1. A method of measuring temperature, the method comprising:

acquiring initial temperatures and target temperature measurement distances of a temperature object to be measured acquired at a plurality of moments, and real-time temperature differences of an appointed reference object, wherein the real-time temperature differences are the difference values of the real-time temperature of the appointed reference object at a real-time environment temperature and a standard temperature at a preset standard environment temperature;

correcting the initial temperature of the object to be measured at any moment according to the target temperature measurement distance of the object to be measured at the moment and the real-time temperature difference of the specified reference object, so as to obtain the target temperature of the object to be measured at the moment;

and performing data analysis on the target temperatures of the object to be measured at the plurality of moments to obtain the temperature of the object to be measured.

2. The method as claimed in claim 1, wherein the obtaining of the initial temperature and the target temperature measurement distance of the object to be measured, which are acquired at a plurality of times, comprises:

acquiring infrared images and depth images acquired at a plurality of moments;

fusing the infrared image and the depth image which are acquired at the same time to generate a fused image;

and aiming at the fusion image generated at any moment, identifying the object to be measured in the fusion image, reading the infrared gray information and the target temperature measurement distance of the object to be measured from the fusion image, and obtaining the initial temperature of the object to be measured according to the infrared gray information and the corresponding relation between the preset temperature and the infrared gray information.

3. The method of claim 1, wherein before the obtaining of the initial temperature and the target thermometric distance of the object to be measured collected at the plurality of time instants and the real-time temperature difference of the designated reference, the method further comprises:

tracking and detecting the object to be subjected to temperature measurement;

the acquiring of the initial temperature and the target temperature measurement distance of the object to be measured at a plurality of moments and the real-time temperature difference of the designated reference object comprises the following steps:

and if the object to be measured in the preset temperature measuring area is detected, acquiring the initial temperature and the target temperature measuring distance of the object to be measured acquired at a plurality of moments and the real-time temperature difference of the specified reference object.

4. The method according to claim 3, wherein after the correcting the initial temperature of the object to be temperature-measured acquired at any one time according to the target temperature measurement distance of the object to be temperature-measured acquired at that time and the real-time temperature difference of the specified reference object to obtain the target temperature of the object to be temperature-measured at that time, the method further comprises:

storing the target temperatures of all the objects to be measured in the preset temperature measuring area within the time period when the objects to be measured are located in the preset temperature measuring area into a temperature sample space;

the data analysis of the target temperatures of the object to be measured at the plurality of moments to obtain the temperature of the object to be measured includes:

reading the target temperature of all the objects to be measured in the temperature sample space;

and performing data analysis on all the read target temperatures to obtain the temperature of the object to be measured.

5. The method as claimed in claim 3, wherein after the analyzing the target temperatures of the object to be temperature-measured at the plurality of moments to obtain the temperature of the object to be temperature-measured, the method further comprises:

and if the object to be measured with the temperature is detected to leave the preset temperature measuring area, outputting the temperature of the object to be measured with the temperature.

6. The method of claim 1, wherein said obtaining real-time temperature differences for a given reference acquired at a plurality of times comprises:

acquiring a standard temperature of the specified reference object at a preset standard environment temperature, target temperature measurement distances of the specified reference object acquired at multiple moments and initial infrared gray scale information at a real-time environment temperature;

aiming at any moment, compensating the initial infrared gray information of the specified reference object collected at the moment according to the target temperature measurement distance of the specified reference object collected at the moment to obtain the real-time infrared gray information of the specified reference object at the moment;

determining the real-time temperature of the specified reference object at each moment according to the real-time infrared gray information of the specified reference object at each moment and the corresponding relation between the preset temperature and the infrared gray information;

and respectively differentiating the real-time temperature of the specified reference object at each moment from the standard temperature to obtain the real-time temperature difference of the specified reference object at each moment.

7. The method according to claim 1, wherein the step of correcting the initial temperature of the object to be temperature-measured acquired at any time according to the target temperature measurement distance of the object to be temperature-measured acquired at the time and the real-time temperature difference of the specified reference object to obtain the target temperature of the object to be temperature-measured at the time comprises:

aiming at any moment, determining a target compensation amount corresponding to the target temperature measuring distance according to the target temperature measuring distance of the object to be measured acquired at the moment and the corresponding relation between the preset temperature measuring distance and the compensation amount;

determining the distance compensation temperature of the object to be measured at the moment according to the initial temperature of the object to be measured and the target compensation quantity acquired at the moment;

and subtracting the distance compensation temperature of the object to be measured at the moment from the real-time temperature difference acquired at the moment to obtain the target temperature of the object to be measured at the moment.

8. The method according to claim 1, wherein the step of correcting the initial temperature of the object to be temperature-measured acquired at any time according to the target temperature measurement distance of the object to be temperature-measured acquired at the time and the real-time temperature difference of the specified reference object to obtain the target temperature of the object to be temperature-measured at the time comprises:

aiming at any moment, determining a target compensation amount corresponding to the target temperature measuring distance according to the target temperature measuring distance of the object to be measured, which is acquired at the moment, and the corresponding relation between the preset temperature measuring distance and the infrared gray level information compensation amount;

determining target infrared gray information of the object to be measured at the moment according to the initial infrared gray information of the object to be measured at the moment and the target compensation amount;

determining the distance compensation temperature of the object to be measured at the moment according to the target infrared gray information of the object to be measured at the moment and the corresponding relation between the preset temperature and the infrared gray information;

and subtracting the distance compensation temperature of the object to be measured at the moment from the real-time temperature difference acquired at the moment to obtain the target temperature of the object to be measured at the moment.

9. The method according to claim 1, wherein the analyzing the target temperatures of the object to be temperature-measured at the plurality of moments to obtain the temperature of the object to be temperature-measured comprises:

and performing data analysis on the target temperature of the object to be measured at the plurality of moments by adopting a random sampling consistency algorithm to obtain the temperature of the object to be measured.

10. The temperature measuring equipment is characterized by comprising a distance measuring device, a temperature detecting device, a processor and a memory;

the distance measuring device is used for collecting a target temperature measuring distance representing the distance between an object to be measured and the temperature measuring equipment and sending the target temperature measuring distance to the processor;

the temperature detection device is used for acquiring and representing the initial temperature of the object to be measured and sending the initial temperature to the processor;

the memory stores machine executable instructions executable by the processor, which are loaded and executed by the processor to implement the method of any one of claims 1 to 9.

11. A machine-readable storage medium having stored therein machine-executable instructions which, when loaded and executed by a processor, implement the method of any one of claims 1-9.

Background

Currently, with the continuous development of infrared technology, a non-contact temperature measurement mode implemented by using infrared radiation emitted by a temperature object to be measured is widely applied to a plurality of technical fields, for example, technical fields such as product quality control, online fault detection of equipment, safety protection, and the like.

However, since the infrared radiation emitted by the object to be measured diffuses with the increase of the temperature measurement distance, the infrared radiation received by the temperature measurement equipment is weakened to a certain extent; the change of the ambient temperature may also affect the measurement performance of the temperature measurement device, and therefore, in the related art, the temperature measurement result obtained by the non-contact temperature measurement method implemented by using the infrared radiation emitted by the object to be measured is often not accurate enough. Particularly, when the high-precision temperature measurement is performed on an object to be measured, the temperature measurement precision often cannot meet the use requirement, and phenomena such as false alarm and wrong report may occur.

Disclosure of Invention

The embodiment of the invention aims to provide a temperature measuring method, temperature measuring equipment and a machine readable storage medium, so as to reduce the influence of temperature measuring distance and ambient temperature on a non-contact temperature measuring mode and improve the temperature measuring precision of the temperature measuring equipment. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a temperature measurement method, where the method includes:

acquiring initial temperatures and target temperature measuring distances of a temperature object to be measured acquired at a plurality of moments, and real-time temperature differences of an appointed reference object, wherein the real-time temperature differences are the difference values of the real-time temperature of the appointed reference object at a real-time environment temperature and a standard temperature at a preset standard environment temperature;

correcting the initial temperature of the temperature object to be measured acquired at any moment according to the target temperature measurement distance of the temperature object to be measured acquired at the moment and the real-time temperature difference of the specified reference object to obtain the target temperature of the temperature object to be measured at the moment;

and carrying out data analysis on the target temperatures of the temperature objects to be measured at a plurality of moments to obtain the temperatures of the temperature objects to be measured.

Optionally, the step of obtaining the initial temperature and the target temperature measurement distance of the object to be measured, which are acquired at multiple times, includes:

acquiring infrared images and depth images acquired at a plurality of moments;

fusing the infrared image and the depth image which are acquired at the same time to generate a fused image;

and aiming at the fusion image generated at any moment, identifying the object to be measured in the fusion image, reading the infrared gray information and the target temperature measurement distance of the object to be measured from the fusion image, and obtaining the initial temperature of the object to be measured according to the corresponding relation between the preset temperature and the infrared gray information according to the infrared gray information.

Optionally, before the step of obtaining the initial temperature and the target temperature measurement distance of the object to be measured at multiple times and specifying the real-time temperature difference of the reference object, the method further includes:

tracking and detecting an object to be subjected to temperature measurement;

the method comprises the steps of acquiring the initial temperature and the target temperature measurement distance of a temperature object to be measured acquired at a plurality of moments and specifying the real-time temperature difference of a reference object, and comprises the following steps:

and if the object to be measured is detected to be located in the preset temperature measuring area, acquiring the initial temperature and the target temperature measuring distance of the object to be measured acquired at a plurality of moments and the real-time temperature difference of the specified reference object.

Optionally, at any time, after the step of correcting the initial temperature of the object to be measured, which is acquired at the time, according to the target temperature measurement distance of the object to be measured, which is acquired at the time, and the real-time temperature difference of the specified reference object, to obtain the target temperature of the object to be measured at the time, the method further includes:

storing the target temperatures of all temperature objects to be measured, which are obtained within the time period that the temperature objects to be measured are located in the preset temperature measuring area, into a temperature sample space;

the method comprises the following steps of carrying out data analysis on target temperatures of objects to be measured at a plurality of moments to obtain the temperatures of the objects to be measured, wherein the steps comprise:

reading target temperatures of all objects to be measured from the temperature sample space;

and analyzing the data of all the read target temperatures to obtain the temperature of the object to be measured.

Optionally, after the step of performing data analysis on the target temperatures of the temperature object to be measured at multiple moments to obtain the temperature of the temperature object to be measured, the method further includes:

and if the object to be measured with the temperature is detected to leave the preset temperature measuring area, outputting the temperature of the object to be measured with the temperature.

Optionally, the step of obtaining real-time temperature differences of the designated reference object collected at multiple times includes:

acquiring a standard temperature of an appointed reference object at a preset standard environment temperature, target temperature measurement distances of the appointed reference object acquired at a plurality of moments and initial infrared gray scale information at a real-time environment temperature;

aiming at any moment, compensating the initial infrared gray information of the specified reference object collected at the moment according to the target temperature measurement distance of the specified reference object collected at the moment to obtain the real-time infrared gray information of the specified reference object at the moment;

determining the real-time temperature of the specified reference object at each moment according to the real-time infrared gray information of the specified reference object at each moment and the corresponding relation between the preset temperature and the infrared gray information;

and respectively subtracting the real-time temperature of the specified reference object at each moment from the standard temperature to obtain the real-time temperature difference of the specified reference object at each moment.

Optionally, the step of, at any time, correcting the initial temperature of the object to be measured, which is acquired at the time, according to the target temperature measurement distance of the object to be measured, which is acquired at the time, and the real-time temperature difference of the specified reference object, to obtain the target temperature of the object to be measured at the time, includes:

aiming at any moment, determining a target compensation amount corresponding to the target temperature measuring distance according to the target temperature measuring distance of the object to be measured acquired at the moment and the corresponding relation between the preset temperature measuring distance and the compensation amount;

determining the distance compensation temperature of the object to be measured at the moment according to the initial temperature and the target compensation quantity of the object to be measured at the moment;

and subtracting the distance compensation temperature of the object to be measured at the moment from the real-time temperature difference acquired at the moment to obtain the target temperature of the object to be measured at the moment.

Optionally, the step of, at any time, correcting the initial temperature of the object to be measured, which is acquired at the time, according to the target temperature measurement distance of the object to be measured, which is acquired at the time, and the real-time temperature difference of the specified reference object, to obtain the target temperature of the object to be measured at the time, includes:

aiming at any moment, determining a target compensation amount corresponding to the target temperature measuring distance according to the target temperature measuring distance of the object to be measured, which is acquired at the moment, and the corresponding relation between the preset temperature measuring distance and the infrared gray level information compensation amount;

determining target infrared gray information of the temperature object to be measured at the moment according to the initial infrared gray information and the target compensation quantity of the temperature object to be measured acquired at the moment;

determining the distance compensation temperature of the object to be measured at the moment according to the target infrared gray information of the object to be measured at the moment and the corresponding relation between the preset temperature and the infrared gray information;

and subtracting the distance compensation temperature of the object to be measured at the moment from the real-time temperature difference acquired at the moment to obtain the target temperature of the object to be measured at the moment.

Optionally, the step of performing data analysis on the target temperatures of the temperature object to be measured at multiple moments to obtain the temperature of the temperature object to be measured includes:

and performing data analysis on the target temperature of the temperature object to be measured at multiple moments by adopting a random sampling consistency algorithm to obtain the temperature of the temperature object to be measured.

In a second aspect, an embodiment of the present invention provides a temperature measurement device, including a distance measurement device, a temperature detection device, a processor, and a memory;

the distance measuring device is used for acquiring a target temperature measuring distance representing the distance between the object to be measured and the temperature measuring equipment and sending the target temperature measuring distance to the processor;

the temperature detection device is used for acquiring and representing the initial temperature of the object to be measured and sending the initial temperature to the processor;

the memory stores machine executable instructions capable of being executed by the processor, and the machine executable instructions are loaded and executed by the processor to implement the thermometry method provided by the first aspect of the embodiments of the present invention.

In a third aspect, an embodiment of the present invention provides a machine-readable storage medium, where machine-executable instructions are stored in the machine-readable storage medium, and when the machine-executable instructions are loaded and executed by a processor, the temperature measurement method provided in the first aspect of the embodiment of the present invention is implemented.

According to the temperature measuring method, the temperature measuring equipment and the machine readable storage medium provided by the embodiment of the invention, when the temperature of the object to be measured is measured, the initial temperature and the target temperature measuring distance of the object to be measured, which are acquired at a plurality of moments, and the real-time temperature difference of the designated reference object are acquired, aiming at any moment, according to the target temperature measuring distance of the object to be measured and the real-time temperature difference of the designated reference object, the initial temperature of the object to be measured, which are acquired at the moment, is corrected, the target temperature of the object to be measured at the moment is acquired, and the target temperatures of the object to be measured at the plurality of moments are subjected to data analysis, so that the temperature of the object to be measured is acquired. The method comprises the steps that the temperature measurement influences of the environment temperature on different objects in a real-time scene are consistent, the real-time temperature difference of an appointed reference object is obtained, the real-time temperature difference refers to the difference value between the real-time temperature of the appointed reference object at the real-time environment temperature and the standard temperature of the appointed reference object at the preset standard environment temperature, and the temperature of an object to be measured at the real-time environment temperature is correspondingly different from the standard temperature of the appointed reference object at the preset standard environment temperature. Therefore, the acquired initial temperature of the object to be measured is corrected by utilizing the real-time temperature difference and the target temperature measurement distance, more accurate target temperature of the object to be measured can be obtained, and the influence of the temperature measurement distance and the environment temperature on the accuracy of the temperature measurement result of the object to be measured is reduced. And finally, data analysis is carried out on the target temperatures of the objects to be measured at a plurality of moments, so that more accurate temperatures of the objects to be measured can be obtained.

In summary, the acquired initial temperature of the object to be measured is corrected by using the acquired real-time temperature difference between the target temperature measurement distance and the specified reference object, that is, the temperature measurement result is corrected from two dimensions of the temperature measurement distance and the environment temperature, so that the influence of the temperature measurement distance and the environment temperature on the non-contact temperature measurement mode is reduced, and the temperature measurement precision of the temperature measurement equipment is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic flow chart of a temperature measuring method according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a temperature measuring method according to another embodiment of the present invention;

FIG. 3 is a schematic flow chart illustrating a temperature measuring method according to another embodiment of the present invention;

FIG. 4 is a schematic flow chart illustrating a temperature measuring method according to another embodiment of the present invention;

FIG. 5 is a schematic flow chart illustrating a temperature measuring method according to another embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a temperature measuring apparatus according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the related art, when the temperature of the object to be measured is measured by using the non-contact temperature measurement method, the temperature measurement result obtained by using the non-contact temperature measurement method implemented by using the infrared radiation emitted by the object to be measured is often inaccurate due to the influence of the temperature measurement distance of the object to be measured and the ambient temperature of the environment where the object to be measured is located. In addition, in the conventional temperature measurement method, the temperature of the object to be measured is output only by performing single temperature measurement, that is, only once temperature measurement is performed, and various interferences may be received in the temperature measurement process, so that the temperature measurement precision of the temperature measurement equipment is low. Therefore, how to improve the temperature measurement precision of the temperature measurement equipment becomes a problem to be solved urgently.

In order to solve the above technical problem, an embodiment of the present invention provides a temperature measurement method. The method can be applied to any temperature measuring equipment which needs to measure the temperature of the object to be measured by using a non-contact temperature measuring mode realized by using infrared radiation emitted by the object to be measured, such as an infrared thermometer and the like. Therefore, the embodiment of the present invention is not particularly limited, and hereinafter referred to as a temperature measuring device.

The temperature measurement method provided by the embodiment of the invention, as shown in fig. 1, may include the following steps.

S101, acquiring initial temperatures and target temperature measurement distances of a temperature object to be measured acquired at a plurality of moments, and real-time temperature differences of an appointed reference object, wherein the real-time temperature differences are differences between the real-time temperature of the appointed reference object at a real-time environment temperature and a standard temperature of the appointed reference object at a preset standard environment temperature.

S102, aiming at any moment, correcting the initial temperature of the temperature object to be measured acquired at the moment according to the target temperature measurement distance of the temperature object to be measured acquired at the moment and the real-time temperature difference of the specified reference object to obtain the target temperature of the temperature object to be measured at the moment.

S103, carrying out data analysis on the target temperatures of the temperature object to be measured at multiple moments to obtain the temperature of the temperature object to be measured.

By applying the embodiment of the invention, the acquired initial temperature of the object to be measured is corrected by utilizing the acquired target temperature measurement distance and the real-time temperature difference of the specified reference object, namely, the temperature measurement result is corrected from two dimensions of the temperature measurement distance and the environment temperature, so that the influence of the temperature measurement distance and the environment temperature on a non-contact temperature measurement mode is reduced, a plurality of target temperatures of the object to be measured are obtained through acquisition at a plurality of moments, the target temperatures are further comprehensively analyzed, the temperature change or the real temperature of the object to be measured can be analyzed, the obtained final temperature of the object to be measured is more accurate, and the temperature measurement precision of the temperature measurement equipment is improved.

When the temperature of the object to be measured is measured, the temperature measuring equipment can detect the distance between the object to be measured and the temperature of the object to be measured through the distance measuring device and the temperature detecting device which are arranged in the temperature measuring equipment, so that the target temperature measuring distance and the initial temperature of the object to be measured are obtained.

Generally, the size and the area of an object to be temperature-measured are large, for example, pedestrians, goods and the like have certain sizes and areas, and the temperatures of different parts have certain differences, according to a preselected strategy, a part capable of truly representing the temperature of the object to be temperature-measured can be selected for temperature collection, for example, for a pedestrian, the skin of the pedestrian is exposed outside, and the part close to the actual body temperature is the forehead position, the collected initial temperature can be the initial temperature of the forehead position of the pedestrian, a specific mode for locking the specified part for temperature collection can be realized by adopting a detection and identification method (for example, a neural network algorithm), the specified part of the object to be temperature-measured is identified, and then the initial temperature of the specified part is collected.

The temperature measuring equipment can acquire the target temperature measuring distance through various distance measuring devices, for example, a depth sensor is used for collecting a depth image of a temperature object to be measured, so that the target temperature measuring distance is determined based on the depth image, wherein the depth image contains depth information of the temperature object to be measured, a certain corresponding relation exists between the depth information and the temperature measuring distance, and the target temperature measuring distance corresponding to the depth information of the temperature object to be measured can be converted according to the corresponding relation. The temperature measuring device may also obtain the initial temperature by using a plurality of temperature detecting devices, for example, an infrared thermal imager is used to collect an infrared image of an object to be measured, so that infrared gray information generated by infrared radiation is determined based on the infrared image, a certain correspondence relationship exists between the infrared gray information and the temperature, and the initial temperature corresponding to the infrared gray information of the object to be measured can be converted according to the correspondence relationship. Of course, in the execution process of the embodiment of the present invention, the data conversion may be performed not during the execution of S101, but the acquired depth information and the infrared grayscale information may be input to the subsequent step, and the compensation and the correction of the infrared grayscale information are performed first, and then the data conversion from the infrared grayscale information to the temperature is performed, which is not limited herein.

Optionally, the step of obtaining the initial temperature and the target temperature measurement distance of the object to be measured, which are acquired at multiple times in S101, may be specifically implemented by the following steps: acquiring infrared images and depth images acquired at a plurality of moments; fusing the infrared image and the depth image which are acquired at the same time to generate a fused image; and aiming at the fusion image generated at any moment, identifying the object to be measured in the fusion image, reading the infrared gray information and the target temperature measurement distance of the object to be measured from the fusion image, and obtaining the initial temperature of the object to be measured according to the corresponding relation between the preset temperature and the infrared gray information according to the infrared gray information.

As described above, the distance measuring device can collect a depth image, the temperature detecting device can collect an infrared image, the depth image contains depth information of each pixel point, the infrared image contains infrared gray information of each pixel point, the infrared image and the depth image collected at the same moment are fused, the fusion process is that the pixel points in the infrared image and the pixel points in the depth image are unified under a coordinate system, the specific fusion process can be realized through a certain affine transformation relation, the pixel points in the infrared image and the pixel points in the depth image are affine transformed under the same coordinate system, the data space alignment of the two images is completed, and in the fusion image obtained in this way, each pixel point not only comprises the depth information but also comprises the infrared gray information. After the fused image is obtained, the object to be measured in temperature can be identified through a detection identification method (such as a neural network algorithm), then the infrared gray information and the target temperature measurement distance of the object to be measured in temperature are read from the fused image, and specifically, during reading, the infrared gray information and the target temperature measurement distance of a certain designated part (namely a designated pixel point on the fused image) of the object to be measured in temperature can be read. After the infrared gray information is read, data conversion can be carried out on the infrared gray information, and the initial temperature of the object to be measured can be obtained according to the corresponding relation between the preset temperature and the infrared gray information. The correspondence between the temperature and the infrared gray scale information may be recorded in a form of table or mapping storage, and the correspondence between the temperature value and the gray scale value is mainly recorded, for example, 37 degrees corresponds to the gray scale value 400.

The real-time temperature difference is the difference value between the real-time temperature of the specified reference object at the real-time environment temperature and the standard temperature at the preset standard environment temperature. The designated reference object can be a certain static object in a temperature measurement scene, such as an upright post, a door, a table and a chair of an entrance and an exit; the preset standard ambient temperature refers to an ambient temperature closely related to the normal temperature of the object to be measured, for example, when the ambient temperature is 25 degrees, the influence of the body temperature value and the ambient temperature of the human body is minimal, and the standard ambient temperature can be set to be 25 degrees. The real-time temperature difference can be obtained by measuring the designated reference object with a thermometer and then sending the measured result to the temperature measuring equipment, or by recording the standard temperature of the designated reference object at the preset standard environmental temperature in advance by the temperature measuring equipment, measuring the real-time temperature of the designated reference object at the real-time environmental temperature to obtain the real-time temperature, and obtaining the difference between the real-time temperature and the standard temperature.

The acquisition mode of the temperature measurement equipment for the initial temperature of the object to be measured, the target temperature measurement distance and the real-time temperature difference of the designated reference object can be periodically acquired according to preset intervals or irregularly acquired, and in addition, the temperature detection device and the distance measurement device are generally synchronously acquired when acquiring data.

Optionally, the step of obtaining real-time temperature differences of the designated reference object collected at multiple times in S101 may be specifically implemented by the following steps: acquiring a standard temperature of an appointed reference object at a preset standard environment temperature, target temperature measurement distances of the appointed reference object acquired at a plurality of moments and initial infrared gray scale information at a real-time environment temperature; aiming at any moment, compensating the initial infrared gray information of the specified reference object collected at the moment according to the target temperature measurement distance of the specified reference object collected at the moment to obtain the real-time infrared gray information of the specified reference object at the moment; determining the real-time temperature of the specified reference object at each moment according to the real-time infrared gray information of the specified reference object at each moment and the corresponding relation between the preset temperature and the infrared gray information; and respectively subtracting the real-time temperature of the specified reference object at each moment from the standard temperature to obtain the real-time temperature difference of the specified reference object at each moment.

In an implementation manner of the embodiment of the present invention, the real-time temperature difference is obtained by pre-recording a standard temperature of the specified reference object at a preset standard environmental temperature by the temperature measuring device, measuring the real-time temperature of the specified reference object at the real-time environmental temperature to obtain a real-time temperature, and subtracting the real-time temperature from the standard temperature, and when the temperature measuring device measures the temperature of the specified reference object, the temperature measuring device may generate a certain error due to the temperature measuring distance, so that after obtaining the target temperature measuring distances of the specified reference object collected at a plurality of times and the initial infrared gray scale information at the real-time environmental temperature, the initial infrared gray scale information of the specified reference object needs to be compensated according to the target temperature measuring distances to obtain the real-time infrared gray scale information, and then the real-time infrared gray scale information of the specified reference object at each time is calculated according to the preset corresponding relationship between the temperature and the infrared gray scale information, and determining the real-time temperature of the specified reference object at each moment, and after the real-time temperature is obtained, respectively subtracting the real-time temperature of the specified reference object at each moment from the standard temperature to obtain the real-time temperature difference of the specified reference object at each moment. The real-time temperature difference acquisition and calculation processes are set to be executed by the temperature measuring equipment, so that the interaction process of the temperature measuring equipment and other equipment can be reduced, and the real-time problem caused by interaction is avoided.

After the initial temperature and the target temperature measurement distance of the object to be measured and the real-time temperature difference of the designated reference object which are acquired at a plurality of moments are acquired, the initial temperature can be corrected according to the real-time temperature difference of the target temperature measurement distance and the designated reference object, the specific correction process is to subtract the temperature change caused by the temperature measurement distance and the temperature change caused by the environmental temperature from the acquired initial temperature, the removal of the two temperature changes can be carried out simultaneously or sequentially, and the method is not limited here. For ease of understanding, the temperature correction process will be described below in the order of distance compensation and ambient temperature correction.

Optionally, S102 may specifically be: aiming at any moment, determining a target compensation amount corresponding to the target temperature measuring distance according to the target temperature measuring distance of the object to be measured acquired at the moment and the corresponding relation between the preset temperature measuring distance and the compensation amount; determining the distance compensation temperature of the object to be measured at the moment according to the initial temperature and the target compensation quantity of the object to be measured at the moment; and subtracting the distance compensation temperature of the object to be measured at the moment from the real-time temperature difference acquired at the moment to obtain the target temperature of the object to be measured at the moment.

The corresponding relation between the temperature measurement distance and the compensation amount is preset on the temperature measurement equipment, for example, the distance between 5 meters needs to be compensated by 0.2 degrees, the distance between 2 meters needs to be compensated by 0.1 degrees, so that the corresponding target compensation amount can be determined according to the target temperature measurement distance, then the corresponding target compensation amount is added on the basis of the obtained initial temperature, for example, the obtained initial temperature is 36.2 degrees, the target temperature measurement distance is 5 meters, the compensated distance compensation temperature is 36.4 degrees, because the environmental temperature has a certain influence on the temperature measurement result, for example, the obtained real-time temperature difference is 0.1 degrees, namely the influence of the environmental temperature on the temperature measurement result is 0.1 degrees, the real-time temperature difference is subtracted on the basis of the distance compensation temperature 36.4 degrees, and the target temperature of the temperature object to be measured is 36.3 degrees.

Optionally, S102 may specifically be: aiming at any moment, determining a target compensation amount corresponding to the target temperature measuring distance according to the target temperature measuring distance of the object to be measured, which is acquired at the moment, and the corresponding relation between the preset temperature measuring distance and the infrared gray level information compensation amount; determining target infrared gray information of the temperature object to be measured at the moment according to the initial infrared gray information and the target compensation quantity of the temperature object to be measured acquired at the moment; determining the distance compensation temperature of the object to be measured at the moment according to the target infrared gray information of the object to be measured at the moment and the corresponding relation between the preset temperature and the infrared gray information; and subtracting the distance compensation temperature of the object to be measured at the moment from the real-time temperature difference acquired at the moment to obtain the target temperature of the object to be measured at the moment.

In another implementation manner of the embodiment of the present invention, a corresponding relationship between a temperature measurement distance and an infrared gray scale information compensation amount is preset on a temperature measurement device, for example, a gray scale value that needs to be compensated for 100 is 5 meters away and a gray scale value that needs to be compensated for 50 is 2 meters away, and an initial temperature obtained by the temperature measurement device is actually initial infrared gray scale information collected by a thermal infrared imager, so that corresponding target infrared gray scale information can be determined according to a target temperature measurement distance, a corresponding target compensation amount needs to be added on the basis of the obtained initial infrared gray scale information, a corresponding relationship between a temperature and infrared gray scale information is preset on the temperature measurement device, a distance compensation temperature of an object to be measured can be correspondingly found according to the compensated target infrared gray scale information obtained by calculation, and since an environmental temperature has a certain influence on a temperature measurement result, a real-time temperature difference needs to be subtracted on the basis of the distance compensation temperature, and finally obtaining the target temperature of the object to be measured.

After the target temperatures of the temperature object to be measured at multiple moments are obtained through correction, because the multiple temperatures can reflect the temperature change trend of the temperature object to be measured, or the average temperature level of the temperature object to be measured can be reflected by the multiple temperatures, in order to ensure the accuracy of the temperature measurement result and further reflect the temperature change or the average temperature level of the temperature object to be measured, the multiple target temperatures need to be subjected to data analysis, and the finally obtained temperature of the temperature object to be measured has higher precision.

Optionally, S103 may specifically be: and performing data analysis on the target temperature of the temperature object to be measured at multiple moments by adopting a random sampling consistency algorithm to obtain the temperature of the temperature object to be measured.

During data analysis, a RANSAC (Random Sample Consensus) algorithm can be adopted for data analysis, the RANSAC algorithm can estimate parameters of a mathematical model from a group of data sets including 'local outliers' in an iterative mode, a reasonable result is obtained with a certain probability, and after the mathematical model is obtained, the temperature of the object to be measured can be obtained by using the mathematical model. Of course, in the data analysis, besides the RANSAC algorithm, an averaging algorithm, a gaussian distribution algorithm, a normal distribution algorithm, and the like may be used for the analysis, so as to reasonably calculate a more accurate temperature result according to the distribution of a set of target temperatures.

Based on the embodiment shown in fig. 1, the embodiment of the present invention provides a method for measuring temperature, as shown in fig. 2, the method may include the following steps.

S201, tracking and detecting the object to be subjected to temperature measurement.

S202, if the object to be measured in the preset temperature measuring area is detected, acquiring the initial temperature and the target temperature measuring distance of the object to be measured acquired at a plurality of moments and the real-time temperature difference of the specified reference object, wherein the real-time temperature difference is the difference value between the real-time temperature of the specified reference object at the real-time environment temperature and the standard temperature of the specified reference object at the preset standard environment temperature.

S203, aiming at any moment, correcting the initial temperature of the temperature object to be measured acquired at the moment according to the target temperature measurement distance of the temperature object to be measured acquired at the moment and the real-time temperature difference of the specified reference object to obtain the target temperature of the temperature object to be measured at the moment.

And S204, carrying out data analysis on the target temperatures of the temperature object to be measured at a plurality of moments to obtain the temperature of the temperature object to be measured.

In an implementation manner of the embodiment of the invention, the temperature measuring device can track and detect the object to be measured, a specific tracking and detecting manner can be tracking shooting through a camera or detection through a thermal infrared imager, a temperature measuring area can be preset, the temperature measuring area is determined by the detection range of the distance measuring device and the temperature detecting device, the distance can be generally set to be within 2-5 meters of the temperature measuring device, the distance can be set to ensure the data validity of the temperature measuring result, and early warning can be achieved. When the temperature measuring equipment detects that the object to be measured is located in the preset temperature measuring area (namely enters the preset temperature measuring area), the temperature measuring equipment starts the temperature measuring operation of the object to be measured. If the object to be measured does not enter the preset temperature measurement area or leaves the preset temperature measurement area, the temperature measurement of the object to be measured is stopped, and corresponding data such as the target temperature measurement distance and the initial temperature cannot be acquired.

The method for tracking and detecting the object to be measured by the temperature measuring equipment is mainly characterized in that a preset temperature measuring area range [ D ] is set_min,D_max]Obtaining the real-time temperature measuring distance D of the object to be measured, if D belongs to [ D ∈ [)_min,D_max]Then, it indicates that the object to be measured is located in the preset temperature measuring range, if so, it indicates that the object to be measured is located in the preset temperature measuring rangeThe object to be measured is outside the preset temperature measuring range.

Based on fig. 2, an embodiment of the present invention provides a method for measuring temperature, as shown in fig. 3, the method may include the following steps.

S301, tracking and detecting the object to be subjected to temperature measurement.

S302, if the object to be measured in the preset temperature measuring area is detected, acquiring the initial temperature and the target temperature measuring distance of the object to be measured acquired at a plurality of moments and the real-time temperature difference of the specified reference object, wherein the real-time temperature difference is the difference value between the real-time temperature of the specified reference object at the real-time environment temperature and the standard temperature of the specified reference object at the preset standard environment temperature.

S303, aiming at any moment, correcting the initial temperature of the temperature object to be measured acquired at the moment according to the target temperature measurement distance of the temperature object to be measured acquired at the moment and the real-time temperature difference of the specified reference object to obtain the target temperature of the temperature object to be measured at the moment.

S304, storing the target temperatures of all the temperature objects to be measured, which are obtained within the time period that the temperature objects to be measured are located in the preset temperature measuring area, into the temperature sample space.

S305, reading the target temperature of all temperature-measuring objects from the temperature sample space.

And S306, performing data analysis on all the read target temperatures to obtain the temperature of the object to be measured.

In an implementation manner of the embodiment of the invention, the temperature of the object to be measured is measured in the preset temperature measuring areaThe temperature acquisition is started, and the specific temperature acquisition and correction process is shown in the embodiment shown in fig. 1, which is not described herein any more, and after the target temperatures of all the objects to be measured within the time period when the objects to be measured are located in the preset temperature measurement area are obtained, all the target temperatures are stored in the temperature sample space, which may be { t } t₁,t₂,…,t_NRecording in the form of, wherein N is the number of times of temperature measurement, N>0. Thus, when data analysis is performed, all target temperatures can be directly read from the temperature sample space for analysis. And the temperature sample space is used for storage, so that data loss can be avoided as much as possible.

Based on fig. 2, an embodiment of the present invention provides a method for measuring temperature, as shown in fig. 4, the method may include the following steps.

S401, tracking and detecting the object to be subjected to temperature measurement.

S402, if the object to be measured in the preset temperature measuring area is detected, acquiring the initial temperature and the target temperature measuring distance of the object to be measured acquired at a plurality of moments and the real-time temperature difference of the specified reference object, wherein the real-time temperature difference is the difference value between the real-time temperature of the specified reference object at the real-time environment temperature and the standard temperature of the specified reference object at the preset standard environment temperature.

And S403, correcting the initial temperature of the temperature object to be measured acquired at any moment according to the target temperature measurement distance of the temperature object to be measured acquired at the moment and the real-time temperature difference of the specified reference object to obtain the target temperature of the temperature object to be measured at the moment.

S404, performing data analysis on the target temperatures of the temperature object to be measured at multiple moments to obtain the temperature of the temperature object to be measured.

S405, if the object to be measured with the temperature is detected to leave the preset temperature measuring area, outputting the temperature of the object to be measured with the temperature.

The temperature measuring equipment can continuously track the object to be measured in temperature, judge whether the object to be measured leaves the preset temperature measuring area, and output the calculated temperature of the object to be measured if the object to be measured leaves the preset temperature measuring area, so that monitoring personnel can judge whether the temperature of the object to be measured exceeds a safety threshold value, and can perform alarm processing in time.

For convenience of understanding, the temperature measurement method provided by the embodiment of the present invention is described in detail below with reference to specific application scenarios.

Taking a body temperature monitoring post at an entrance of an office building for detecting the body temperature of pedestrians as an example, a temperature measuring device is installed at the entrance of the office building, and a depth sensor, a thermal infrared imager and a processor are integrated in the temperature measuring device.

The flow of temperature measurement performed by the temperature measurement device is shown in fig. 5, and the first step is data acquisition, in which a depth sensor acquires a depth image and a thermal infrared imager acquires an infrared image. And secondly, fusing images, and finishing data space alignment according to the affine transformation relation between the depth image and the infrared image. Thirdly, judging whether the human body to be detected enters a temperature measurement area or not, obtaining the temperature measurement distance D of the human body to be detected based on the fused image, and if D belongs to [ D ∈ [ ]_min,D_max]Locking the temperature measurement position of the human body to be measured, for example, using detection and identification means to lock the forehead position of the human body to be measured from the fused image, and obtaining the infrared gray value of the forehead position, if soThe data collection is returned to be carried out again. And fourthly, measuring the temperature of the human body to be measured to establish a corresponding sample set, compensating the infrared gray value by utilizing the acquired temperature measurement distance, and correcting the target temperature by utilizing the real-time temperature difference of a preset reference object to obtain the body temperature value measured at one time. By utilizing a target tracking technology, under the condition that a human body to be detected does not leave a temperature measurement area, the body temperature value of the human body to be detected under a multi-frame sequence can be continuously collected, and a temperature sample space of the human body to be detected is constructed: { t₁,t₂,…,t_NObtaining a sample set, wherein N is the temperature measurement times, and N is the temperature measurement times>And 0, storing the sample set by utilizing the corresponding relation between the ID of the human body to be detected and the sample set. Fifthly, judging whether the human body to be detected leaves the temperature measuring area or not, if one human body to be detected enters the temperature measuring area, obtaining the temperature measuring distance of the human body to be detected based on the fusion image at presentAnd judging that the human body to be measured leaves the temperature measurement area, and returning to perform data acquisition again if the human body to be measured does not leave the temperature measurement area. And sixthly, comprehensively analyzing the body temperature values in the sample set to obtain all body temperature values in the sample set, and comprehensively analyzing by adopting an RANSAC algorithm to obtain the final temperature of the human body to be detected. And seventhly, outputting the final temperature of the human body to be detected.

Corresponding to the above method embodiment, an embodiment of the present invention provides a temperature measuring apparatus, as shown in fig. 6, including a distance measuring device 610, a temperature detecting device 620, a processor 630, and a memory 640;

the distance measuring device 610 is used for acquiring a target temperature measuring distance representing the distance between the object to be measured and the temperature measuring equipment and sending the target temperature measuring distance to the processor 630;

the temperature detection device 620 is used for acquiring the initial temperature representing the object to be measured and sending the initial temperature to the processor 630;

memory 640 stores machine-executable instructions executable by processor 630, which are loaded and executed by processor 630 to implement: acquiring initial temperatures and target temperature measuring distances of a temperature object to be measured acquired at a plurality of moments, and real-time temperature differences of an appointed reference object, wherein the real-time temperature differences are the difference values of the real-time temperature of the appointed reference object at a real-time environment temperature and a standard temperature at a preset standard environment temperature; correcting the initial temperature of the temperature object to be measured acquired at any moment according to the target temperature measurement distance of the temperature object to be measured acquired at the moment and the real-time temperature difference of the specified reference object to obtain the target temperature of the temperature object to be measured at the moment; and carrying out data analysis on the target temperatures of the temperature objects to be measured at a plurality of moments to obtain the temperatures of the temperature objects to be measured.

Optionally, the distance measuring device 610 may further be configured to acquire a depth image and send the depth image to the processor 630;

the temperature detection device 620 may also be configured to collect an infrared image and send the infrared image to the processor 630;

when the processor 630 obtains the initial temperature and the target temperature measurement distance of the object to be measured, which are acquired at a plurality of times, it may specifically implement: acquiring infrared images and depth images acquired at a plurality of moments; fusing the infrared image and the depth image which are acquired at the same time to generate a fused image; and aiming at the fusion image generated at any moment, identifying the object to be measured in the fusion image, reading the infrared gray information and the target temperature measurement distance of the object to be measured from the fusion image, and obtaining the initial temperature of the object to be measured according to the corresponding relation between the preset temperature and the infrared gray information according to the infrared gray information.

Optionally, the processor 630 may further implement: and tracking and detecting the object to be subjected to temperature measurement.

The processor 630 may specifically implement the following steps when acquiring the initial temperature and the target temperature measurement distance of the object to be measured, which are acquired at a plurality of times, and the real-time temperature difference of the designated reference object: and if the object to be measured is detected to be located in the preset temperature measuring area, acquiring the initial temperature and the target temperature measuring distance of the object to be measured acquired at a plurality of moments and the real-time temperature difference of the specified reference object.

Optionally, the processor 630 may further implement: storing the target temperatures of all temperature objects to be measured, which are obtained within the time period that the temperature objects to be measured are located in the preset temperature measuring area, into a temperature sample space;

the processor 630 may specifically implement the following when performing data analysis on the target temperatures of the temperature object to be measured at multiple times to obtain the temperature of the temperature object to be measured: reading target temperatures of all objects to be measured from the temperature sample space; and analyzing the data of all the read target temperatures to obtain the temperature of the object to be measured.

Optionally, the processor 630 may further implement: and if the object to be measured with the temperature is detected to leave the preset temperature measuring area, outputting the temperature of the object to be measured with the temperature.

Optionally, the distance measuring device 610 may be further configured to collect a target temperature measuring distance of the specified reference object, and send the target temperature measuring distance of the specified reference object to the processor 630;

the temperature detection device 620 may be further configured to collect initial infrared grayscale information of the specified reference object at the real-time ambient temperature, and send the initial infrared grayscale information of the specified reference object at the real-time ambient temperature to the processor 630;

when the processor 630 is implemented to obtain the real-time temperature difference of the designated reference object acquired at multiple times, the following may be specifically implemented: acquiring a standard temperature of an appointed reference object at a preset standard environment temperature, target temperature measurement distances of the appointed reference object acquired at a plurality of moments and initial infrared gray scale information at a real-time environment temperature; aiming at any moment, compensating the initial infrared gray information of the specified reference object collected at the moment according to the target temperature measurement distance of the specified reference object collected at the moment to obtain the real-time infrared gray information of the specified reference object at the moment; determining the real-time temperature of the specified reference object at each moment according to the real-time infrared gray information of the specified reference object at each moment and the corresponding relation between the preset temperature and the infrared gray information; and respectively subtracting the real-time temperature of the specified reference object at each moment from the standard temperature to obtain the real-time temperature difference of the specified reference object at each moment.

Optionally, when the processor 630 corrects the initial temperature of the object to be measured, which is acquired at any moment, according to the target temperature measurement distance of the object to be measured, which is acquired at the moment, and the real-time temperature difference of the specified reference object, and obtains the target temperature of the object to be measured at the moment, the following steps may be specifically implemented: aiming at any moment, determining a target compensation amount corresponding to the target temperature measuring distance according to the target temperature measuring distance of the object to be measured acquired at the moment and the corresponding relation between the preset temperature measuring distance and the compensation amount; determining the distance compensation temperature of the object to be measured at the moment according to the initial temperature and the target compensation quantity of the object to be measured at the moment; and subtracting the distance compensation temperature of the object to be measured at the moment from the real-time temperature difference acquired at the moment to obtain the target temperature of the object to be measured at the moment.

Optionally, the temperature detection device 620 may be further configured to collect initial infrared grayscale information of the object to be measured, and send the initial infrared grayscale information of the object to be measured to the processor 630;

the processor 630 may specifically implement, when correcting the initial temperature of the temperature object to be measured acquired at any time according to the target temperature measurement distance of the temperature object to be measured acquired at the time and the real-time temperature difference of the designated reference object to obtain the target temperature of the temperature object to be measured at the time, that is, at any time: aiming at any moment, determining a target compensation amount corresponding to the target temperature measuring distance according to the target temperature measuring distance of the object to be measured, which is acquired at the moment, and the corresponding relation between the preset temperature measuring distance and the infrared gray level information compensation amount; determining target infrared gray information of the temperature object to be measured at the moment according to the initial infrared gray information and the target compensation quantity of the temperature object to be measured acquired at the moment; determining the distance compensation temperature of the object to be measured at the moment according to the target infrared gray information of the object to be measured at the moment and the corresponding relation between the preset temperature and the infrared gray information; and subtracting the distance compensation temperature of the object to be measured at the moment from the real-time temperature difference acquired at the moment to obtain the target temperature of the object to be measured at the moment.

Optionally, when the processor 630 performs data analysis on the target temperatures of the temperature object to be measured at multiple times to obtain the temperature of the temperature object to be measured, the following steps may be specifically implemented: and performing data analysis on the target temperature of the temperature object to be measured at multiple moments by adopting a random sampling consistency algorithm to obtain the temperature of the temperature object to be measured.

By applying the embodiment of the invention, the acquired initial temperature of the object to be measured is corrected by utilizing the acquired target temperature measurement distance and the real-time temperature difference of the specified reference object, namely, the temperature measurement result is corrected from two dimensions of the temperature measurement distance and the environment temperature, so that the influence of the temperature measurement distance and the environment temperature on a non-contact temperature measurement mode is reduced, a plurality of target temperatures of the object to be measured are obtained through acquisition at a plurality of moments, the target temperatures are further comprehensively analyzed, the temperature change or the real temperature of the object to be measured can be analyzed, the obtained final temperature of the object to be measured is more accurate, and the temperature measurement precision of the temperature measurement equipment is improved.

The distance measuring device can be a depth sensor, and the temperature detecting device can be a thermal infrared imager.

The Memory may include a RAM (Random Access Memory) or an NVM (Non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor including a CPU, an NP (Network Processor), and the like; but also a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.

The ranging device 610, the temperature detecting device 620, the processor 630 and the memory 640 may be connected by wire or wirelessly for data transmission, and the thermometric device and other devices may communicate by wire or wireless communication interfaces. Fig. 6 shows an example of data transmission via a bus, and the connection method is not limited to a specific connection method.

In another embodiment provided by the embodiment of the present invention, a machine-readable storage medium is further provided, where machine-executable instructions are stored in the machine-readable storage medium, and when the machine-executable instructions are loaded and executed by a processor, the temperature measurement method provided by the embodiment of the present invention is implemented.

In another embodiment, a computer program product containing instructions is provided, which when run on a remote control system, causes the remote control system to execute the thermometry method provided by the embodiment of the present invention.

For the embodiments of the thermometric apparatus, the machine-readable storage medium and the computer program product, the contents of the methods involved are substantially similar to the foregoing method embodiments, so the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiments.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the thermometric apparatus, the machine-readable storage medium, and the computer program product embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and in relation to the description, reference may be made to some of the description of the method embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.