WO2021159529A1

WO2021159529A1 - Mobile device, control terminal, method for measuring temperature by using infrared thermal imager in mobile device, and mobile system

Info

Publication number: WO2021159529A1
Application number: PCT/CN2020/075426
Authority: WO
Inventors: 李想; 江宝坦; 曹子晟; 刘煜程; 庹伟
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-02-14
Filing date: 2020-02-14
Publication date: 2021-08-19
Also published as: WO2021159623A1; CN112513595A; CN114008420A

Abstract

A mobile device (10), a control terminal (30), a method for measuring temperature by using an infrared thermal imager (12) in a mobile device (10), and a mobile system (100), which implement a process for remote temperature measurement and ensure the accuracy of the measurement result. Also provided on the mobile device (10) is an ambient temperature black body (13). The method for measuring temperature by using an infrared thermal imager (12) in a mobile device (10) comprises: using an infrared thermal imager (12) to acquire a temperature measurement value of a target to be detected that is located in the view field of the infrared thermal imager (12) and a temperature measurement vale of an ambient temperature black body (13); and correcting the temperature measurement value of said target according to the temperature measurement value of the ambient temperature black body (13) so as to obtain a corrected temperature value of said target.

Description

Movable device, control terminal, method for measuring temperature using infrared thermal imager in the movable device, and movable system

Technical field

This application relates to the field of infrared temperature measurement, in particular to a movable device, a control terminal, a method for temperature measurement using an infrared thermal imager in the movable device, and a movable system.

Background technique

In some scenarios, the temperature of the human body or the object needs to be measured to determine the condition of the human body or the object according to the temperature of the human body or the object.

Traditional temperature measurement methods include contact temperature measurement methods and non-contact temperature measurement methods. Contact temperature measurement methods usually require that the temperature measurement device is in close contact with the measured target. Because it needs to be in close contact with the measured target, the temperature measurement device is required to be in close contact with the measured target. It can only measure the temperature of one measured target. When it is required to not contact the measured target (or try to avoid contact with the measured target), and the number of measured targets is large, the contact temperature measurement method obviously cannot meet the demand.

Non-contact temperature measurement methods are mainly based on long-wave infrared temperature measurement, such as infrared thermal imaging cameras, but there are many factors that affect the measurement accuracy of non-contact temperature measurement methods, such as the thermal radiation of the temperature measurement device itself or the environmental temperature. , Resulting in low measurement accuracy of non-contact temperature measurement methods. At present, the measurement accuracy of non-contact temperature measurement methods is generally ±2℃, which is obviously not suitable for some high-precision requirements (accuracy requirements less than ±2℃). For temperature scenarios, such as human body temperature measurement scenarios, the accuracy requirement is ±0.3°C.

Summary of the invention

In view of this, one of the objectives of the embodiments of the present application is to provide a movable device, a control terminal, a temperature measurement method using an infrared thermal imager in the movable device, and a movable system.

First, according to the first aspect of the embodiments of the present application, there is provided a method for measuring temperature by using an infrared thermal imager in a movable device, the movable device is also provided with an ambient temperature black body, and the method includes:

Acquiring the temperature measurement value of the target to be measured and the temperature measurement value of the ambient temperature black body located in the field of view of the infrared thermal imager by using the infrared thermal imager;

The temperature measurement value of the target to be measured is corrected according to the temperature measurement value of the ambient temperature black body to obtain the temperature correction value of the target to be measured.

According to a second aspect of the embodiments of the present application, there is provided a method for measuring temperature by using an infrared thermal imager in a movable device. The infrared thermal imager is provided with a calibration mode and a temperature measurement mode. With ambient temperature black body;

In the calibration mode, the method includes the steps:

Display the field of view picture of the infrared thermal imager, and determine the position of the reference target and the ambient temperature black body according to the user's operation on the field of view picture;

Acquiring the temperature measurement value of the reference target and the temperature measurement value of the ambient temperature blackbody by using the infrared thermal imager;

Obtaining the actual temperature value of the reference target;

Determine the temperature measurement correction value according to the temperature measurement value and the actual temperature value of the reference target, and the temperature measurement value of the ambient temperature blackbody;

In the temperature measurement mode, the method includes the steps:

The temperature measurement value of the target to be measured is corrected according to the temperature measurement correction value of the infrared thermal imager and the temperature measurement value of the ambient temperature black body to obtain the temperature correction value of the target to be measured.

According to a third aspect of the embodiments of the present application, a movable device is provided, including:

A mobile fuselage, and an infrared thermal imager and an ambient temperature black body fixed on the mobile fuselage, wherein the infrared thermal imager is used to obtain the temperature measurement value of the target to be measured located in the field of view of the infrared thermal imager And the temperature measurement value of the ambient temperature black body, wherein the temperature measurement value of the ambient temperature black body is used to correct the temperature measurement value of the target to be measured to obtain the temperature correction value of the target to be measured.

According to a fourth aspect of the embodiments of the present application, a control terminal is provided, including:

A receiver for receiving the temperature measurement value of the target to be measured and the temperature measurement value of the ambient temperature black body sent by a movable device, wherein the target to be measured is the field of view of an infrared thermal imager located on the movable device The ambient temperature black body is fixed on the movable device, and the temperature measurement value of the target target and the temperature measurement value of the ambient temperature black body are both determined by the infrared heat on the movable device. Detected by the imager;

The second processor is configured to correct the temperature measurement value of the target to be measured according to the temperature measurement value of the ambient temperature blackbody to obtain the temperature correction value of the target to be measured.

According to a fifth aspect of the embodiments of the present application, a movable system is provided, including a movable device and a control terminal, wherein an infrared thermal imager and an ambient temperature black body are provided on the movable device;

The movable device is used to obtain the temperature measurement value of the target to be measured in the field of view of the infrared thermal imager and the temperature measurement value of the ambient temperature black body by using the infrared thermal imager;

The control terminal is configured to correct the temperature measurement value of the target to be measured according to the temperature measurement value of the ambient temperature blackbody to obtain the temperature correction value of the target to be measured.

The embodiments of the present application have the following beneficial effects:

In this embodiment, by setting an infrared thermal imager on the movable device to detect the temperature of the target to be measured in its field of view, the remote temperature measurement process is realized without contact with the target to be measured, and the detection can be performed All the targets to be measured in the field of view of the infrared thermal imager can measure the temperature of multiple targets to be measured at the same time, which is beneficial to improve the temperature measurement efficiency; further, considering that the infrared thermal imager measures the target to be measured There is a problem that the measurement accuracy of the obtained temperature measurement value is low. In this embodiment, an ambient temperature black body is provided in the movable device, and the environmental black body functions to correct the temperature measurement value of the target to be measured to improve the temperature measurement accuracy The infrared thermal imager measures the temperature of the ambient temperature black body to obtain the temperature measurement value, and then the movable device uses the temperature measurement value of the ambient temperature black body to measure the temperature to be measured by the infrared thermal imager The temperature measurement value of the target is corrected to further improve the measurement accuracy of the temperature measurement of the target to be measured, and to ensure the accuracy of the temperature correction value of the target to be measured finally obtained, so that the movable device of the present application is suitable for Temperature measurement scenarios requiring high measurement accuracy.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1 is a structural diagram of a first movable device according to an exemplary embodiment of the present application.

Fig. 2 is a structural diagram of a second type of movable device according to an exemplary embodiment of the present application.

Fig. 3A is a structural diagram of a third type of movable device according to an exemplary embodiment of the present application.

Fig. 3B is a structural diagram of an unmanned aerial vehicle according to an exemplary embodiment of the present application.

Fig. 4 is a structural diagram of a fourth type of movable device according to an exemplary embodiment of the present application.

Fig. 5 is a structural diagram of a fifth movable device according to an exemplary embodiment of the present application.

Fig. 6 is a structural diagram of a sixth movable device according to an exemplary embodiment of the present application.

FIG. 7 is a schematic diagram of the field of view of the infrared thermal imager 12 according to an exemplary embodiment of the present application.

Fig. 8 is a structural diagram of a seventh movable device according to an exemplary embodiment of the present application.

Fig. 9 is a structural diagram of a first control terminal according to an exemplary embodiment of the present application.

Fig. 10 is a structural diagram of a second control terminal according to an exemplary embodiment of the present application.

Fig. 11 is a structural diagram of a third control terminal according to an exemplary embodiment of the present application.

Fig. 12 is a structural diagram of a fourth control terminal according to an exemplary embodiment of the present application.

Fig. 13 is a flowchart of a method for measuring temperature by using an infrared thermal imager in a movable device according to an exemplary embodiment of the present application.

Fig. 14 is a flowchart of a method for measuring temperature by using an infrared thermal imager in a movable device according to an exemplary embodiment of the present application.

Fig. 15 is a structural diagram of a movable system according to an exemplary embodiment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

Based on the problems in the related art, please refer to FIG. 1. An embodiment of the present application provides a movable device 10. FIG. 1 is a structural diagram of a movable device 10 according to an exemplary embodiment of the present application. The movable device 10 includes a movable body 11, and an infrared thermal imager 12 and an ambient temperature black body 13 fixed on the movable body 11.

The infrared thermal imager 12 is used to obtain the temperature measurement value of the target to be measured in the field of view of the infrared thermal imager 12 and the temperature measurement value of the ambient temperature black body 13, wherein the temperature of the ambient temperature black body 13 The temperature measurement value is used to correct the temperature measurement value of the target to be measured to obtain the temperature correction value of the target to be measured.

In an embodiment, the movable device 10 includes, but is not limited to, unmanned vehicles, unmanned ships, unmanned aerial vehicles, and movable robots. The movable device 10 can be applied to the human body temperature measurement field, industrial detection field, security field, electric power, railway and other fields to perform temperature measurement on the human body or an object.

In this embodiment, by setting the infrared thermal imager 12 on the movable device 10 to detect the temperature of the target to be measured in its field of view, the remote temperature measurement process is realized without contact with the target to be measured, and It can detect all the targets to be measured in the field of view of the infrared thermal imager 12, so that the temperature of multiple targets to be measured can be measured at the same time, which is beneficial to improve the temperature measurement efficiency; further, considering the infrared thermal imager 12 The problem that the measurement accuracy of the temperature measurement value obtained by measuring the target to be measured is low. In this embodiment, an ambient temperature black body 13 is provided in the movable device 10, and the ambient black body functions to correct the temperature of the target to be measured The measurement value is used to improve the accuracy of temperature measurement. The infrared thermal imager 12 measures the temperature of the ambient temperature black body 13 to obtain the temperature measurement value, and then the movable device 10 compares the temperature measurement value of the ambient temperature black body 13 The temperature measurement value of the target to be measured measured by the infrared thermal imager 12 is corrected to further improve the measurement accuracy of the temperature measurement of the target to be measured, and to ensure the accuracy of the finally obtained temperature correction value of the target to be measured Therefore, the mobile device 10 of the present application is suitable for temperature measurement scenarios that require high measurement accuracy.

Wherein, the infrared thermal imager 12 is provided with a temperature measurement mode. After entering the temperature measurement mode, the infrared thermal imager 12 obtains the temperature measurement of the target to be measured located in the field of view of the infrared thermal imager 12 Value and the temperature measurement value of the ambient temperature black body 13.

In one embodiment, a "temperature measurement mode" control is displayed on the interactive interface of the control terminal of the movable device 10. When it is detected that the user triggers the "temperature measurement mode" control, the 10 sends a temperature measurement instruction, so that the infrared thermal imager 12 in the movable device 10 enters the temperature measurement mode in response to the temperature measurement instruction.

In one embodiment, when the infrared thermal imager 12 detects the temperature measurement value of the target to be measured in the field of view of the infrared thermal imager 12, it first obtains from the thermal image obtained by the infrared thermal imager 12 Identify all targets to be tested, then identify the designated area of the target to be tested from the target to be tested, and finally determine the temperature measurement value of the target to be tested based on the infrared energy radiated from the designated area of the target to be tested .

As an example, the target to be measured is a human body, and the designated area includes the forehead area of the human body. , Firstly identify all the targets to be tested from the thermal images acquired by the infrared thermal imager 12, then identify the forehead area of the target to be tested from the targets to be tested, and finally according to the forehead area of the target to be tested The radiated infrared energy determines the temperature measurement value of the target to be measured.

In another embodiment, the ambient temperature black body 13 can be installed in a position that can be detected by the infrared thermal imager 12 in its field of view, so as to ensure that the infrared thermal imager 12 can detect the The temperature of the ambient temperature black body 13, when detecting the temperature of the ambient temperature black body 13, first determine the position of the ambient temperature black body 13 in the field of view image of the infrared thermal imager 12, and then determine the position of the ambient temperature black body 13 according to the position The infrared energy obtains the temperature measurement value of the ambient temperature black body 13.

It is understandable that the field of view image of the infrared thermal imager 12 includes, but is not limited to, a thermal image, or an RGB image obtained by a binocular vision sensor.

In addition, the determination of the position of the ambient temperature black body 13 in the field of view of the infrared thermal imager 12 includes but is not limited to the following implementations:

In the first possible implementation manner, if the position of the ambient black body in the field of view of the infrared thermal imager 12 is fixed, it can be determined in advance that the ambient temperature black body 13 is in the infrared thermal imager 12 The position within the field of view of the image, and the relevant position information is stored, so as to be used when the infrared thermal imager 12 detects the ambient temperature black body 13; wherein, this application is for pre-determining the ambient temperature black body 13 There is no restriction on the timing of the location. It can be determined and entered by the developer when the mobile device 10 is shipped from the factory; it can also be used by the user based on the field of view of the infrared camera 12 when the user uses it for the first time. Determined.

In the second possible implementation manner, the movable device 10 may send the field of view picture of the infrared thermal imager 12 to the control terminal of the movable device 10, and display the The field of view image of the infrared thermal imager 12, and then determine the position information of the ambient temperature black body 13 in the field of view image of the infrared thermal imager 12 according to the user's operation on the field of view image and transmit it to the The device 10 can be moved so that the infrared thermal imager 12 can receive the position information of the ambient temperature black body 13 in the field of view of the infrared thermal imager 12 transmitted by the control terminal, and point it according to the position information The infrared energy at the position of φ obtains the temperature measurement value of the ambient temperature black body 13; in this embodiment, determining the position of the ambient temperature black body 13 through user operations is beneficial to ensure the accuracy of the determination result.

In a third possible implementation manner, the movable device 10 may pre-store the characteristics of the ambient temperature black body 13, and the characteristics include, but are not limited to, the shape of the ambient temperature black body 13, and when determining the ambient temperature During the process of the position of the black body 13 in the field of view of the infrared thermal imager 12, the ambient temperature black body 13 can be identified according to the characteristics of the ambient temperature black body 13, and then it is determined that it is in the The position within the field of view picture of the infrared thermal imager 12; in this embodiment, there is no need for a user's operation every time the position of the ambient temperature black body 13 needs to be determined, which reduces the user's operation steps and is convenient for the user to use. Wherein, the feature of the ambient temperature black body 13 may be that the movable device 10 is determined and entered by the developer when it leaves the factory; it may also be that the user uses the infrared camera 12 for the first time. The scene is determined.

In one embodiment, the ambient temperature black body 13 represents a constant temperature object with high emissivity and uniform temperature; the temperature uniformity can be measured by the specific heat capacity of the constant temperature object, and an object with a specific heat capacity greater than a preset value can be regarded as temperature A uniform object; for example, the ambient temperature black body 13 may be an object made of foam; it is understood that this application does not impose any restrictions on the preset value, and can be specifically set according to actual application scenarios.

In the embodiment shown in FIG. 1, considering that the ambient temperature black body 13 is set on the movable device 10, the ambient temperature black body 13 has the following requirements:

The first requirement is that due to the mobility of the movable device 10, it may cause a certain resistance to the movable device 10 due to the influence of environmental factors (such as the wind during the movement) during the movement. , The ring temperature black body 13 is required to have a certain hardness, so that the ring temperature black body 13 will not be bent or deformed when it bears the resistance generated by the movable device 10 during the movement process, that is, its own structure Relatively fixed.

The second requirement is to take into account that carrying heavy objects may accelerate the power loss of the movable device. Therefore, in order to save the power loss of the movable device 10, the lighter the weight of the ambient temperature black body 13, the more Good, that is, it is required that the weight of the ambient temperature black body 13 needs to be less than a specified weight threshold. The specified weight threshold can be determined comprehensively based on the load-bearing capacity and power of the movable device 10, and the size of the specified weight threshold can be based on the movable The type of the device 10 is specifically set, and the embodiment of the present application does not impose any restriction on this.

In an embodiment, the ambient temperature black body 13 can be installed in a position that can be detected by the infrared thermal imager 12 in its field of view, so as to ensure that the thermal imaging camera 12 can detect the ring. The temperature of the black body 13 is warmed for subsequent temperature correction steps.

In the first possible implementation manner, please refer to FIG. 2, which is a structural diagram of a second type of movable device 10 according to an exemplary embodiment of this application. The movable device 10 includes a support 14, and The supporting member 14 is used to fix the ambient temperature black body 13 and the infrared thermal imager 12 to each other, and the position of the ambient temperature black body 13 in the field of view of the infrared thermal imager 12 is kept fixed; as an example, The ambient temperature black body 13 can be supported by the support 14 to be suspended at the front end of the infrared thermal imager 12 to ensure that the ambient temperature black body 13 can be detected by the infrared thermal imager 12 in its field of view; Wherein, in order to keep the position of the ambient temperature black body 13 in the field of view of the infrared thermal imager 12 fixed, it is required that the support 14 used to support the ambient temperature black body 13 also has certain hardware, so that Under the condition that it bears the resistance generated by the movable device 10 during the movement, it will not be bent or deformed, that is, its structure is relatively fixed and unchanged, thereby ensuring that the ambient temperature black body 13 is in the infrared thermal image The position in the field of view of the instrument 12 remains fixed.

In one embodiment, in order to increase the range of the temperature measurement area of the movable device 10, the movable device 10 further includes a pan/tilt 15 fixed on the movable body 11, and the infrared thermal imager 12 is fixed on the pan/tilt 15 so that the rotation of the pan/tilt 15 can drive the infrared thermal imager 12 to rotate, thereby adjusting the angle of view of the infrared thermal imager 12 and changing the infrared thermal image The position detected by the camera 12 enables the infrared thermal imaging camera 12 to detect the temperature of the target to be measured at different positions, thereby expanding the range of the temperature measurement area.

In the case where the movable device 10 includes the pan/tilt head 15, this embodiment provides a second possible implementation manner for setting the position of the ambient temperature black body 13. Please refer to FIG. 3A, which is an example according to this application. An exemplary embodiment shows a structural diagram of a third movable device 10, the movable device 10 includes a support 14 for fixing the ambient temperature black body 13 and the pan/tilt 15 to each other, And the ambient temperature black body 13 is fixed in the field of view of the infrared thermal imager 12; as an example, the ambient temperature black body 13 can be supported by the support 14 to be suspended on the front end of the pan/tilt 15, and When the pan/tilt 15 rotates, it simultaneously drives the infrared thermal imager 12 and the ambient temperature black body 13 to rotate, so that the ambient temperature black body 13 is always at the front end of the infrared thermal imager 12. The position in the field of view of 12 remains fixed and can be detected in the field of view. The cone-shaped area in FIG. 3A is the field of view of the infrared thermal imager 12.

In an exemplary embodiment, the movable device 10 is an unmanned aerial vehicle. Please refer to FIG. 3B, which is a structural diagram of an unmanned aerial vehicle according to an exemplary embodiment of this application. It includes a mobile body 21, a pan/tilt 25 fixed on the mobile body 21, an infrared thermal imager 22 fixed on the pan/tilt 25, and a support 24 and the infrared thermal imager 22 fixed to each other The ambient temperature black body 23 is kept fixed in the field of view of the infrared thermal imager 22.

In the embodiment shown in FIG. 3B, the infrared thermal imager 22 is used to obtain the temperature measurement value of the target to be measured located in the field of view of the infrared thermal imager 22 and the temperature measurement value of the ambient temperature black body 23, Wherein, the temperature measurement value of the ambient temperature black body 23 is used to correct the temperature measurement value of the target to be measured to obtain the temperature correction value of the target to be measured; in this embodiment, the infrared thermal image The instrument 22 realizes the remote temperature measurement process without contacting the target to be measured, and can detect all the targets to be measured in the field of view of the infrared thermal imager 22, and realize the simultaneous measurement of the temperature of multiple targets to be measured. It is beneficial to improve the temperature measurement efficiency; moreover, the UAV uses the temperature measurement value of the ambient temperature black body 23 to correct the temperature measurement value of the target under test measured by the infrared thermal imager 22, further improving the measurement value of the target under test. The measurement accuracy of the temperature measurement performed by the target ensures the accuracy of the finally obtained temperature correction value of the target to be measured.

Further, in the embodiment shown in FIG. 3B, the infrared thermal imager 22 and the ambient temperature black body 23 are driven to rotate together by the rotation of the pan/tilt 25, so that the detected value of the infrared thermal imager 22 can be changed. Position, so that the infrared thermal imager 22 can detect the temperature of the target to be measured at different positions, and correct the temperature of the target to be measured by the temperature of the ambient temperature black body 23 that rotates with it, so as to ensure the accuracy of temperature measurement. The pan/tilt 25 also expands the temperature measurement area.

In addition, in the embodiment shown in FIG. 2 and FIG. 3A, the supporting member 14 is used to fix the ring temperature black body 13 and the pan/tilt 15 or the infrared thermal imager 12 to each other, so that the ring The warm black body 13 is fixed in the field of view of the infrared thermal imager 12. In this case, considering the limited field of view of the infrared thermal imager 12, in order to realize the view of the infrared thermal imager 12 The temperature of the target to be measured in the field is detected, and the third requirement is put forward for the ambient temperature black body 13. The volume of the ambient temperature black body 13 needs to be as small as possible, that is, the volume of the ambient temperature black body 13 needs to be smaller than the specified Volume threshold, so as to ensure that more targets to be measured can be detected in the field of view of the infrared thermal imager 12, and minimize the influence of the occlusion of the ambient temperature black body 13; wherein, the specified volume threshold can be based on The size of the field of view of the infrared thermal imager 12 is determined.

In the case where the movable device 10 includes the pan/tilt head 15, this embodiment also provides a third possible implementation manner for setting the position of the ambient temperature black body 13. Based on the rotation attribute of the pan/tilt head 15, so The ambient temperature black body 13 can also be set on the movable device 10 at a position other than the pan/tilt 15 and the infrared thermal imager 12. Please refer to FIG. 4, which is an example of this application according to an exemplary embodiment. The fourth structure diagram of the movable device 10 is shown. The movable platform further includes a support 14 for connecting the ring temperature black body 13 with the mobile body 11 of the movable device 10. Are fixed to each other, the PTZ 15 can be adjusted during the detection process of the infrared thermal imager 12, so that the ambient temperature black body 13 enters the field of view of the infrared thermal imager 12; in this embodiment, the During the temperature detection process of the infrared thermal imager 12, the movable device 10 can adjust the pan/tilt 15 at specified intervals to realize the temperature measurement of the ambient temperature black body 13 by the infrared thermal imager 12, The rotation of the pan/tilt 15 drives the infrared thermal imager 12 to rotate at intervals of the specified time until it rotates to a position where the ambient temperature black body 13 can be detected in its field of view, so that the infrared thermal image The instrument 12 can detect the temperature of the ambient temperature black body 13 in its field of view; it is understandable that the specified time can be specifically set according to actual conditions, and the embodiment of the present application does not impose any limitation on this, for example, the specified The time is 1 minute.

In an example, when the ambient temperature black body 13 enters the field of view of the infrared thermal imager 12 through the adjustment of the pan/tilt 15, the ambient temperature black body 13 is viewed by the infrared thermal imager 12 The position in the field is fixed. By pre-setting a fixed angle, the fixed angle is determined based on the fixed position of the ambient temperature black body 13 on the mobile body 11 of the movable device 10, and each time (every time When the temperature of the ambient temperature black body 13 needs to be detected at a specified time interval, the movable device 10 may send a first rotation instruction to the pan/tilt 15 so that the pan/tilt 15 rotates in response to the first rotation instruction The fixed angle drives the infrared thermal imager 12 to rotate to a position where the ambient temperature black body 13 can be detected in its field of view, so that the infrared thermal imager 12 can detect the The temperature of the ambient temperature black body 13; in this embodiment, by rotating the pan/tilt 15 to a fixed angle, the position of the ambient temperature black body 13 in the field of view of the infrared thermal imager 12 is fixed every time.

In another example, during the process that the ambient temperature black body 13 enters the field of view of the infrared thermal imager 12 through the adjustment of the pan/tilt 15, the ambient temperature black body 13 is in the infrared thermal imager 12 The position in the field of view may also be unfixed. The infrared thermal imager 12 may obtain the features of the ambient temperature black body 13 in advance. The features include, but are not limited to, the shape of the ambient temperature black body 13, so that in the subsequent Every time (every specified time) the temperature of the ambient temperature black body 13 needs to be detected, the movable device 10 may send a second rotation instruction to the pan/tilt 15 so that the pan/tilt 15 responds to the first The second rotation command is used to rotate. In the process of driving the infrared thermal imager 12 to rotate by the rotation of the pan/tilt 15, the movable device 10 determines whether it is in the infrared thermal imager according to the characteristics of the ambient temperature black body 13. The ambient temperature black body 13 is detected in the field of view of the imager 12. If it is determined that the ambient temperature black body 13 is detected in the field of view of the infrared thermal imager 12, the movable device 10 can notify the The pan/tilt 15 stops rotating, so that the infrared thermal imager 12 can detect the temperature of the ambient temperature black body 13 in its field of view; this embodiment uses the flexible identification process of the thermal imaging camera 12 to make the ring The position where the warm black body 13 appears in the field of view of the infrared thermal imager 12 is not fixed.

As one of the implementation manners, the characteristics of the ambient temperature black body 13 can be determined in the following manner: when the movable device 10 is used for the first time, the infrared thermal imager 12 acquires a field of view image within its field of view, Then the movable device 10 transmits it to the control terminal, thereby displaying the field of view picture of the infrared thermal imager 12 on the interactive interface of the control terminal, and the ambient temperature black body 13 is located in the picture. , And then the ambient temperature black body 13 can be determined according to the user's operation on the field of view screen, and then the control terminal can acquire the characteristics of the ambient temperature black body 13 and send it to the movable device 10, or from The image of the ambient temperature black body 13 is cut out in the field of view and sent to the movable device 10, and the movable device 10 determines the characteristics of the ambient temperature black body 13.

It can be understood that this application does not impose any restrictions on the specific display form of the field of view picture of the infrared thermal imager 12, and may be specifically set according to actual application scenarios; as an example, the picture may be a thermal image; as another For example, the picture may be an RGB image obtained by a binocular vision sensor. In addition, the user's operations can also be specifically set according to actual application scenarios. For example, the user's operations include, but are not limited to, click operations, long-press operations, or box selection operations.

In an embodiment, please refer to FIG. 5, which is a structural diagram of a fifth movable device 10 according to an exemplary embodiment of this application. The movable device 10 further includes a first transmitter 16. A transmitter 16 can be arranged in the mobile body 11; the first transmitter 16 is used to send the temperature measurement value of the target to be measured and the temperature measurement value of the ambient temperature black body 13 to the The control terminal of the mobile device 10, so that the control terminal corrects the temperature measurement value of the target to be measured according to the temperature measurement value of the ambient temperature black body 13 to obtain the temperature correction value of the target to be measured; in this implementation In an example, the temperature measurement value of the target to be measured measured by the infrared thermal imager 12 is corrected by the temperature measurement value of the ambient temperature black body 13, so as to further improve the measurement accuracy of the temperature measurement of the target to be measured, and ensure that the final The accuracy of the obtained temperature correction value of the target to be measured.

Wherein, the first transmitter 16 includes, but is not limited to, a short-range wireless communication transmitter or a mobile communication transmitter, and the short-range wireless communication protocol used by the short-range wireless communication transmitter includes at least any of the following: infrared protocol, WiFi protocol, Bluetooth protocol, UWB protocol or ZigBee protocol; the mobile communication protocol used by the mobile communication transmitter includes at least any one of the following: 3G communication protocol, 4G communication protocol, GSM communication protocol or GPRS communication protocol.

In another embodiment, please refer to FIG. 6, which is a structural diagram of a sixth movable device 10 according to an exemplary embodiment of this application. The movable device 10 further includes a first processor 17 and a first The transmitter 16, the first processor 17 and the first transmitter 16 may be arranged in the mobile body 11; the first processor 17 is used to measure the temperature of the ambient temperature black body 13 The temperature measurement value of the target to be measured is corrected to obtain the temperature correction value of the target to be measured; the first transmitter 16 is used to send the temperature correction value of the target to be measured to the movable device 10 In this embodiment, the temperature measurement value of the target under test measured by the infrared thermal imager 12 is corrected by the temperature measurement value of the ambient temperature black body 13, and the temperature of the target under test is further improved The measurement accuracy of the measurement ensures the accuracy of the finally obtained temperature correction value of the target to be measured.

In an embodiment, the first processor 17 is further configured to: obtain the temperature measurement correction value of the infrared thermal imager 12; according to the temperature measurement correction value of the infrared thermal imager 12 and the ambient temperature black body The temperature measurement value of 13 corrects the temperature measurement value of the target to obtain the temperature correction value of the target to be measured.

In one embodiment, the temperature measurement correction value can be obtained in the following manner: before the temperature measurement of the target to be measured, the infrared thermal imager 12 needs to be calibrated, and the infrared thermal imager 12 is also provided with In the calibration mode, after entering the calibration mode, the temperature measurement correction value of the infrared thermal imager 12 can be obtained in the calibration mode.

Wherein, a “calibration mode” control may be displayed on the interactive interface of the control terminal of the movable device 10, and when it is detected that the user triggers the “calibration mode” control, a calibration instruction is sent to the movable device 10, Therefore, the infrared thermal imager 12 in the movable device 10 enters the calibration mode in response to the calibration instruction.

Specifically, the calibration process may be performed when the movable device 10 is in a stationary state or moving at a low speed (moving speed is less than a specified speed threshold), so as to ensure the accuracy of the temperature measurement correction value obtained, which is beneficial to improve the follow-up Temperature measurement accuracy of the temperature measurement process; after entering the calibration mode, first determine the reference target and the ambient temperature black body 13 through the control terminal of the movable device 10; then use the infrared thermal imager 12 to obtain the reference target And the temperature measurement value of the ambient temperature black body 13; then obtain the actual temperature value of the reference target through the control terminal of the movable device 10; finally, the first processor 17 of the movable device 10 The temperature measurement correction value is determined according to the temperature measurement value and actual temperature value of the reference target, and the temperature measurement value of the ambient temperature black body 13; in this embodiment, the temperature measurement correction value obtained in the calibration mode The value is used as one of the indicators for correcting the temperature measurement value of the target to be measured, and the target that the ambient temperature black body 13 is set on the movable device 10 instead of being set in the field of view of the infrared thermal imager 12 is corrected. The error caused by the position (the position of the reference target) helps to ensure the accuracy of the acquired temperature correction value of the target to be measured.

In addition, considering that the temperature change laws of the same type of targets are roughly the same, setting the reference target and the target to be measured to belong to the same category is beneficial to reduce errors and ensure the accuracy of subsequent temperature measurement of the target to be measured; as an example For example, in a human body temperature measurement scenario, the reference target and the target to be measured are both human bodies.

Wherein, the control terminal determining the reference target and the ambient temperature black body 13 includes the following steps: the first processor 17 transmits the field of view image of the infrared thermal imager 12 through the first transmitter 16 For the control terminal, after receiving the field of view image, the control terminal displays the field of view image of the infrared camera 12 on the interactive interface of the control terminal, wherein the reference target and the The ambient temperature black body 13 is located in the field of view picture; then the control terminal determines the reference target and the ambient temperature black body 13 according to the user's operation on the field of view picture, and compares them with the reference target and the ambient temperature black body 13 Information about the warm black body 13 is transmitted to the movable device 10.

It is understandable that this application does not impose any restrictions on the specific display form of the field of view picture of the infrared thermal imager 12, and specific settings can be made according to actual application scenarios; as an example, the field of view picture may be a thermal image; In another example, the field of view picture may be an RGB image obtained by a binocular sensor. In addition, the user's operations can also be specifically set according to actual application scenarios. For example, the user's operations include, but are not limited to, click operations, long-press operations, or box selection operations.

Wherein, in the calibration mode, acquiring the actual temperature value of the reference target through the control terminal of the movable device 10 includes: the actual temperature value of the reference target is measured by the user based on a temperature measuring device, and then the actual temperature value of the reference target is measured by the user The actual temperature value of the reference target is input on the interactive interface provided by the control terminal, and the control terminal receives the actual temperature value of the reference target input by the user and sends it to the movable device 10.

Further, a control indicating that the input is completed may be provided on the interactive interface. After completing the input of the actual temperature value of the reference target, the user may operate the control indicating that the input is completed (the operation includes, but is not limited to, clicking Operation, sliding operation or long-press operation, etc.), the control terminal acquires the actual temperature value of the reference target in response to the control indicating the completion of the input is triggered.

In an embodiment, after the first processor 17 obtains the temperature correction value of the target to be measured, the first processor 17 may be configured to transmit the infrared thermal imager 12 through the first transmitter 16 The field of view picture of the infrared camera 12 and the temperature correction value of the target to be measured in the field of view of the infrared thermal imager 12 are sent to the control terminal, so that the field of view of the infrared thermal imager 12 can be displayed on the control terminal Screen, wherein indication information for indicating the temperature correction value of the target to be measured is displayed on the field of view screen, and the indication information includes but not limited to the temperature correction value of the target to be measured or the temperature correction value of the target to be measured The color corresponding to the target's temperature correction value, which serves as a reminder to the user.

Wherein, the control terminal displays indication information for indicating the temperature correction value of the target under test on the field of view screen, specifically including: displaying the temperature correction value of the target under test on the field of view screen And/or (representing two or one of two), the target to be tested is marked as a corresponding color according to the temperature correction value of the target to be tested, wherein different temperature ranges correspond to different colors, thereby starting To remind users.

Further, the control terminal displaying the temperature correction value of the target to be measured on the field of view screen includes: displaying a specific mark in a designated area of the target to be measured, and displaying the temperature correction value in an area near the specific mark. The temperature correction value of the target to be measured, the designated area represents the measurement area where the infrared thermal imager 12 measures the temperature of the target to be measured, and the location of the specific mark is that the infrared thermal imager 12 The specific measurement position of the temperature measurement of the target to be measured, thereby serving as a reminder to the user.

It is understandable that the designated area may be specifically set according to the specific type of the target to be tested; in an example, for example, the target to be tested is a human body, and the designated area may be the forehead area of the human body.

In an exemplary embodiment, the object to be measured is a human body. Please refer to FIG. 7, which is a schematic diagram of the field of view of the infrared thermal imager 12 according to an exemplary embodiment of this application. , A specific mark is displayed on the forehead area of each target to be tested, and the temperature correction value of the target to be tested is displayed in the area near the specific mark.

In an exemplary embodiment, the target to be tested is a human body. Please refer to FIG. 8, which is a structural diagram of a seventh movable device 10 according to an exemplary embodiment of this application. A loudspeaker 18 is included, and when the control terminal detects that the forehead area of the target to be measured in the field of view of the infrared camera 12 is blocked, the control terminal prompts the user through the interactive interface of the control terminal; Alternatively, an instruction is sent to the movable device, so that when the loudspeaker 18 receives an instruction from the control terminal, it prompts by voice that the forehead area of the target to be measured is blocked.

The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement without creative work.

Correspondingly, referring to FIG. 9, an embodiment of the present application also provides a control terminal 20, and the control terminal 20 includes a receiver 31 and a second processor 32. The control terminal 20 includes, but is not limited to, a smart phone, a computer, a tablet, a personal digital assistant or a remote control, etc.

The receiver 31 is configured to receive the temperature measurement value of the target to be measured and the temperature measurement value of the ambient temperature black body sent by a movable device, wherein the target to be measured is an infrared thermal imager located on the movable device For the target to be measured in the field of view, the ambient temperature black body is fixed on the movable device, and the temperature measurement value of the target to be measured and the temperature measurement value of the ambient temperature black body are both set on the movable device Detected by the infrared thermal imaging camera.

The second processor 32 is configured to calibrate the temperature measurement value of the target to be measured according to the temperature measurement value of the ambient temperature blackbody to obtain the temperature correction value of the target to be measured.

In this embodiment, the temperature measurement value of the target to be measured measured by the infrared thermal imager is corrected by the temperature measurement value of the ambient temperature black body, so as to further improve the measurement accuracy of the temperature measurement of the target to be measured and ensure The accuracy of the finally obtained temperature correction value of the target to be measured.

Wherein, the infrared thermal imager on the movable device is provided with a temperature measurement mode, and after entering the temperature measurement mode, the infrared thermal imager obtains the information of the target to be measured in the field of view of the infrared thermal imager. The temperature measurement value and the temperature measurement value of the ambient temperature blackbody.

When the infrared thermal imager obtains the temperature measurement value of the target to be measured located in the field of view of the infrared thermal imager, it is specifically used to: identify all the target to be measured from the thermal image obtained by the infrared thermal imager Identify the designated area of the target to be tested from the target to be tested; determine the temperature measurement value of the target to be tested according to the infrared energy radiated from the designated area of the target to be tested.

When the infrared thermal imager obtains the temperature measurement value of the ambient temperature black body, it is specifically used to: receive the position of the ambient temperature black body emitted by the control terminal 20 in the field of view of the infrared thermal imager, and The temperature measurement value of the ambient temperature black body is obtained according to the infrared energy at the position.

Correspondingly, please refer to FIG. 10, which is a structural diagram of a second control terminal 20 according to an exemplary embodiment of this application, and further includes a display 33 and a second transmitter 34; the display 33 is used to display the infrared The field of view picture of the thermal imager; the second processor 32 is further configured to determine the field of view of the ambient temperature black body in the infrared thermal imager according to the user's operation on the field of view picture or according to the stored position The position within the screen; the second transmitter 34 is used to send the position to the movable device, so that the movable device determines the temperature measurement value of the ambient temperature blackbody according to the position.

Wherein, the second transmitter 34 includes but is not limited to a short-range wireless communication transmitter or a mobile communication transmitter, and the short-range wireless communication protocol used by the short-range wireless communication transmitter includes at least any of the following: infrared protocol, WiFi protocol, Bluetooth protocol, UWB protocol or ZigBee protocol; the mobile communication protocol used by the mobile communication transmitter includes at least any one of the following: 3G communication protocol, 4G communication protocol, GSM communication protocol or GPRS communication protocol.

In an embodiment, please refer to FIG. 11, which is a structural diagram of a third control terminal 20 according to an exemplary embodiment of this application. The control terminal 20 includes an interactive interface 35, which can be displayed on the control terminal 20. The “temperature measurement mode” control is displayed on the interactive interface 35 of the mobile device. When it is detected that the user triggers the “temperature measurement mode” control, a temperature measurement instruction is sent to the movable device, so that the infrared heat in the movable device The imager enters the temperature measurement mode in response to the temperature measurement instruction.

In an embodiment, the second processor 32 is further configured to: obtain the temperature measurement correction value of the infrared thermal imager; according to the temperature measurement correction value of the infrared thermal imager and the temperature of the ambient temperature black body The measurement value corrects the temperature measurement value of the target to obtain the temperature correction value of the target to be measured.

In one embodiment, the temperature measurement correction value can be obtained in the following manner: before the temperature measurement of the target to be measured, the infrared thermal imager needs to be calibrated, and the infrared thermal imager is also provided with a calibration mode After entering the calibration mode, the temperature measurement correction value of the infrared thermal imager can be obtained in the calibration mode.

Wherein, a "calibration mode" control may be displayed on the interactive interface 35 of the control terminal 20, and when it is detected that the user triggers the "calibration mode" control, a calibration instruction is sent to the movable device, so that the In response to the calibration instruction, the infrared thermal imager in the mobile device enters the calibration mode.

Specifically, the calibration process may be performed when the movable device is in a stationary state or moving at a low speed (moving speed is less than a specified speed threshold), so as to ensure the accuracy of the temperature measurement correction value obtained, which is conducive to improving the subsequent measurement. Temperature measurement accuracy of the temperature process; after entering the calibration mode, first determine the reference target and the ambient temperature black body through the second processor 32 of the control terminal 20; then use the infrared thermal imager of the movable device Obtain the temperature measurement value of the reference target and the temperature measurement value of the ambient temperature black body; then obtain the actual temperature value of the reference target through the second processor 32 of the control terminal 20; finally, the second The processor 32 determines the temperature measurement correction value according to the temperature measurement value and the actual temperature value of the reference target, and the temperature measurement value of the ambient temperature black body; in this embodiment, the measurement value obtained in the calibration mode is used. The temperature correction value is one of the indicators for correcting the temperature measurement value of the target to be measured, and corrects the target position where the ambient temperature black body is set in the movable device instead of being set in the field of view of the infrared thermal imager The error caused by (the position of the reference target) helps to ensure the accuracy of the acquired temperature correction value of the target to be measured.

Wherein, determining the reference target and the ambient temperature black body by the second processor 32 of the control terminal 20 includes the following steps: the movable device transmits the field of view of the infrared camera to the control Terminal 20. After receiving the field of view image, the control terminal 20 displays the field of view image of the infrared thermal imager on the interactive interface 35 of the control terminal 20, wherein the reference target and the ring The warm black body is located in the field of view picture; then the second processor 32 of the control terminal 20 determines the reference target and the ambient temperature black body according to the user's operation on the field of view picture.

It is understandable that this application does not impose any restrictions on the specific display form of the field of view picture of the infrared thermal imager, and can be specifically set according to actual application scenarios; as an example, the field of view picture may be a thermal image; as another As an example, the field of view picture may be an RGB image obtained by a binocular sensor. In addition, the user's operations can also be specifically set according to actual application scenarios. For example, the user's operations include, but are not limited to, click operations, long-press operations, or box selection operations.

Wherein, in the calibration mode, obtaining the actual temperature value of the reference target through the second processor 32 of the control terminal 20 includes the following steps: the actual temperature value of the reference target is measured by the user based on a temperature measuring device Then, the user inputs the actual temperature value of the reference target on the interactive interface 35 provided by the control terminal 20, and the second processor 32 of the control terminal 20 receives the actual temperature value of the reference target input by the user.

Further, a control indicating that the input is completed may be provided on the interactive interface 35. After the user completes the input of the actual temperature value of the reference target, the user may operate the control indicating that the input is completed (the operation includes but is not limited to: Click operation, slide operation or long-press operation, etc.), the second processor 32 of the control terminal 20 is triggered in response to the control indicating that the input is completed to obtain the actual temperature value of the reference target.

In an embodiment, please refer to FIG. 12, which is a structural diagram of a fourth control terminal 20 according to an exemplary embodiment of this application. The second processor 32 obtains the temperature correction value of the target to be measured. After that, the control terminal 20 may obtain the field of view image of the infrared thermal imager from the movable device so that the field of view image of the infrared thermal imager can be displayed on the display 33 of the control terminal 20, and The indication information used to indicate the temperature correction value of the target under test is displayed on the field of view screen; the indication information includes but is not limited to the temperature correction value of the target under test or the temperature correction value of the target under test The color corresponding to the value, which serves as a reminder to the user.

Wherein, the display 33 is specifically configured to: display the temperature correction value of the target to be measured on the field of view screen; and/or (representing two or one of two types), according to the temperature of the target to be measured The correction value marks the target to be measured as a corresponding color, wherein different temperature ranges correspond to different colors, thereby serving as a reminder to the user.

Further, the display 33 is specifically configured to: display a specific mark in a designated area of the target to be measured, and display a temperature correction value of the target to be measured in an area near the specific mark, and the designated area represents the The measurement area where the infrared thermal imager performs temperature measurement on the target to be measured, and the location of the specific mark is the specific measurement position where the thermal imager performs temperature measurement on the target to be measured, thereby serving as a reminder to the user The role of.

In an exemplary embodiment, the target to be measured is a human body. Please refer to FIG. 7, which is a schematic diagram of a field of view of an infrared thermal imager according to an exemplary embodiment of this application. In the screen shown in FIG. 7, A specific mark is displayed on the forehead area of each target to be tested, and the temperature correction value of the target to be tested is displayed in an area near the specific mark.

In an exemplary embodiment, the target to be tested is a human body, and the second processor 32 of the control terminal 20 detects that the forehead area of the target to be tested in the field of view of the infrared thermal imaging camera is present. When blocking, the user is prompted through the interactive interface 35 or the display 33.

In the first embodiment, considering that the ambient temperature will affect the accuracy of the obtained temperature correction value of the target to be measured, in order to ensure the accuracy of the temperature measurement result, it is necessary to ensure the calibration process (obtain the measurement of the infrared camera). The ambient temperature in the temperature correction value process) and the ambient temperature in the temperature measurement process (the process of obtaining the temperature correction value of the target to be measured) are the same or the difference between the two is within the first range. Therefore, it can be in the The display 33 of the control terminal 20 displays ambient temperature reminder information, which is used to remind the user to keep the calibration process and the temperature measurement process at the same ambient temperature or the difference between the two is within the first range.

In the second embodiment, considering that the relative distance between the movable device and the target to be measured will also affect the accuracy of the obtained temperature correction value of the target to be measured, in order to ensure the accuracy of the temperature measurement result It is necessary to ensure that the relative distance between the movable device and the reference target under test during the calibration process and the relative distance between the movable device and the target under test during the temperature measurement process are the same or the difference between the two The value is within the second range. Therefore, relative distance reminding information can be displayed on the display 33 of the control terminal 20, which is used to remind the user to keep the distance between the movable device and the reference target under test during the calibration process. During the relative distance and temperature measurement, the relative distance between the movable device and the target to be measured is the same or the difference is within the second range; the relative distance reminder information may be the movable device and the reference The relative distance between the target to be tested and the relative distance between the movable device and the target to be tested may also be information on whether the relative distance between the two meets the condition.

In the third embodiment, considering that the process of measuring the temperature of the target to be measured is to measure the designated area of the target to be measured, for example, the process of measuring the temperature of the human body is to measure the forehead area of the human body. The pan/tilt can adjust the field of view of the infrared thermal imager, thereby affecting the detection of the specified area of the target to be measured by the infrared thermal imager in its field of view, for example, the rotation of the pan/tilt The rotation of the infrared thermal imager makes it impossible to detect or difficult to detect the designated area of the target to be measured in the field of view, which in turn affects the accuracy of the temperature correction value of the target to be measured finally. Therefore, in order to ensure the temperature The accuracy of the measurement result needs to ensure that the pitch angle of the pan/tilt is within the third range, so that the infrared thermal imager can detect the target under test in its field of view; therefore, the control terminal can be The display 33 of 20 displays the pitch angle reminder information of the pan/tilt, which is used to remind the user to keep the pitch angle of the pan/tilt within the third range. The pitch angle reminder information of the pan/tilt may be the size of the pitch angle of the pan/tilt and the allowable range of the pitch angle.

It can be understood that the first range, the second range, and the third range can be specifically set according to actual application scenarios, which are not limited in the embodiment of the present application.

As one of the implementation manners, the movable device can measure the relative distance between the movable device and the target to be measured and the pitch angle of the pan/tilt in real time, and then send it to the control terminal 20. The control terminal 20 displays the pitch angle of the pan/tilt and the relative distance between the movable device and the target to be measured in real time, which serves as a reminder to the user. The second processor 32 of the control terminal 20 detects When the relative distance or the pitch angle of the pan/tilt does not meet the preset requirements, operation reminding information may be displayed on the interactive interface 35 or the display 33 of the control terminal 20 to remind the user to pass on the control terminal 20 The operation of, realizes the adjustment of the movable device, so that the relative distance and the pitch angle of the pan/tilt meet preset requirements.

Correspondingly, referring to FIG. 13, an embodiment of the present application also provides a method for measuring temperature by using an infrared thermal imager in a movable device. The method can be executed by the movable device or the control terminal. The movable device is also provided with an ambient temperature black body, and the method includes:

In step S401, the temperature measurement value of the target to be measured located in the field of view of the infrared thermal imager and the temperature measurement value of the ambient temperature black body are obtained by using the infrared thermal imager.

In step S402, the temperature measurement value of the target to be measured is corrected according to the temperature measurement value of the ambient temperature black body to obtain the temperature correction value of the target to be measured.

In an embodiment, the method further includes: acquiring the temperature measurement correction value of the infrared thermal imager.

The step S402 includes:

The temperature measurement value of the target is corrected according to the temperature measurement correction value of the infrared thermal imager and the temperature measurement value of the ambient temperature black body to obtain the temperature correction value of the target to be measured.

In an embodiment, the obtaining the temperature measurement correction value of the infrared thermal imager includes:

Determine the reference target and the ambient temperature blackbody.

The infrared thermal imager is used to obtain the temperature measurement value of the reference target and the temperature measurement value of the ambient temperature blackbody.

Obtain the actual temperature value of the reference target.

The temperature measurement correction value is determined according to the temperature measurement value and the actual temperature value of the reference target, and the temperature measurement value of the ambient temperature blackbody.

In an embodiment, the determining the reference target and the ambient temperature black body includes:

The field of view picture of the infrared thermal imager is displayed on the interactive interface, and the reference target and the ambient temperature black body are located in the field of view picture.

The reference target and the ambient temperature black body are determined according to the user's operation on the field of view screen.

In an embodiment, the obtaining the actual temperature value of the reference target includes:

Receive the actual temperature value of the reference target input by the user.

In an embodiment, the infrared thermal imager is provided with a calibration mode.

Before obtaining the temperature measurement correction value of the infrared thermal imager, the method further includes:

Enter the calibration mode, and obtain the temperature measurement correction value of the infrared thermal imager in the calibration mode.

In an embodiment, the target to be measured is a human body.

The obtaining the temperature measurement value of the target to be measured in the field of view of the infrared thermal imager by using the infrared thermal imager includes:

All the targets to be tested are identified from the thermal images obtained by the infrared thermal imager.

Identify the forehead area of the target to be tested from the target to be tested.

The temperature measurement value of the target to be tested is determined according to the infrared energy radiated from the forehead area of the target to be tested.

In an embodiment, the ambient temperature black body and the infrared thermal imager are fixed to each other, and are fixed at the same position in the field of view of the infrared thermal imager.

The obtaining the temperature measurement value of the ambient temperature blackbody by using the infrared thermal imager includes:

The position of the ambient temperature black body in the field of view picture of the infrared thermal imager is determined according to the user's operation on the field of view picture or according to the stored position.

The temperature measurement value of the ambient temperature black body is obtained according to the infrared energy at the position.

In an embodiment, the method further includes:

The field of view picture of the infrared thermal imager is displayed, wherein indication information for indicating the temperature correction value of the target to be measured is displayed on the field of view picture.

In an embodiment, the displaying the indication information used to indicate the temperature correction value of the target to be measured on the field of view screen includes:

Display the temperature correction value of the target to be measured on the field of view screen; and/or,

The target to be tested is marked as a corresponding color according to the temperature correction value of the target to be tested, wherein different temperature ranges correspond to different colors.

In an embodiment, the target to be measured is a human body, and the display of the temperature correction value of the target to be measured on the field of view screen includes:

A specific mark is displayed on the forehead area of the target to be measured, and the temperature correction value of the target to be measured is displayed in an area near the specific mark.

In an embodiment, the target to be tested is a human body; the method further includes:

When it is recognized that the forehead area of the target to be tested is occluded, the user is prompted through the interactive interface; or,

A loudspeaker is provided on the movable device, and the target to be tested is prompted through the loudspeaker.

Correspondingly, referring to FIG. 14, an embodiment of the present application also provides a method for measuring temperature by using an infrared thermal imager in a movable device. The infrared thermal imager is provided with a calibration mode and a temperature measurement mode. The thermal imager is equipped with an ambient temperature black body.

In the calibration mode, the method includes:

In step S501, the field of view picture of the infrared thermal imager is displayed, and the positions of the reference target and the ambient temperature black body are determined according to the user's operation on the field of view picture.

In step S502, the temperature measurement value of the reference target and the temperature measurement value of the ambient temperature black body are obtained by using the infrared thermal imager.

In step S503, the actual temperature value of the reference target is acquired.

In step S504, the temperature measurement correction value is determined according to the temperature measurement value and the actual temperature value of the reference target, and the temperature measurement value of the ambient temperature blackbody.

In the temperature measurement mode, the method includes the steps:

In step S505, the temperature measurement value of the target to be measured in the field of view of the infrared thermal imager and the temperature measurement value of the ambient temperature black body are obtained by using the infrared thermal imager.

In step S506, the temperature measurement value of the target to be measured is corrected according to the temperature measurement correction value of the infrared thermal imager and the temperature measurement value of the ambient temperature black body to obtain the temperature correction value of the target to be measured .

For the method embodiment, since it basically corresponds to the device embodiment, the relevant part can refer to the part of the description of the device embodiment.

Correspondingly, referring to FIG. 15, an embodiment of the present application also provides a movable system 100, including a movable device 10 and a control terminal 30, wherein the movable device 10 is provided with an infrared thermal imager and an ambient temperature Bold.

The movable device 10 is used to obtain the temperature measurement value of the target to be measured in the field of view of the infrared thermal imager and the temperature measurement value of the ambient temperature black body by using the infrared thermal imager.

The control terminal 30 is configured to correct the temperature measurement value of the target to be measured according to the temperature measurement value of the ambient temperature black body to obtain the temperature correction value of the target to be measured.

In an embodiment, the control terminal 30 is also used to:

Obtain the temperature measurement correction value of the infrared thermal imager.

The temperature measurement value of the target is corrected according to the temperature measurement correction value of the infrared thermal imager and the temperature measurement value of the ambient temperature blackbody.

In an embodiment, when the control terminal 30 obtains the temperature measurement correction value of the infrared thermal imager, it is specifically used to:

Determine the reference target and the ambient temperature blackbody.

Obtain the actual temperature value of the reference target.

In an embodiment, the control terminal 30 is further provided with an interactive interface, and when the control terminal 30 determines the reference target and the ambient temperature blackbody, it is specifically used to:

In an embodiment, when the control terminal 30 obtains the actual temperature value of the reference target, it is specifically configured to: receive the actual temperature value of the reference target input by the user.

Before obtaining the temperature measurement correction value of the infrared thermal imager, the control terminal 30 is also used to control the infrared thermal imager to enter the calibration mode, and obtain the infrared thermal imager's information in the calibration mode. Correction value for temperature measurement.

In an embodiment, the target to be measured is a human body.

When the movable device 10 uses the infrared thermal imager to obtain the temperature measurement value of the target to be measured in the field of view of the infrared thermal imager, it is specifically used for:

When the movable device 10 uses the infrared thermal imager to obtain the temperature measurement value of the ambient temperature blackbody, it is specifically used for:

The position of the ambient temperature black body in the field of view picture of the infrared thermal imager is determined according to the user's operation on the field of view screen displayed on the interactive interface of the control terminal 30 or according to the stored position.

The temperature measurement value of the ambient temperature black body is obtained according to the infrared energy from the position.

In an embodiment, the control terminal 30 further includes a display for displaying the field of view picture of the infrared thermal imager, and displaying on the field of view picture for indicating the temperature correction value of the target to be measured Instructions.

In an embodiment, when the display displays the indication information for indicating the temperature correction value of the target to be measured on the field of view screen, it is specifically used for:

Display the temperature correction value of the target to be measured on the screen; and/or,

In one embodiment, the target to be tested is a human body, and the display to display the temperature correction value of the target to be tested on the screen is specifically used for: displaying a specific mark on the forehead area of the target to be tested , And display the temperature correction value of the target to be measured in the area near the specific mark.

In an embodiment, the target to be tested is a human body; the control terminal 30 is further configured to prompt the user through an interactive interface when it is recognized that the forehead area of the target to be tested is blocked.

Alternatively, a loudspeaker is provided on the movable device 10, and the loudspeaker is used to prompt the target to be tested by voice when the control terminal 30 recognizes that the forehead area of the target to be tested is blocked. There is occlusion in the forehead area.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The methods and devices provided by the embodiments of the present invention are described in detail above. Specific examples are used in this article to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. The core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as a limitation of the present invention .

Claims

A method for measuring temperature by using an infrared thermal imager in a movable device, wherein the movable device is also provided with an ambient temperature black body, and the method includes:

Acquiring the temperature measurement value of the target to be measured and the temperature measurement value of the ambient temperature black body located in the field of view of the infrared thermal imager by using the infrared thermal imager;

The temperature measurement value of the target to be measured is corrected according to the temperature measurement value of the ambient temperature black body to obtain the temperature correction value of the target to be measured.
The method according to claim 1, wherein the method further comprises: obtaining a temperature measurement correction value of the infrared thermal imager;

The correcting the temperature measurement value of the target according to the temperature measurement value of the ambient temperature black body includes:

The temperature measurement value of the target is corrected according to the temperature measurement correction value of the infrared thermal imager and the temperature measurement value of the ambient temperature blackbody.
The method according to claim 2, wherein the obtaining the temperature measurement correction value of the infrared thermal imager comprises:

Determine the reference target and the ambient temperature black body;

Acquiring the temperature measurement value of the reference target and the temperature measurement value of the ambient temperature blackbody by using the infrared thermal imager;

Obtaining the actual temperature value of the reference target;

The temperature measurement correction value is determined according to the temperature measurement value and the actual temperature value of the reference target, and the temperature measurement value of the ambient temperature blackbody.
The method according to claim 3, wherein the determining the reference target and the ambient temperature black body comprises:

Displaying the field of view picture of the infrared thermal imager on the interactive interface, and the reference target and the ambient temperature black body are located in the field of view picture;

The reference target and the ambient temperature black body are determined according to the user's operation on the field of view screen.
The method according to claim 3, wherein the obtaining the actual temperature value of the reference target comprises:

Receive the actual temperature value of the reference target input by the user.
The method according to claim 2, wherein the infrared thermal imager is provided with a calibration mode;

Before obtaining the temperature measurement correction value of the infrared thermal imager, the method further includes:

Enter the calibration mode, and obtain the temperature measurement correction value of the infrared thermal imager in the calibration mode.
The method according to claim 1, wherein the target to be measured is a human body;

The obtaining the temperature measurement value of the target to be measured in the field of view of the infrared thermal imager by using the infrared thermal imager includes:

Identifying all targets to be tested from the thermal image obtained by the infrared thermal imager;

Identifying the forehead area of the target to be tested from the target to be tested;

The temperature measurement value of the target to be tested is determined according to the infrared energy radiated from the forehead area of the target to be tested.
The method of claim 1, wherein the ambient temperature black body and the infrared thermal imager are fixed to each other, and are fixed at the same position in the field of view of the infrared thermal imager;

The obtaining the temperature measurement value of the ambient temperature blackbody by using the infrared thermal imager includes:

Determining the position of the ambient temperature black body in the field of view picture of the infrared thermal imager according to the user's operation on the field of view screen or according to the stored position;

The temperature measurement value of the ambient temperature black body is obtained according to the infrared energy at the position.
The method according to claim 1, wherein the method further comprises:

The field of view picture of the infrared thermal imager is displayed, wherein indication information for indicating the temperature correction value of the target to be measured is displayed on the field of view picture.
The method according to claim 9, wherein the displaying indication information for indicating the temperature correction value of the target to be measured on the field of view screen comprises:

Display the temperature correction value of the target to be measured on the field of view screen; and/or,

The target to be tested is marked as a corresponding color according to the temperature correction value of the target to be tested, wherein different temperature ranges correspond to different colors.
The method according to claim 10, wherein the target to be measured is a human body, and the displaying the temperature correction value of the target to be measured on the field of view screen comprises:

A specific mark is displayed on the forehead area of the target to be measured, and the temperature correction value of the target to be measured is displayed in an area near the specific mark.
The method according to claim 1, wherein the target to be measured is a human body; and the method further comprises:

When it is recognized that the forehead area of the target to be tested is occluded, the user is prompted through the interactive interface; or,

A loudspeaker is provided on the movable device, and the target to be tested is prompted through the loudspeaker.
A method for measuring temperature by using an infrared thermal imager in a movable device, characterized in that the infrared thermal imager is provided with a calibration mode and a temperature measurement mode, and an ambient temperature black body is provided on the infrared thermal imager;

In the calibration mode, the method includes the steps:

Display the field of view picture of the infrared thermal imager, and determine the position of the reference target and the ambient temperature black body according to the user's operation on the field of view picture;

Acquiring the temperature measurement value of the reference target and the temperature measurement value of the ambient temperature blackbody by using the infrared thermal imager;

Obtaining the actual temperature value of the reference target;

Determine the temperature measurement correction value according to the temperature measurement value and the actual temperature value of the reference target, and the temperature measurement value of the ambient temperature blackbody;

In the temperature measurement mode, the method includes the steps:

Acquiring the temperature measurement value of the target to be measured and the temperature measurement value of the ambient temperature black body located in the field of view of the infrared thermal imager by using the infrared thermal imager;

The temperature measurement value of the target to be measured is corrected according to the temperature measurement correction value of the infrared thermal imager and the temperature measurement value of the ambient temperature black body to obtain the temperature correction value of the target to be measured.
A movable device, characterized in that it comprises:

A mobile fuselage, and an infrared thermal imager and an ambient temperature black body fixed on the mobile fuselage, and the infrared thermal imager is used to obtain the temperature measurement value of the target to be measured in the field of view of the infrared thermal imager And the temperature measurement value of the ambient temperature black body, wherein the temperature measurement value of the ambient temperature black body is used to correct the temperature measurement value of the target to be measured to obtain the temperature correction value of the target to be measured.
The movable device according to claim 14, wherein the movable device further comprises a pan/tilt fixed on the mobile body, the infrared thermal imager is fixed on the pan/tilt, and The pan/tilt can adjust the angle of view of the infrared thermal imager.
The movable device according to claim 15, wherein the movable platform further comprises a support;

The supporting member is used to fix the ambient temperature black body and the pan/tilt or the infrared thermal imager to each other, and the position of the ambient temperature black body in the field of view of the infrared thermal imager is kept fixed;

Alternatively, the support member is used to fix the ambient temperature black body and the body of the movable device to each other, and the pan/tilt head can be adjusted during the detection process of the infrared thermal imager so that the ambient temperature black body enters The field of view of the infrared thermal imager.
The movable device according to claim 14, wherein the movable device further comprises a first transmitter for sending the temperature measurement value of the target to be measured and the temperature measurement value of the ambient temperature black body To the control terminal of the movable device, so that the control terminal corrects the temperature measurement value of the target to be measured according to the temperature measurement value of the ambient temperature black body to obtain the temperature correction value of the target to be measured.
The movable device according to claim 14, wherein the movable device further comprises:

A first processor, configured to correct the temperature measurement value of the target to be measured according to the temperature measurement value of the ambient temperature blackbody to obtain the temperature correction value of the target to be measured;

The first transmitter is used to send the temperature correction value of the target to be measured to the control terminal of the mobile device.
The movable device according to claim 18, wherein the first processor is further configured to obtain the temperature measurement correction value of the infrared thermal imager; according to the temperature measurement correction value of the infrared thermal imager and The temperature measurement value of the ambient temperature black body corrects the temperature measurement value of the target.
The movable device according to claim 19, wherein the first processor is specifically configured to:

Determine the reference target and the ambient temperature black body;

Acquiring the temperature measurement value of the reference target and the temperature measurement value of the ambient temperature blackbody by using the infrared thermal imager;

Obtaining the actual temperature value of the reference target;

The temperature measurement correction value is determined according to the temperature measurement value and the actual temperature value of the reference target, and the temperature measurement value of the ambient temperature blackbody.
The movable device according to claim 14, wherein the target to be measured is a human body;

When the infrared thermal imager obtains the temperature measurement value of the target to be measured located in the field of view of the infrared thermal imager, it is specifically used for:

Identifying all targets to be tested from the thermal image obtained by the infrared thermal imager;

Identifying the forehead area of the target to be tested from the target to be tested;

The temperature measurement value of the target to be tested is determined according to the infrared energy radiated from the forehead area of the target to be tested.
The movable device according to claim 14, wherein the infrared thermal imager is further used to receive the position of the ambient temperature black body in the field of view of the infrared thermal imager transmitted by the control terminal, and The temperature measurement value of the ambient temperature black body is obtained according to the infrared energy at the position.
The movable device according to claim 14, wherein the target to be tested is a human body, and a loudspeaker is further provided on the movable device for voice communication when receiving an instruction from the control terminal It is prompted that the forehead area of the target to be tested is blocked.
The movable device according to claim 14, wherein the movable device is an unmanned aerial vehicle, a mobile machine, an unmanned vehicle or an unmanned vessel.
A control terminal, characterized in that it comprises:

A receiver for receiving the temperature measurement value of the target to be measured and the temperature measurement value of the ambient temperature black body sent by a movable device, wherein the target to be measured is the field of view of an infrared thermal imager located on the movable device The ambient temperature black body is fixed on the movable device, and the temperature measurement value of the target target and the temperature measurement value of the ambient temperature black body are both determined by the infrared heat on the movable device. Detected by the imager;

The second processor is configured to correct the temperature measurement value of the target to be measured according to the temperature measurement value of the ambient temperature blackbody to obtain the temperature correction value of the target to be measured.
The control terminal according to claim 25, wherein:

The second processor is also used for:

Acquiring the temperature measurement correction value of the infrared thermal imager;

The temperature measurement value of the target is corrected according to the temperature measurement correction value of the infrared thermal imager and the temperature measurement value of the ambient temperature blackbody.
The control terminal according to claim 26, wherein when the second processor obtains the temperature measurement correction value of the infrared thermal imager, it is specifically configured to:

Determine the reference target and the ambient temperature black body;

Acquiring the temperature measurement value of the reference target and the temperature measurement value of the ambient temperature blackbody by using the infrared thermal imager;

Obtaining the actual temperature value of the reference target;

The temperature measurement correction value is determined according to the temperature measurement value and the actual temperature value of the reference target, and the temperature measurement value of the ambient temperature blackbody.
The control terminal according to claim 27, wherein the control terminal further comprises an interactive interface, the interactive interface is used to display the field of view of the infrared camera, the reference target and the ambient temperature The black body is located in the field of view picture;

The second processor is further configured to determine the reference target and the ambient temperature black body according to the user's operation on the field of view screen.
The control terminal according to claim 27, wherein the second processor is further configured to: receive the actual temperature value of the reference target input by the user.
The control terminal according to claim 25, wherein the infrared thermal imager is provided with a calibration mode, and the second processor is further configured to obtain the temperature measurement of the infrared thermal imager in the calibration mode. Correction value.
The control terminal according to claim 25, wherein the control terminal further comprises a display and a second transmitter;

The display is used to display the field of view picture of the infrared thermal imager;

The second processor is further configured to determine the position of the ambient temperature black body in the field of view picture of the infrared thermal imager according to a user's operation on the field of view picture or according to a stored position;

The second transmitter is used to send the position to the movable device, so that the movable device determines the temperature measurement value of the ambient temperature black body according to the position.
The control terminal according to claim 25, wherein the control terminal further comprises a display for displaying the field of view picture of the infrared thermal imager, and displaying on the field of view picture for indicating the The indication information of the temperature correction value of the target to be measured.
The control terminal according to claim 32, wherein the display is further used for:

Display the temperature correction value of the target to be measured on the screen; and/or,

The target to be tested is marked as a corresponding color according to the temperature correction value of the target to be tested, wherein different temperature ranges correspond to different colors.
The control terminal according to claim 33, wherein the target to be tested is a human body, and the display is further used for: displaying a specific mark on the forehead area of the target to be tested, and in the area near the specific mark Display the temperature correction value of the target to be measured.
The control terminal according to claim 25, wherein the target to be tested is a human; the second processor is further configured to: when it is recognized that the forehead area of the target to be tested is obscured, perform an interactive interface The user is prompted.
A movable system, characterized by comprising a movable device and a control terminal, wherein the movable device is provided with an infrared thermal imager and an ambient temperature black body;

The movable device is used to obtain the temperature measurement value of the target to be measured in the field of view of the infrared thermal imager and the temperature measurement value of the ambient temperature black body by using the infrared thermal imager;

The control terminal is configured to correct the temperature measurement value of the target to be measured according to the temperature measurement value of the ambient temperature blackbody to obtain the temperature correction value of the target to be measured.
The mobile system according to claim 36, wherein the control terminal is further used for:

Acquiring the temperature measurement correction value of the infrared thermal imager;

The temperature measurement value of the target is corrected according to the temperature measurement correction value of the infrared thermal imager and the temperature measurement value of the ambient temperature blackbody.
The mobile system according to claim 37, wherein the control terminal is specifically configured to:

Determine the reference target and the ambient temperature black body;

Acquiring the temperature measurement value of the reference target and the temperature measurement value of the ambient temperature blackbody by using the infrared thermal imager;

Obtaining the actual temperature value of the reference target;

The temperature measurement correction value is determined according to the temperature measurement value and the actual temperature value of the reference target, and the temperature measurement value of the ambient temperature blackbody.
The mobile system according to claim 38, wherein the control terminal is further provided with an interactive interface, and when the control terminal determines the reference target and the ambient temperature black body, it is specifically used for:

Displaying the field of view picture of the infrared thermal imager on the interactive interface, and the reference target and the ambient temperature black body are located in the field of view picture;

The reference target and the ambient temperature black body are determined according to the user's operation on the field of view screen.
The mobile system according to claim 38, wherein when the control terminal obtains the actual temperature value of the reference target, it is specifically configured to: receive the actual temperature value of the reference target input by the user.
The mobile system of claim 36, wherein the infrared thermal imager is provided with a calibration mode,

Before obtaining the temperature measurement correction value of the infrared thermal imager, the control terminal is also used to control the infrared thermal imager to enter the calibration mode, and obtain the measurement of the infrared thermal imager in the calibration mode. Temperature correction value.
The movable system according to claim 36, wherein the target to be measured is a human body;

When the movable device uses the infrared thermal imager to obtain the temperature measurement value of the target to be measured located in the field of view of the infrared thermal imager, it is specifically used for:

Identifying all targets to be tested from the thermal image obtained by the infrared thermal imager;

Identifying the forehead area of the target to be tested from the target to be tested;

The temperature measurement value of the target to be tested is determined according to the infrared energy radiated from the forehead area of the target to be tested.
The movable system according to claim 36, wherein the ambient temperature black body and the infrared thermal imager are fixed to each other, and are fixed at the same position in the field of view of the infrared thermal imager;

When the movable device uses the infrared thermal imager to obtain the temperature measurement value of the ambient temperature black body, it is specifically used for:

Determining the position of the ambient temperature black body in the field of view picture of the infrared thermal imager according to the user's operation on the field of view screen displayed on the interactive interface of the control terminal or according to the stored position;

The temperature measurement value of the ambient temperature black body is obtained according to the infrared energy from the position.
The mobile system according to claim 36, wherein the control terminal further comprises a display for displaying the field of view picture of the infrared thermal imager, and displaying on the field of view picture for indicating The indication information of the temperature correction value of the target to be measured.
The mobile system according to claim 44, wherein when the display displays the indication information for indicating the temperature correction value of the target to be measured on the field of view screen, it is specifically used for:

Display the temperature correction value of the target to be measured on the screen; and/or,

The target to be tested is marked as a corresponding color according to the temperature correction value of the target to be tested, wherein different temperature ranges correspond to different colors.
The mobile system according to claim 45, wherein the target to be measured is a human body, and the display to display the temperature correction value of the target to be measured on the screen is specifically used for:

A specific mark is displayed on the forehead area of the target to be measured, and the temperature correction value of the target to be measured is displayed in an area near the specific mark.
The mobile system according to claim 36, wherein the target to be tested is a human body; the control terminal is further configured to provide an interactive interface to the user when it is recognized that the forehead area of the target to be tested is blocked. To prompt; or,

A loudspeaker is provided on the movable device, and the loudspeaker is used to prompt by voice that the forehead area of the target to be tested is blocked when the control terminal recognizes that the forehead area of the target to be tested is blocked .