WO2021184254A1

WO2021184254A1 - Infrared thermal imaging temperature measurement method, electronic device, unmanned aerial vehicle and storage medium

Info

Publication number: WO2021184254A1
Application number: PCT/CN2020/079984
Authority: WO
Inventors: 张青涛; 曹子晟; 江宝坦
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-03-18
Filing date: 2020-03-18
Publication date: 2021-09-23
Also published as: CN112673241A

Abstract

An infrared thermal imaging temperature measurement method, an electronic device, an unmanned aerial vehicle and a storage medium. Said method comprises: acquiring a measured value of the ambient temperature of an environment where a reference object is located and a measured value of the body temperature of the reference object (101); determining a reference value of the body temperature of the reference object at the ambient temperature on the basis of specified parameters, the specified parameters comprising reference values of the reference object at different ambient temperatures (102); determining a correction value between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object (103); and correcting a measured value of the body temperature of a target object to be measured on the basis of the correction value, the target object to be measured and the reference object being located in the same environment (104). Therefore, the present invention can improve the measurement accuracy and effectively reduce the cost, the temperature measurement device or system does not require complicated settings, and the correction process is simple to operate, and is convenient and fast.

Description

Infrared thermal imaging temperature measurement method, electronic equipment, drone and storage medium

Technical field

This application relates to the field of infrared thermal imaging technology, and in particular to an infrared thermal imaging temperature measurement method, electronic equipment, drones and storage media.

Background technique

Infrared thermal imaging technology uses photoelectric technology to detect the infrared specific band signal of the object's thermal radiation, and can convert the signal into images and graphics that can be visually distinguished by humans, and use the images and graphics to further calculate the temperature of the object body value. Since infrared thermal imaging technology can make people "see" the temperature distribution on the surface of an object, it is clear and intuitive, easy to analyze and judge, and does not need to touch the object. Therefore, infrared thermal imaging technology is gradually applied to various application scenarios that need to measure temperature. middle.

Generally, when the infrared thermal imaging temperature measurement equipment measures the temperature of the object to be measured, the measurement accuracy will be reduced due to various influencing factors of the external environment. In the related art, in order to achieve high-precision measurement, a black body is provided for calibration before measuring the temperature. However, the infrared thermal imaging temperature measurement equipment system that uses the black body for calibration is more complicated and costly.

Summary of the invention

In view of this, one of the objectives of the present invention is to provide an infrared thermal imaging temperature measurement method, electronic equipment, drones and storage media.

According to a first aspect of the embodiments of the present application, there is provided an infrared thermal imaging temperature measurement method, the method including:

Acquiring the measured value of the ambient temperature of the environment in which the reference object is located and the measured value of the body temperature of the reference object;

Determining the reference value of the body temperature of the reference object at the ambient temperature based on a designated parameter, the designated parameter including the reference value of the reference object at different ambient temperatures;

Determining the correction value between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object;

The measured value of the body temperature of the target measured object is corrected based on the corrected value, wherein the target measured object and the reference object are in the same environment.

According to a second aspect of the embodiments of the present application, there is provided an electronic device including an infrared thermal imaging temperature measurement device and an ambient temperature sensor;

The environmental temperature sensor is used to detect the measured value of the environmental temperature of the environment where the reference object is located;

The infrared thermal imaging temperature measuring device is used to obtain the measurement value of the environmental temperature from the environmental temperature sensor, and obtain the measurement value of the body temperature of the reference object; determine where the reference object is located based on a specified parameter The reference value of the body temperature at ambient temperature, the specified parameter includes the reference value of the reference object at different ambient temperatures; determining the difference between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object And correcting the measured value of the body temperature of the target measured object based on the corrected value, wherein the target measured object and the reference object are in the same environment.

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

body;

An infrared sensor, which is arranged on the fuselage and is used to obtain a heat radiation distribution image;

An ambient temperature sensor, which is arranged on the body, and is used to detect the measured value of the ambient temperature of the environment in which the reference object is located;

A memory, a processor, and a computer program that is stored on the memory and can run on the processor, the memory and the processor are arranged in the body;

The infrared sensor and the ambient temperature sensor are respectively connected to the processor, and the memory is connected to the processor;

The processor implements the following steps when executing the program:

Determining a reference value of the body temperature of the reference object at an ambient temperature based on a designated parameter, the designated parameter including the reference value of the reference object at different ambient temperatures;

According to a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented:

The technical solutions provided by the embodiments of the present application may include the following beneficial effects:

This application uses infrared thermal imaging technology to obtain the measured value of the body temperature of the reference object and the measured value of the ambient temperature of the current environment in which the reference object is located, based on the correspondence between the reference value of the body temperature of the reference object under different ambient temperatures, Determine the reference value of the body temperature of the reference object corresponding to the measured value of the ambient temperature, so as to obtain the correction value between the measured value of the body temperature of the reference object and the reference value. Obtain the measured value of the body temperature of the target object to improve the measurement accuracy. In this way, compared with the use of blackbody in the related art to correct the temperature measurement value, the present application can improve the measurement accuracy and effectively reduce the cost, the temperature measurement equipment or system does not require complicated settings, and the correction process is simple, convenient and quick to operate.

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 schematic flowchart of an infrared thermal imaging temperature measurement method according to an exemplary embodiment.

Fig. 2 is a schematic flowchart of an infrared thermal imaging temperature measurement method according to an exemplary embodiment.

Fig. 3 is a schematic diagram of an infrared image of a human body shown in an exemplary embodiment.

Fig. 4 is a schematic flowchart of an infrared thermal imaging temperature measurement method according to an exemplary embodiment.

Fig. 5 is a structural block diagram of an electronic device shown in an exemplary embodiment.

Fig. 6 is a structural block diagram of an unmanned aerial vehicle shown in an exemplary embodiment.

Fig. 7 is a structural block diagram of a remote control shown in an exemplary embodiment.

8A to 8B are structural block diagrams of an unmanned aerial vehicle system shown in an exemplary embodiment.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying 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.

The exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the application as detailed in the appended claims.

The terms used in this application are only for the purpose of describing specific embodiments, and are not intended to limit the application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and/or" as used herein refers to and includes any or all possible combinations of one or more associated listed items. Unless otherwise indicated, similar words such as "front", "rear", "lower" and/or "upper" are only for convenience of description, and are not limited to one position or one spatial orientation. Similar words such as "connected" or "connected" are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect. "Multiple" means at least two.

It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information. Depending on the context, the word "if" as used herein can be interpreted as "when" or "when" or "in response to determination".

In the following, the infrared thermal imaging temperature measurement method, electronic equipment, drone, and storage medium of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the implementation can be combined with each other.

The infrared thermal imaging temperature measurement method of this application can be applied to equipment that uses infrared thermal imaging technology to perform temperature measurement, for example, infrared thermal imaging cameras, infrared thermometers, drones with infrared thermal imaging functions, etc., or It is applied to devices that can measure temperature based on the acquired infrared images, such as computers, smart phones, laptops, tablets, PDAs (Personal Digital Assistant, personal digital assistants), etc., and the devices can be loaded with temperature measurements based on the acquired infrared images The measurement application or software. For ease of description, the application will be described below as "temperature measuring equipment". Among them, the object of measuring temperature can be a human body, an animal, etc., or other objects, buildings, and geographic environments. The actual application scenario can be used to detect the temperature of the human body during the security inspection of airports, stations, and building entrances, or it can be used to detect the temperature of animals when an animal plague occurs, and can also be used for power inspections, or to detect mechanical equipment and electrical equipment It can also be used to detect whether a fire occurs in buildings, forests, etc., and can be used to detect the spread of fire when a fire occurs, and so on.

Fig. 1 is a schematic flowchart of an infrared thermal imaging temperature measurement method according to an exemplary embodiment of the application. As shown in Figure 1, the infrared thermal imaging temperature measurement method includes steps 101 to 104:

Step 101: Obtain a measurement value of the ambient temperature of the environment in which a reference object is located and a measurement value of the body temperature of the reference object.

In this step, the reference object refers to the object used to calibrate the measurement accuracy of the temperature measuring equipment, the reference object can be preset by the technical developer, the body temperature can refer to the temperature of the body surface of the reference object, and the body temperature of the reference object The measured value of is measured using infrared thermal imaging technology. In a possible implementation, an infrared sensor can be used to receive the infrared signal of the thermal radiation of the reference object, and convert the infrared signal into an infrared image. The infrared image can reflect the thermal radiation distribution of the reference object. The heat radiation distribution is used to obtain the measured value of the body temperature of the reference object. For example, the specific temperature value of the object is obtained according to the mapping function of the heat radiation energy of the object and the temperature. The infrared sensor that obtains the infrared signal can be any one of a far infrared sensor, a near infrared sensor, a refrigerated infrared sensor, an uncooled infrared sensor, etc., which can be adjusted according to specific temperature measurement application scenarios, and this application does not specifically limit it.

The environment where the reference object is located refers to the temperature of the environment where the reference object is currently located. In a possible implementation manner, an environment temperature sensor may be used to measure the measured value of the environment temperature.

Step 102: Determine a reference value of the body temperature of the reference object at an ambient temperature based on a designated parameter, the designated parameter including the reference value of the reference object at different ambient temperatures.

In this step, the specified parameters can be used to calibrate the measurement accuracy of the temperature measuring equipment, including the reference value of the body temperature of the reference object under different ambient temperatures, that is, the reference value of the body temperature of the reference object corresponding to different ambient temperatures, or In other words, the body temperature of the reference object has a corresponding relationship with the ambient temperature of its environment. The acquired measurement value of the ambient temperature of the environment in which the reference object is located is used to determine the reference value of the body temperature of the reference object corresponding to the measurement value of the environmental temperature through a specified parameter. It should be understood that the designated parameter may also include other parameters, not only the reference value of the body temperature of the reference object under different ambient temperatures.

The reference value of the body temperature of the reference object can be measured by other temperature measurement techniques. It should be understood that the measurement accuracy of other temperature measurement techniques is higher than that of infrared thermal imaging technology. In this way, the reference value has reference value. To calibrate the measurement accuracy of equipment that uses infrared thermal imaging technology to measure temperature to improve measurement accuracy. Other temperature measurement technologies can be temperature measurement technologies using thermistors, thermocouples, optical fibers, etc., which are not specifically limited in this application.

In a possible implementation, the specified parameters can be stored in the local storage space of the temperature measuring device in a list, and the list includes the reference value of the body temperature of the reference object at different ambient temperatures. When the temperature measuring device obtains the reference When measuring the environmental temperature of the environment where the object is located, you can query the list to determine the reference value of the body temperature of the reference object at the environmental temperature. In another possible implementation manner, the specified parameters may be stored in a server or cloud storage center, and the temperature measuring device may have a communication function. By requesting access to the server or cloud storage center, the measurement of the ambient temperature of the environment in which the reference object is located can be obtained. The reference value of the body temperature of the reference object corresponding to the value.

Step 103: Determine a correction value between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object.

In this step, the reference value of the body temperature of the reference object corresponding to the measured value of the ambient temperature is obtained based on the specified parameter, and the reference value of the body temperature of the reference object measured by the temperature measuring device using infrared thermal imaging technology is compared with the measured value of the body temperature of the reference object. Or by calculation, a correction value can be obtained.

In a possible implementation, the correction value may be the difference between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object. For example, in an environment with an ambient temperature of 25 degrees Celsius, the reference value of the body temperature of the reference object is 35.53 degrees Celsius, and the measured value measured by the temperature measuring device according to the heat radiation distribution of the reference object is 35.75 degrees Celsius, that is, the correction value is 0.22 degrees Celsius. It should be understood that the temperature scale unit can be Celsius or Fahrenheit, and can be adjusted according to the usage habits of different countries or regions, which is not specifically limited in this application.

In another possible implementation, the correction value may be obtained by using a correction function based on a temperature reference standard. For example, the body temperature of the reference object is measured as T, the reference value of the body temperature of the reference object is T0, and the correction value is D, there is a formula D=F(T0-T), where F is a correction function based on a temperature reference.

Step 104: Correct the measured value of the body temperature of the target measured object based on the correction value, wherein the target measured object and the reference object are in the same environment.

In this step, based on the determined correction value, the measured value of the body temperature of the target object measured by the temperature measurement device can be corrected to eliminate the error caused by the ambient temperature in the infrared thermal imaging temperature measurement. The body temperature of the target measured object is more accurate. It can be understood that the target measured object and the reference object are in the same environment, and the ambient temperature of the environment is the same. In this way, the correction value between the body temperature measurement value of the reference object and the reference value is determined according to the specified parameters. .

Regarding the measurement sequence of the body temperature of the reference object and the target object, in a possible implementation, the temperature measuring device can measure the reference object and the target object at the same time. If there is more than one target measured object, you can measure the reference object at the same time when measuring the first target measured object to complete the accuracy calibration of the temperature measuring equipment as soon as possible; you can also measure the reference object at the same time when measuring each target measured object. In this way, the correction value can be determined every time. If the correction value changes, the target object to be detected at the same time will be corrected according to the changed correction value. In another possible implementation manner, the temperature measuring device may first measure the reference object, and then measure the target object to be measured. For example, you can set the target object to be measured at the same position as the reference object.

It should be noted that the number of measurements of the body temperature of the reference object can be adjusted according to actual application scenarios. For example, in an application scenario where temperature measurement is performed in a relatively short time, the body temperature of the reference object can be measured only once, and the ambient temperature of the environment where the reference object is located can be measured once to determine the correction value; another example, in a long time In the application scenario of temperature measurement, the body temperature of the reference object can be measured multiple times. If the environment temperature changes greatly, the environment temperature of the environment where the reference object is located needs to be measured simultaneously to update the correction value.

The target measured object refers to the target object of the temperature measuring device to measure the temperature. The target measured object can be determined according to the requirements of the application scenario. Generally, in a specific application scenario, the target measured object is a category of objects, for example, When the temperature measuring equipment is used for the safety inspection of airports, stations, and building entrances, the target object is the human body; another example, when the temperature measuring equipment is used for the inspection of animal plague, the target object is one or more types that cause the plague For animals, such as swine fever, the target test object is a pig; another example, a temperature measuring device is used to detect whether a fire occurs in a mountain forest, and the target test object is a mountain peak or forest within a region. For another example, if the temperature measuring equipment is used for power inspection, the target object to be measured can be an electric tower, or insulators, transformers, wires, poles, etc. on the electric tower.

In this embodiment, the reference object may be one or more. For different reference objects, the reference value of the body temperature of each reference object at different ambient temperatures may be recorded in advance. When actually measuring the temperature of the target object, one or more reference objects can be selected from multiple reference objects randomly or in a preset order, and the reference value of the selected reference object's body temperature can be obtained, combined with the selected reference object The actual measurement value of the body temperature is used to determine the temperature correction value. If the selected reference object includes more than one reference object, the correction value of each reference object can be calculated in turn, and then the average value can be calculated to obtain the final correction value.

In this embodiment, the temperature measurement device can pre-store the reference value of the body temperature of the reference object. When actually measuring the temperature of the target object, the temperature measurement value of the reference object can be obtained, and the reference value of the reference object can be combined to calculate the reference value. The temperature correction value of the reference object is used to correct the measured value of the body temperature of the target measured object obtained by infrared thermal imaging technology based on the correction value, so as to improve the measurement accuracy.

The above embodiment obtains the measured value of the body temperature of the reference object by using infrared thermal imaging technology, and acquires the measured value of the ambient temperature of the current environment in which the reference object is located, based on the correspondence between the reference value of the body temperature of the reference object under different ambient temperatures , To determine the reference value of the body temperature of the reference object corresponding to the measured value of the ambient temperature, so as to obtain the correction value between the measured value of the body temperature of the reference object and the reference value, based on the correction value to correct the use of infrared thermal imaging technology Obtain the measured value of the body temperature of the target object to improve the measurement accuracy. In this way, compared with the use of black bodies in the related art to correct the temperature measurement value, the present application can improve the measurement accuracy and effectively reduce the cost, the temperature measurement device or system does not require complicated settings, and the correction process is simple, convenient and quick to operate.

In order to improve the calibration accuracy of the temperature measuring equipment, the above-mentioned specified parameters can also include more other parameters. Fig. 2 is a schematic flowchart of an infrared thermal imaging temperature measurement method according to an exemplary embodiment of the application. As shown in Figure 2, the infrared thermal imaging temperature measurement method includes steps 201 to 204:

Step 201: Obtain a measurement value of the environmental temperature of the environment in which a reference object is located, a measurement value of the distance between the reference object and the distance measuring source, and a measurement value of the body temperature of the reference object.

In this step, the distance measurement value between the reference object and the distance measurement source is also obtained. The distance measurement source may be a distance sensor, and the distance sensor is used to measure the distance between the reference object and the distance sensor. In a possible implementation manner, the distance sensor can be any of a laser ranging sensor, a lidar sensor, a TOF (Time of Flight) time of flight ranging sensor, an ultrasonic ranging sensor, a terahertz ranging sensor, etc. According to the specific temperature measurement application scenarios and the requirements of the measurement range, this application does not make specific restrictions.

In addition to measuring the distance of the reference object, the distance sensor can also be used to detect the distance of the target measured object. In a possible implementation, when the distance sensor detects that the distance of the target measured object is the same as the measured value of the distance of the reference object, the measured value of the body temperature of the target measured object at the distance is acquired. In another possible implementation manner, the body temperature measurement value of the target object is acquired when the target object is at the position when the reference object is measured.

The related implementation manner of obtaining the measured value of the ambient temperature of the environment in which the reference object is located and the measured value of the body temperature of the reference object in this step is the same as the related implementation manner of step 101 of the embodiment shown in FIG. 1, and will not be repeated here.

Step 202: Determine, based on the specified parameter, the reference value of the body temperature of the reference object at the ambient temperature and the distance measurement value from the distance measuring source. The specified parameter includes the reference object at different environmental temperatures, and The reference value of the body temperature of the reference object at different distances from the ranging source.

In this step, the specified parameters include the reference value of the body temperature of the reference object at different ambient temperatures and at different distances from the ranging source, that is, different ambient temperatures and different ranging distances correspond to the body temperature of the reference object. The reference value, in other words, the corresponding relationship is: ambient temperature-ranging distance-body temperature of the reference object.

Step 203: Determine a correction value between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object.

Step 204: Correct the measured value of the body temperature of the target measured object based on the corrected value, wherein the target measured object and the reference object are in the same environment.

Steps 203 to 204 are the same as the related technologies in the above steps 103 to 104, and will not be repeated here.

The embodiment shown in FIG. 2 determines the relationship between the measured value of the ambient temperature and the body temperature of the reference object corresponding to the measured value of distance based on the correspondence between the reference value of the body temperature of the reference object under different ambient temperatures and different distances from the distance measuring source The reference value is used to obtain the correction value between the measured value of the body temperature of the reference object and the reference value. Based on the correction value, the measured value of the body temperature of the target measured object acquired by infrared thermal imaging technology is corrected to further improve measurement accuracy.

Regarding the reference object and the target measured object, the reference object and the target measured object can be different types of objects, or they can be objects of the same type. In the case that the reference object and the target measured object are objects of the same type, the reference object can also be the target measured object at the same time. In a possible implementation manner, the first measured object to be measured is set For reference.

In order to reduce the influence of the environment on the reference object, in an exemplary embodiment, a thermostatic object can be selected as the reference object. The thermostatic object can maintain its body temperature relatively stable under the condition of environmental temperature changes, and is more affected by environmental temperature changes. Small, the body temperature will not have a large temperature change, or in other words, the body temperature is relatively stable. It should be understood that relative stability is not the same as absolute stability. Due to heat transfer, the body temperature of a thermostatic object changes under different ambient temperatures, but the change is relatively small. In an exemplary embodiment, the thermostatic object may be a thermostatic animal. As in the above-mentioned examples, warm-blooded animals such as humans and pigs are used as reference objects. Then, the difference between the reference values of the body temperature of the reference object at different ambient temperatures in the specified parameters is small, which usually reflects that the reference values are within a specific temperature range.

It should be understood that when the human body and other warm-blooded animals are used as the reference object, the human body within the normal temperature range should be used as the reference object, and the human body in special cases such as high fever and diseased state should be avoided as the reference object to obtain the measurement value, so as to avoid affecting the measurement. Calibration of temperature equipment.

In an exemplary embodiment, a temperature-changing object may also be selected as the reference object. Then, the difference between the reference values of the body temperature of the reference object at different ambient temperatures in the specified parameter is relatively large.

In an exemplary embodiment, if the selected reference object is an object with a single structure, the body temperature of the reference object is the temperature of the overall structure of the reference object.

In another exemplary embodiment, if the selected reference object is an object with a more complex structure, and there may be cases where the thermal radiation energy emitted by each part of the object is not completely the same, you can select a certain part of the reference object. The local temperature represents the body temperature of the reference object, that is, the body temperature of the illuminated object can be the temperature of the specified part of the reference object. When the temperature measuring equipment measures the reference object, it only needs to measure the temperature of the specified part.

Taking the reference object as a warm-blooded animal as an example, the designated part of the reference object may be a designated organ of the warm-blooded animal, such as eyes, ears, and skin. The designated part of the reference object may also be a designated part of the body of the warm-blooded animal, for example, the forehead, face, hands, neck, etc.

Taking the human body as the reference object as an example, FIG. 3 is a schematic diagram of an infrared image of the human body shown in an exemplary embodiment of the application. The infrared image collects the infrared signal of the object and converts the infrared signal into a pseudo-color heat map. The image uses different colors to represent the different degrees of thermal radiation of the object, as shown in Figure 3, although Figure 3 is a sheet that has undergone gray-scale processing. The schematic diagram of the infrared image, but it can still show that the infrared image uses different colors (shown as different grayscales in Figure 3) to represent the different degrees of heat radiation distribution in various parts of the object. Take the human body on the left side of Figure 3 as an example. The forehead part 301, the nose part 302, the mouth part 303, the neck part 304, and the trunk part 305 of the human body have different gray levels, that is, the degree of heat radiation of each part mentioned above is different. It can be seen that different parts of the human body (such as head, hair, torso, limbs, etc.) emit different thermal radiation, and the measured temperature values will also be different. Moreover, when the body’s torso and limbs are covered with clothing, it will also affect the corresponding The thermal radiant energy emitted by the part, and the infrared image of the part where the object is blocked cannot accurately show the thermal radiant energy actually emitted by the relevant part. Therefore, in order to improve the calibration accuracy of the temperature measuring device, the temperature of the designated part of the reference object can be selected to represent the body temperature of the reference object, for example, the temperature of the forehead of the human body is selected as the body temperature of the reference object.

In the same way, the body temperature of the target measured object can also be expressed by the temperature of the designated part of the target measured object, which will not be repeated here.

Generally, the infrared image presents not only the heat radiation distribution of the reference object, but may also include the heat radiation distribution of other objects or the background. In order to improve the accuracy of acquiring the measured value of the body temperature of the reference object, in an exemplary embodiment, the step of acquiring the measured value of the body temperature of the reference object includes: performing object recognition on the captured infrared image; The measured value of the object is determined based on the thermal radiation energy of the identified reference object.

In this embodiment, a camera unit combined with an infrared sensor can be used to capture infrared images. The infrared image includes a reference object, and the infrared image is identified to determine the thermal radiation energy distribution of the reference object, so as to determine the reference based on the thermal radiation energy of the reference object. The measured value of the body temperature of the object. In a possible implementation manner, an object detection technology can be used to identify the infrared image, and the reference object in the infrared image can be identified. In another possible implementation manner, the semantic segmentation technology can also be used to recognize the infrared image, and the reference object in the infrared image can be analyzed according to the semantic analysis.

In a possible implementation, if the temperature of a designated part of the reference object is selected to represent the body temperature of the reference object, after object recognition is performed on the infrared image and the reference object is recognized, the method may further include: recognizing according to the reference object Designated part, the measured value of the object is determined based on the recognized thermal radiation energy of the designated part.

Regarding the identification of the designated part, the technology of object detection or semantic segmentation can be used for recognition, or the position of the designated part on the body of the reference object can be identified according to the outline of the reference object, so as to determine the distribution of thermal radiation energy of the designated part.

In order to improve the accuracy of temperature measurement, in an exemplary embodiment, the infrared image may be preprocessed before object recognition is performed on the infrared image. The preprocessing operations include but are not limited to at least one of the following: non-uniform correction, Time domain denoising, removal of dead pixels, removal of fixed pattern noise, temperature drift compensation, so as to obtain a clearer infrared image, which is convenient for measuring the body temperature of the reference object.

In order to improve the accuracy of object recognition, at least one of the following processing can be performed on the pre-processed infrared image: contrast stretching and detail enhancement. In this way, an infrared image with stronger contrast and detail can be obtained, which is conducive to identifying objects and has a better display effect.

In addition to using infrared images for temperature measurement to identify objects, in order to improve the accuracy of object recognition, in an exemplary embodiment, object recognition is performed on the captured infrared images and visible light images; The thermal radiation of the reference object can determine the measured value of the object. In this embodiment, it is also possible to use a camera unit combined with a visible light sensor to capture visible light images, perform object recognition on the visible light images, and obtain recognition results, and combine the recognition results based on infrared images to determine the recognition of the reference object, and then based on the reference object Thermal radiation can determine the measured value of its body temperature. Regarding the recognition of visible light images, object detection or semantic segmentation techniques can also be used for recognition.

In order to further improve the accuracy of object recognition, in a possible implementation manner, the acquired visible light image and infrared image are the same viewfinder picture. In this way, the recognition interference caused by different viewfinders can be reduced.

In the same way, in order to improve the accuracy of object recognition, at least one of the following processing can also be performed on the visible light image: contrast stretching and detail enhancement. In this way, a visible light image with stronger contrast and detail can be obtained, which is conducive to identifying the reference object and has a better display effect.

In the same way, when the temperature measuring device measures the measured value of the body temperature of the target measured object, the captured image usually does not only include the target measured object, and the method of identifying the reference object in the above embodiment can also be used to identify the target measured object. Things. That is, the step of obtaining the measured value of the body temperature of the target object includes: performing object recognition on the captured infrared image; and determining the measured value of the object based on the recognized thermal radiation energy of the target object.

In a possible implementation, if the temperature of a designated part of the target measured object is selected to represent the body temperature of the target measured object, after object recognition is performed on the infrared image and the target measured object is identified, the method may further include : Identify the designated part according to the target measured object, and determine the measured value of the body temperature of the target measured object based on the thermal radiation energy of the identified designated part.

Regarding the identification of the designated part, the technology of object detection or semantic segmentation can be used for recognition, and the position of the designated part on the body of the target measured object can also be identified according to the contour of the target measured object, so as to determine the thermal radiation energy distribution of the designated part Condition.

In order to improve the accuracy of temperature measurement, in an exemplary embodiment, the infrared image may be preprocessed before object recognition is performed on the infrared image. The preprocessing operations include but are not limited to at least one of the following: non-uniform correction, Time domain denoising, removal of dead pixels, removal of fixed pattern noise, temperature drift compensation, so as to obtain a clearer infrared image, which is convenient for measuring the body temperature of the target object.

In order to improve the accuracy of object recognition, at least one of the following processing can be performed on the pre-processed infrared image: contrast stretching and detail enhancement. In this way, an infrared image with stronger contrast and detail can be obtained, which is conducive to identifying the target object and has a better display effect.

In addition to using infrared images for temperature measurement to identify objects, in order to improve the accuracy of object recognition, in an exemplary embodiment, object recognition is performed on the captured infrared images and visible light images; The thermal radiation of the target measured object can determine the measured value of the object.

In the same way, in order to improve the accuracy of object recognition, at least one of the following processing can also be performed on the visible light image: contrast stretching and detail enhancement. In this way, a visible light image with stronger contrast and detail can be obtained, which is conducive to identifying the target object and has a better display effect.

In an exemplary embodiment, if the temperature of the reference object and the target object is measured at the same time, an infrared image including the reference object and the target object can be obtained, and the object detection and semantic segmentation technology can be used to perform object recognition. The reference object and the target measured object, and then the body temperature of the reference object and the target measured object are measured based on the thermal radiation energy of the reference object and the target measured object, respectively. This embodiment can be applied to a situation where the reference object and the target measured object are objects of different types.

In order to enhance the intuitiveness of the temperature measurement data, in an exemplary embodiment, the method further includes: outputting the corrected measured value of the body temperature of the target object. In this way, measurement personnel can obtain more intuitive temperature measurement data, which is convenient for inspection or judgment in practical applications. In another exemplary embodiment, the method further includes: outputting an infrared image of the target measured object. Since the infrared image uses different colors to represent different thermal radiation distribution ranges, the output of the infrared image allows the surveyor to more intuitively understand the thermal radiation distribution of the target object. It can be understood that it is also possible to combine the infrared image and the corrected measurement value of the body temperature of the target object to mark the corrected measurement value on the infrared image. If it is the temperature of the specified part of the target object, it can also be marked on the infrared image. The position or close position of the designated part of the target measured object on the infrared image makes the measured object data clearer and more intuitive.

In order to understand the technical solution of the present application more intuitively, the above-mentioned infrared thermal imaging temperature measurement method is described in detail by taking a specific application scenario of detecting passenger temperature during airport security inspection as an example. Fig. 4 is a schematic flowchart of an infrared thermal imaging temperature measurement method according to an exemplary embodiment of the application. As shown in Figure 4, when detecting the temperature of passengers at the airport, the method includes the following steps 401 to 407:

Step 401: Use the environmental sensor to obtain a measurement value of the ambient temperature of a reference object at an airport detection location.

Step 402: Obtain an infrared image and a visible light image including the reference object by using the infrared sensor and the visible light sensor respectively, and perform object recognition based on the fusion of the infrared image and the visible light image, identify the reference object, and obtain the reference object based on the thermal radiation distribution of the reference object. The measured value of the body temperature.

Step 403: Obtain the distance measurement value of the reference object by using the distance sensor.

Step 404: Based on the relationship table of ambient temperature-distance-measuring distance-body temperature of the reference object, determine the measured value of the reference object at the ambient temperature and the distance from the distance sensor as the reference value of the body temperature under the measured distance.

Step 405: Determine the correction value between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object.

Step 406: Obtain an infrared image and a visible light image including at least one passenger by using an infrared sensor and a visible light sensor, and perform object recognition based on the fusion of the infrared image and the visible light image, and identify the passenger and the passenger's forehead. The thermal radiation distribution obtains the measured value of the passenger's body temperature.

Step 407: Correct the measured value of the passenger's body temperature based on the correction value.

Step 408: Mark the corrected measured value of the passenger's body temperature in the infrared image and output it to the display.

It should be understood that the execution order of steps 401 to 405 for obtaining the parameters of the reference object may be adjusted, and the steps may also be executed at the same time. The present application does not limit the execution of steps 401 to 405 in the order. Step 406 can be executed after the above steps 401 to 405 are completed, or can be executed during the execution of steps 401 to 405, as long as the steps 401 to 405 and 406 do not affect each other. In addition, if the reference object and the target object to be measured are measured at the same time, step 406 can also be performed at the same time as step 402.

The various technical features in the above embodiments or implementations can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features, but due to space limitations, they are not described one by one.

This application also provides an electronic device suitable for implementing the infrared thermal imaging temperature measurement method described in any of the above embodiments. Fig. 5 is a structural block diagram of an electronic device shown in an exemplary embodiment of the application. As shown in FIG. 3, the electronic device 50 includes: an infrared thermal imaging temperature measuring device 510 and an ambient temperature sensor 520, wherein:

The environmental temperature sensor 520 is used to detect the measured value of the environmental temperature of the environment in which the reference object is located;

The infrared thermal imaging temperature measuring device 510 is used to obtain the measurement value of the environmental temperature from the environmental temperature sensor, and obtain the measurement value of the body temperature of the reference object; determine that the reference object is in the place based on a specified parameter The reference value of the body temperature at the ambient temperature, the specified parameter includes the reference value of the reference object at different ambient temperatures; determining the difference between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object And correcting the measured value of the body temperature of the target object based on the correction value, wherein the target object and the reference object are in the same environment.

In an exemplary embodiment, the electronic device further includes a distance sensor for detecting a distance measurement value of the reference object and a plurality of distance measurement values of the target object; the specified parameter further includes a reference object The reference value of the body temperature of the reference object at different distances from the distance sensor;

The infrared thermal imaging temperature measurement device is also used to obtain the distance measurement value of the reference object from the distance sensor; determine the environmental temperature of the reference object and the distance from the distance measurement source based on the specified parameter The reference value of the body temperature when the distance is measured.

In an exemplary embodiment, the reference object and the target object to be measured are at the same position.

In an exemplary embodiment, the distance sensor is any one of the following: a laser distance measuring sensor, a lidar sensor, a TOF time-of-flight distance measuring sensor, an ultrasonic distance measuring sensor, and a terahertz distance measuring sensor.

In an exemplary embodiment of the present application, the infrared thermal imaging temperature measurement device includes an infrared sensor and a processor;

The infrared sensor is used to obtain a thermal radiation distribution image;

The processor is configured to obtain the measurement value of the environmental temperature from the environmental temperature sensor, and perform object recognition on the thermal radiation distribution image, where the object is a reference object or a target measured object, based on the reference The thermal radiation energy of the object can obtain the measured value of the body temperature of the reference object; the thermal radiation energy of the target object can obtain the measured value of the body temperature of the target object; the determination of the The reference value of the body temperature of the reference object at the ambient temperature; determining the correction value between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object; and making the target based on the correction value The measured value of the body temperature of the measured object is corrected.

In an exemplary embodiment, the electronic device further includes a visible light sensor for acquiring a visible light image, and the visible light image includes the object;

The processor is further configured to obtain the visible light image from the visible light sensor, perform object recognition based on the thermal radiation distribution image and the visible light image, and recognize the object.

In an exemplary embodiment, the method of object recognition includes at least one of the following: object detection and semantic segmentation.

In an exemplary embodiment, the processor is further configured to perform at least one of the following pre-processing on the thermal radiation distribution image: non-uniformity correction, temporal denoising, dead pixel removal, fixed pattern noise removal, temperature Drift compensation.

In an exemplary embodiment, the processor is further configured to perform at least one of the following processing on the pre-processed image: contrast stretching and detail enhancement.

In an exemplary embodiment, the infrared sensor is any one of the following: a far infrared sensor, a near infrared sensor, a refrigerated infrared sensor, and an uncooled infrared sensor.

In an exemplary embodiment, the reference object and the target measured object are objects of the same type.

In an exemplary embodiment, the electronic device further includes a display device for displaying the thermal radiation distribution image and/or the visible light image.

In an exemplary embodiment, the display device is also used to display the corrected measurement value of the body temperature of the target object.

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

The application also provides an unmanned aerial vehicle, which is suitable for implementing the infrared thermal imaging temperature measurement method described in any of the foregoing embodiments. Fig. 6 is a structural block diagram of an unmanned aerial vehicle shown in an exemplary embodiment of the application. As shown in FIG. 6, the drone 60 includes a body (not shown), an infrared sensor 610, an ambient temperature sensor 620, a memory 630, and a processor 640. The infrared sensor 610, the ambient temperature sensor 620 and the processor 640 are respectively Connected, the memory 630 is connected to the processor 640. in:

The infrared sensor 610 is arranged on the fuselage to obtain a heat radiation distribution image;

The environment sensor 620 is arranged on the body and is used to detect the measured value of the environment temperature of the environment in which the reference object is located;

The memory 630 and the processor 640 are arranged in the body, and the memory 630 stores a computer program that can run on the processor 440.

The processor 640 implements the following steps when executing the calculation program:

In an exemplary embodiment, the drone further includes a distance sensor for detecting the distance measurement value of the reference object; the specified parameter further includes the reference object and the distance sensor at different distances. The reference value of the body temperature of the object;

The processor also implements the following steps when executing the program:

Obtain the distance measurement value of the reference object from the distance sensor; determine the reference value of the body temperature of the reference object at the ambient temperature and the distance measurement value from the distance measurement source based on the specified parameter.

In an exemplary embodiment, the processor further implements the following steps when executing the program:

Performing object recognition on the thermal radiation distribution image;

The measured value of the object is determined based on the thermal radiation energy of the identified object; wherein the object is the reference object or the target measured object.

In an exemplary embodiment, the drone further includes a visible light sensor for acquiring a visible light image, and the visible light image includes the object;

The processor also implements the following steps when executing the program:

The visible light image is acquired from the visible light sensor, and the object is recognized based on the heat radiation distribution image and the visible light image, and the object is recognized.

At least one of the following preprocessing is performed on the thermal radiation distribution image: non-uniformity correction, time domain denoising, dead pixel removal, fixed pattern noise removal, temperature drift compensation.

At least one of the following processing is performed on the preprocessed image: contrast stretching and detail enhancement.

In an exemplary embodiment, the drone further includes a display for displaying the thermal radiation distribution image and/or the visible light image.

In an exemplary embodiment, the display is also used to display the corrected measurement value of the body temperature of the target object.

In an exemplary embodiment, the drone further includes a wireless communication module for establishing a communication connection with the remote controller.

[160] In a specific application scenario, the drone is used in conjunction with the remote control, and the drone and the remote control can establish a wireless communication connection. The remote control is equipped with a display, and the drone can obtain the target measured object. The infrared image and the corrected measured value of the target object’s body temperature are sent to the remote control, and the remote control is output to the display for display, so that the user can intuitively know the heat radiation distribution of the target object and the accuracy is high The measured value of the body temperature of the target measured object, so that the user can make accurate judgments based on the data of the target measured object and take corresponding measures.

For example, using the drone of the above embodiment to detect the fire point of a mountain forest fire, the user controls the drone to capture the reference object first and obtain the ambient temperature of the environment where the reference object is located through the remote control, and determine the reference object according to the specified parameters The reference value of the body temperature at the ambient temperature, and the correction value between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object is determined. The user then controls the flight path of the drone through the remote control. When flying within the range that can capture the infrared image of the mountain forest fire, the user can return the infrared image of the fired mountain forest and the corrected mark according to the drone body. The temperature measurement value of the mountain forest can intuitively and accurately determine the fire point based on the infrared image and temperature measurement value of the volcanic forest, so that effective fire extinguishing measures can be taken for the fire point.

The above-mentioned embodiments are the steps of the infrared thermal imaging temperature measurement method performed by the drone. In another exemplary embodiment, the drone may only be used for the measurement value of the ambient temperature of the reference object in the infrared thermal imaging temperature measurement method, the thermal radiation distribution image of the reference object, the thermal radiation distribution image of the target measured object, etc. The parameter acquisition step, and the temperature measurement and correction steps of the infrared thermal imaging temperature measurement method can be performed by the remote controller that controls the drone.

The application also provides a remote control suitable for drones. Fig. 7 is a structural block diagram of a remote control shown in an exemplary embodiment of the application. As shown in Figure 7, the remote controller 70 includes: a body (not shown), a remote control component 710, a display 720, a memory 730, a processor 740, and a wireless communication module 750, a remote control component 710, a display 720, a memory 730, and a wireless The communication module 750 is connected to the processor 740 respectively. in:

The remote control component 710 is arranged on the body for triggering remote control commands;

The display 720 is arranged on the body to display the received thermal radiation distribution image and temperature measurement value;

The memory 730, the processor 740, and the wireless communication module 750 are disposed in the body, and the memory 730 stores a computer program that can run on the processor 740.

The processor 740 implements the following steps when executing the calculation program:

The received measurement value of the environmental temperature of the environment in which the reference object is located, the thermal radiation distribution image of the reference object, and the thermal radiation distribution image of the target measured object;

Acquiring a measurement value of the body temperature of the reference object based on the thermal radiation distribution image of the reference object;

Acquiring the measured value of the body temperature of the target measured object based on the thermal radiation distribution image of the target measured object;

In order to have a clearer understanding of the specific application of the combination of the unmanned aerial vehicle and the remote control in this application, this application also provides an unmanned aerial vehicle system, which is suitable for implementing the infrared thermal imaging temperature measurement method described in any of the foregoing embodiments. 8A to 8B are structural block diagrams of an unmanned aerial vehicle system shown in an exemplary embodiment of this application. As shown in FIG. 8A, the UAV system 80 includes: a UAV 810 and a remote controller 820. The drone 810 is communicatively connected with the remote controller 820. As shown in Figure 8B, where:

The drone 810 includes a fuselage (not shown), an infrared sensor 811, an ambient temperature sensor 812, a first memory 813, a first processor 814, and a first wireless communication module 815, an infrared sensor 811, an ambient temperature sensor 812, and a A wireless communication module 815 is respectively connected to the first processor 814, and the first memory 813 is connected to the first processor 814.

The remote control 820 includes a body (not shown), a remote control component 821, a display 822, a second memory 823, a second processor 824 and a second wireless communication module 825, a remote control component 821, a display 822, a second memory 723, and a second wireless communication module 825. The two wireless communication modules 825 are connected to the second processor 824 respectively.

In drone 810:

The infrared sensor 811 is arranged on the fuselage to obtain a heat radiation distribution image;

The environment sensor 812 is arranged on the fuselage, and is used to detect the measured value of the environment temperature of the environment where the reference object is located;

The first memory 813, the first processor 814, and the first wireless communication module 815 are disposed in the body, and the first memory 813 stores a computer program that can be run on the first processor 814.

The first processor 814 implements the following steps when executing the calculation program:

Acquiring a measurement value of the environmental temperature of the environment in which the reference object is located and the thermal radiation distribution image of the reference object;

Sending the measured value of the ambient temperature and the heat radiation distribution image of the reference object to the remote controller;

Obtain the thermal radiation distribution image of the target measured object;

The thermal radiation distribution image of the target object to be measured is sent to the remote controller.

In the remote control 820:

The remote control component 821 is arranged on the body for triggering remote control commands;

The display 822 is arranged on the body to display the received thermal radiation distribution image and temperature measurement value;

The second memory 823, the second processor 824, and the second wireless communication module 825 are disposed in the body, and the second memory 823 stores a computer program that can run on the second processor 824.

The second processor 824 implements the following steps when executing the calculation program:

Receiving the measured value of the ambient temperature of the environment in which the reference object is located, the thermal radiation distribution image of the reference object, and the thermal radiation distribution image of the target measured object sent by the drone 810;

The measured value of the body temperature of the target measured object is corrected based on the corrected value, wherein the target measured object and the reference object are in the same environment. In addition to the remote control that can execute the processing, it can also be a terminal device that communicates with the drone, such as a mobile phone, pad, or computer, to execute the processing.

This application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented:

It can be understood that, when the computer program stored on the computer-readable storage medium is executed by the processor, the steps of the infrared thermal imaging temperature measurement method described in any of the foregoing embodiments can also be implemented.

The embodiments of the present application may adopt the form of a computer program product implemented on one or more readable media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program codes. Computer-usable readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer readable media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only Memory (ROM), erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.

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 specific embodiments of the present application are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than in the embodiments and still achieve desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown in order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the invention applied here. This application is intended to cover any variations, uses, or adaptive changes of this application. These variations, uses, or adaptive changes follow the general principles of this application and include common knowledge or customary technical means in the technical field not applied for in this application. . The description and the embodiments are only regarded as exemplary, and the true scope and spirit of the application are pointed out by the following claims.

It should be understood that the present application is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the application is only limited by the appended claims.

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

An infrared thermal imaging temperature measurement method, characterized in that the method includes:

Acquiring the measured value of the ambient temperature of the environment in which the reference object is located and the measured value of the body temperature of the reference object;

Determining the reference value of the body temperature of the reference object at the ambient temperature based on a designated parameter, the designated parameter including the reference value of the reference object at different ambient temperatures;

Determining the correction value between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object;

The measured value of the body temperature of the target measured object is corrected based on the corrected value, wherein the target measured object and the reference object are in the same environment.
The infrared thermal imaging temperature measurement method according to claim 1, wherein the specified parameter further comprises a reference value of the body temperature of the reference object at different distances from the distance measuring source; the method further comprises :

Acquiring the measured value of the distance between the reference object and the ranging source;

The determining the reference value of the body temperature of the reference object at the ambient temperature based on the specified parameter includes:

The reference value of the body temperature of the reference object at the ambient temperature and the distance measurement value from the distance measuring source is determined based on the specified parameter.
The infrared thermal imaging temperature measurement method according to claim 1, wherein the reference object and the target object to be measured are at the same position.
The infrared thermal imaging temperature measurement method according to claim 1, wherein the step of obtaining the measured value of the body temperature of the reference object comprises:

Perform object recognition on the captured images;

The measured value of the object is determined based on the thermal radiation energy of the identified object; wherein the object is the reference object.
The infrared thermal imaging temperature measurement method according to claim 4, wherein the image comprises an infrared image.
The infrared thermal imaging temperature measurement method according to claim 5, wherein the image further comprises a visible light image.
The infrared thermal imaging temperature measurement method according to claim 5, wherein the method of performing object recognition on the captured image includes at least one of the following:

Perform object detection on the captured image, and identify the object;

Perform semantic segmentation on the captured image, and analyze the object based on semantics.
The infrared thermal imaging temperature measurement method according to claim 5, wherein when the captured image is an infrared image, the method further comprises:

Perform at least one of the following preprocessing on the captured image:

Non-uniform correction, time domain denoising, removal of dead pixels, removal of fixed pattern noise, temperature drift compensation.
The infrared thermal imaging temperature measurement method according to claim 8, characterized in that, before object recognition is performed on the captured image, the method further comprises:

Perform at least one of the following processing on the preprocessed image:

Contrast stretch and detail enhancement.
The infrared thermal imaging temperature measurement method according to claim 1, wherein the body temperature of the reference object is the temperature of a designated part of the reference object.
The infrared thermal imaging temperature measurement method according to claim 10, wherein the reference object is a constant temperature object.
The infrared thermal imaging temperature measurement method according to claim 11, wherein the constant temperature object comprises a constant temperature animal.
The infrared thermal imaging temperature measurement method according to claim 12, wherein the designated part of the reference object includes at least one of the following:

Designated organs of warm-blooded animals, designated parts of the body of warm-blooded animals.
The infrared thermal imaging temperature measurement method according to claim 1, wherein the reference object and the target measured object are objects of the same category.
An electronic device, characterized in that it comprises an infrared thermal imaging temperature measuring device and an ambient temperature sensor;

The environmental temperature sensor is used to detect the measured value of the environmental temperature of the environment where the reference object is located;

The infrared thermal imaging temperature measuring device is used to obtain the measurement value of the environmental temperature from the environmental temperature sensor, and obtain the measurement value of the body temperature of the reference object; determine where the reference object is located based on a specified parameter The reference value of the body temperature at ambient temperature, the specified parameter includes the reference value of the reference object at different ambient temperatures; determining the difference between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object And correcting the measured value of the body temperature of the target measured object based on the corrected value, wherein the target measured object and the reference object are in the same environment.
The electronic device according to claim 15, wherein:

The electronic device further includes a distance sensor for detecting the distance measurement value of the reference object and a plurality of distance measurement values of the target object; the specified parameter also includes that the reference object is at different distances from the distance sensor. The reference value of the body temperature of the reference object described below;

The infrared thermal imaging temperature measurement device is also used to obtain the distance measurement value of the reference object from the distance sensor; determine the environmental temperature of the reference object and the distance from the distance measurement source based on the specified parameter The reference value of the body temperature when the distance is measured.
15. The electronic device according to claim 15, wherein the reference object and the target measured object are at the same position.
The electronic device according to claim 16, wherein the distance sensor is any one of the following:

Laser ranging sensor, lidar sensor, TOF time-of-flight ranging sensor, ultrasonic ranging sensor, terahertz ranging sensor.
The electronic device according to claim 15, wherein the infrared thermal imaging temperature measuring device comprises an infrared sensor and a processor;

The infrared sensor is used to obtain a thermal radiation distribution image;

The processor is configured to obtain the measurement value of the environmental temperature from the environmental temperature sensor, and perform object recognition on the thermal radiation distribution image, where the object is a reference object or a target measured object, based on the reference The thermal radiation energy of the object can obtain the measured value of the body temperature of the reference object; the thermal radiation energy of the target object can obtain the measured value of the body temperature of the target object; the determination of the The reference value of the body temperature of the reference object at the ambient temperature; determining the correction value between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object; and making the target based on the correction value The measured value of the body temperature of the measured object is corrected.
The electronic device according to claim 19, wherein the electronic device further comprises a visible light sensor for acquiring a visible light image, the visible light image including the object;

The processor is further configured to obtain the visible light image from the visible light sensor, perform object recognition based on the thermal radiation distribution image and the visible light image, and recognize the object.
The electronic device according to claim 19, wherein the object recognition method comprises at least one of the following:

Object detection, semantic segmentation.
The electronic device according to claim 19, wherein the processor is further configured to perform at least one of the following preprocessing on the thermal radiation distribution image:

Non-uniform correction, time domain denoising, removal of dead pixels, removal of fixed pattern noise, temperature drift compensation.
The electronic device according to claim 22, wherein the processor is further configured to perform at least one of the following processing on the preprocessed image:

Contrast stretch and detail enhancement.
The electronic device according to claim 19, wherein the infrared sensor is any one of the following:

Far infrared sensor, near infrared sensor, refrigerated infrared sensor, uncooled infrared sensor.
The electronic device according to claim 15, wherein the reference object and the target measured object are objects of the same type.
The electronic device according to claim 20, wherein the electronic device further comprises a display device for displaying the thermal radiation distribution image and/or the visible light image.
26. The electronic device according to claim 26, wherein the display device is further configured to display the corrected measurement value of the body temperature of the target object.
An unmanned aerial vehicle, characterized in that it includes:

body;

An infrared sensor, which is arranged on the fuselage and is used to obtain a heat radiation distribution image;

An ambient temperature sensor, which is arranged on the body, and is used to detect the measured value of the ambient temperature of the environment in which the reference object is located;

A memory, a processor, and a computer program that is stored on the memory and can run on the processor, the memory and the processor are arranged in the body;

The infrared sensor and the ambient temperature sensor are respectively connected to the processor, and the memory is connected to the processor;

The processor implements the following steps when executing the program:

Acquiring the measured value of the ambient temperature of the environment in which the reference object is located and the measured value of the body temperature of the reference object;

Determining a reference value of the body temperature of the reference object at an ambient temperature based on a designated parameter, the designated parameter including the reference value of the reference object at different ambient temperatures;

Determining the correction value between the measured value of the body temperature of the reference object and the reference value of the body temperature of the reference object;

The measured value of the body temperature of the target measured object is corrected based on the corrected value, wherein the target measured object and the reference object are in the same environment.
The drone of claim 28, wherein:

The drone further includes a distance sensor for detecting the distance measurement value of the reference object; the designated parameter also includes a reference value of the body temperature of the reference object at different distances from the distance sensor;

The processor also implements the following steps when executing the program:

Obtain the distance measurement value of the reference object from the distance sensor; determine the reference value of the body temperature of the reference object at the ambient temperature and the distance measurement value from the distance measurement source based on the specified parameter.
The unmanned aerial vehicle according to claim 28, wherein the reference object and the target measured object are at the same position.
The drone of claim 29, wherein the distance sensor is any one of the following:

Laser ranging sensor, lidar sensor, TOF time-of-flight ranging sensor, ultrasonic ranging sensor, terahertz ranging sensor.
The drone of claim 28, wherein the processor further implements the following steps when executing the program:

Performing object recognition on the thermal radiation distribution image;

The measured value of the object is determined based on the thermal radiation energy of the identified object; wherein the object is the reference object or the target measured object.
The unmanned aerial vehicle according to claim 32, wherein the unmanned aerial vehicle further comprises a visible light sensor for acquiring a visible light image, and the visible light image includes the object;

The processor also implements the following steps when executing the program:

Obtain the visible light image from the visible light sensor, perform object recognition based on the thermal radiation distribution image and the visible light image, and recognize the object.
The unmanned aerial vehicle according to claim 32, wherein the object recognition method includes at least one of the following:

Object detection, semantic segmentation.
The drone of claim 32, wherein the processor further implements the following steps when executing the program:

Perform at least one of the following preprocessing on the thermal radiation distribution image:

Non-uniform correction, time domain denoising, removal of dead pixels, removal of fixed pattern noise, temperature drift compensation.
The drone of claim 35, wherein the processor further implements the following steps when executing the program:

Perform at least one of the following processing on the preprocessed image:

Contrast stretch and detail enhancement.
The drone of claim 28, wherein the infrared sensor is any one of the following:

Far infrared sensor, near infrared sensor, refrigerated infrared sensor, uncooled infrared sensor.
The drone of claim 28, wherein the reference object and the target measured object are objects of the same category.
The drone of claim 33, wherein the drone further comprises a display for displaying the thermal radiation distribution image and/or the visible light image.
The drone of claim 36, wherein the display is also used to display the corrected measurement value of the body temperature of the target object.
A computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the steps of the infrared thermal imaging temperature measurement method described in any one of claims 1 to 14.