIG. 12, a circle 180 indicating the measured temperature is displayed at the position where the measurement tag 110 is arranged.

The above is the operation when the controller 170 presents the temperature distribution of the space to the user.

FIGS. 13A to 13E are schematic diagrams for explaining the process of generating a panorama image.
FIG. 13A shows a real image 181 of one measurement tag 110 placed on a desk 182 as seen from the position of the first rotary thermo camera 130 .

For such a real image 181, the first imaging unit 141 of the first rotary thermocamera 130 generates first imaging data representing an image 183 shown in FIG. 13B.
The image 183 is vertically long and captures the state of a part of the floor.

Next, FIG. 13C shows an image 184 indicated by the first imaging data captured by the first imaging unit 141 after the first rotation unit 143 rotates once. By moving the angle of the first imaging unit 141 by one degree, the captured image 184 moves horizontally with respect to the image 183 . A part of the image 183 is reflected in the image 184 .

In the stitching process in step S16 of FIG. 9, the first control unit 148 of the first rotary thermo camera 130 stitches together such reflected portions, as shown in FIG. 13(D). A first panoramic image 185 is generated.
In this way, by repeating the linking of the imaging data, a horizontally long panorama image in which 360-degree images are aggregated into one image is generated.

FIG. 13E is a schematic diagram showing a second panoramic image 186 generated by the second rotary thermocamera 150. FIG.
For example, it is assumed that the second rotary thermo-camera 150 is imaging the measurement tag 110 in the opposite direction to the first rotary thermo-camera 130 .

The number of pixels from the left end of the panorama image to the measurement tag 110 indicates the angle in the horizontal direction, and the number of pixels from the bottom end of the panorama image to the measurement tag 110 indicates the angle in the vertical direction. By counting the number of these pixels, the horizontal and vertical values are specified, respectively.

As described above, according to the embodiment, it is possible to remotely specify the coordinates of the location where the measurement tag 110 is installed and the temperature of the air at the coordinates.

By setting the rotation axis of the imaging unit perpendicular to the surface on which the thermal imaging device is installed, when the thermal imaging device is installed on the ceiling, thermal images of a wide range of the space can be acquired. can do.

The panorama image is an image generated by combining a plurality of images captured when the imaging unit rotates 360 degrees around the rotation axis, so that the image of the space in which the thermal imaging device is installed can be obtained. A wide range of heat distribution can be obtained.

Furthermore, the temperature-specific object is provided with a radiation part that matches the temperature of the space, so that the temperature of the space can be imaged by the thermal imaging device.

In addition, by displaying the contour diagram on the display unit 173 as described above, the user can intuitively understand the temperature distribution on the floor by an easy-to-understand display.

100 temperature identification system 110 measurement tag 111 base 112 radiation disc 113 support 130 first rotating thermo camera 131 camera base 132 imaging device 133 rotating device 134 protective dome 141 first imaging unit , 142 first imaging control unit 143 first rotation unit 144 first rotation control unit 145 first communication unit 146 first temperature data storage unit 147 first imaging data storage unit 148 First control unit 150 Second rotary thermo camera 151 Camera base 152 Imaging device 153 Rotating device 154 Protective dome 161 Second imaging unit 162 Second imaging control unit 163 Second 164 second rotation control unit 165 second communication unit 167 second imaging data storage unit 168 second control unit 170 controller 171 communication unit 172 floor data storage unit 173 display unit , 174 operation unit, 175 control unit.

Claims (5)

A temperature identification object used to identify the temperature of air in a space in which it is arranged, a first thermal imaging device arranged in the space, and the first thermal imaging device in the space a second thermal imaging device located at a position different from the temperature identification system,
The second thermal imaging device,
a second imaging unit that captures a second thermal image showing the heat distribution in the space;
a second rotating unit that rotates the second imaging unit about a second axis by a predetermined angle;
By connecting a plurality of the second thermal images captured by the second imaging unit each time the second rotating unit rotates by the predetermined angle, radiation from the temperature specific object is obtained. a second control unit that generates a second panoramic image including a second area that is an area showing the heat distribution that is applied;
a second communication unit that transmits the second panoramic image to the first thermal imaging device;
The first thermal imaging device,
a first imaging unit that captures a first thermal image showing the heat distribution in the space;
a first rotating unit that rotates the first imaging unit about the first axis by the predetermined angle;
By connecting a plurality of the first thermal images captured by the first imaging unit each time the first rotating unit rotates by the predetermined angle, radiation from the temperature specific object is obtained. generating a first panorama image including a first area that is an area showing a heat distribution, and a position where the first thermal imaging device is arranged in the space and the second panorama image in the space; The temperature in the space is determined by the position where the thermal imaging device is arranged, the position of the first region in the first panoramic image, and the position of the second region in the second panoramic image. a first control unit that specifies an arrangement position, which is a position where the specific object is arranged, and specifies the temperature of the air at the arrangement position by the first area and the second area. A temperature identification system characterized by: the first axis extends perpendicular to a plane on which the first thermal imaging device is installed;
2. The temperature determination system of Claim 1, wherein the second axis extends perpendicular to a surface on which the second thermal imaging device is installed. The first panorama image is an image generated by joining together a plurality of the first thermal images captured when the first imaging unit rotates 360 degrees around the first axis. can be,
The second panoramic image is an image generated by connecting a plurality of the second thermal images captured when the second imaging unit rotates 360 degrees around the second axis. 3. A temperature identification system according to claim 1 or 2, characterized in that there is a 4. The temperature identification system according to any one of claims 1 to 3, wherein the temperature identification object comprises a radiating portion that matches the temperature of the air in the space. further comprising an information processing device,
The first thermal imaging device further includes a first communication unit that transmits temperature data indicating the specified arrangement position and the specified air temperature to the information processing device,
The information processing device is
a device communication unit that receives the temperature data;
a device control unit that generates a contour diagram showing the specified air temperature at the specified arrangement position in the plan view of the space according to the temperature data;
a display unit for displaying the contour diagram;
5. A temperature determination system according to any one of claims 1 to 4, comprising:

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