DE112015001069B4 - Device and method for the detection of a moving object using images in cooperation with spectrum from entire wavelength ranges - Google Patents

Abstract

Device for the detection of a moving object using images in cooperation with spectrum of entire wavelength ranges, characterized in that it comprises a telescopic sight for 2D scanning with a large field of view, a main optical system module with a common aperture, an optical subsystem module for infrared image recording and spectrum formation, an optical subsystem module for the formation of visible spectrum / ultraviolet spectrum / near-infrared spectrum and image recording in the visible and near-infrared range, a spectrum measuring module for short-wave / medium-wave / long-wave infrared light, an image recording module for medium-wave wide / narrow band, a spectrum measuring module for visible light and near-infrared light, a visible and near-infrared image recording module in the red Spectrum measurement module for ultraviolet light, a processing module for image and spectrum integration signals, a control module and a servo system, wherein the telescopic sight for 2D scanning with a large The field of view controls the rotation via the servo system for position adjustment and aligns it with the object area by adjusting the inclination in order to reflect the light of the object area onto the main optical system module with a common aperture, - the main optical system module with a common aperture to let the infrared light through to the optical subsystem module for infrared image recording and spectrum formation and at the same time also serves to reflect visible light / ultraviolet / near infrared light onto the optical subsystem module for the formation of visible spectrum / ultraviolet spectrum / near infrared spectrum and image recording in the visible and near infrared range, - the optical subsystem module for infrared image recording and spectrum formation for focusing the transmitted through the main optical system module with a common aperture Infrared light on the spectrum measurement module for short-wave / medium-wave / long-wave infrared light in order to make a spectrum measurement for short-wave / medium-wave / long-wave To enable infrared light, and at the same time also to focus part of the medium-wave infrared light on the image recording module for medium-wave wide / narrow band in order to realize an image recording in the medium-wave infrared range, - the optical subsystem module for the formation of the visible spectrum / ultraviolet spectrum / near infrared spectrum and image recording in the visible and Near-infrared range for focusing the ultraviolet light reflected by the main optical system module with a common aperture onto the spectrum measurement module for ultraviolet light to enable spectrum measurement for ultraviolet light, at the same time also for focusing 50% of the visible light / near infrared light on the spectrum measurement module for visible light and near infrared light for visible / near-infrared light, and for focusing the remaining 50% of the visible / near-infrared light on the image acquisition module in the visible / near-infrared area ch serves to realize image recording in the visible / near-infrared range, - the processing module for image and spectrum integration information is used to receive a medium-wave infrared image, a visual image / near-infrared image is used to detect and process an object in real time whose spectrum data is ultraviolet , detect visible light and infrared light and finally process and analyze integration data, - the control module based on the request of a task as well as the result of the processing and analysis of the processing module for image and spectrum integration information through the servo system to search, track and align a moving one Object or a dynamic appearance through the riflescope for 2D scanning with a large field of view controls in order to enable processing of optical, mechanical and electrical information, with all modules working together.

Description

Field of the invention

The present invention relates to the overlap area remote detection and image recognition, specifically a device and a method for detecting a moving object using images in cooperation with a spectrum of entire wavelength ranges which can be used for the detection, tracking and recognition of an object.

Technical background

Moving objects and objects of dynamic change come in a variety of forms, such as moving vehicles, passers-by and animals below room temperature, aircraft moving at high speed, explosions and fires under high temperature, with varying light conditions of the surroundings also leading to different distribution areas and characteristics of the Leads spectra of such objects and no remote detection device for the detection of various moving objects using images in cooperation with spectrum of entire wavelength ranges is available both in China and worldwide.

CN 104 501 956 A relates to an ultra wideband spectrum correlation detection apparatus and detection method for target tracking and detection. CN 101 866 054 A discloses an optical system of a multispectral area array CCD (Charge Coupled Device) image sensor. EP 2 757 356 A1 relates to a multispectral optical device which, compared to known multispectral optical devices, has a reduced residual aberration, as well as a method for reducing residual aberration in a multispectral optical device. US 2014/0 233 027 A1 relates to an imaging system which comprises an FOV telescope (Wide Field of View), an FOV telescope (Narrow FOV telescope), a spectrometer, an image detector, an image slicer and a selection mechanism.

Disclosure of the invention

To solve the above technical problem, the present invention is based on the object of providing a device for the detection of a moving object using images in cooperation with the spectrum of entire wavelength ranges that meet the requirements for the simultaneous detection of spectra of different moving objects in entire wavelength ranges, i.e. in the ultraviolet, visible, near-infrared, short-wave infrared, medium-wave infrared and long-wave infrared range as well as medium-wave infrared images, visual images and near-infrared images.

According to the invention, the object is achieved in a first aspect by providing a device for acquiring information from a spectrum of entire wavelength ranges, which includes a telescopic sight for 2D scanning with a large field of view, a main optical system module with a common aperture, an optical subsystem module for infrared image recording and spectrum formation Optical subsystem module for formation of visible spectrum / ultraviolet spectrum / near-infrared spectrum and image recording in the visible and near-infrared range, a spectrum measuring module for short-wave / medium-wave / long-wave infrared light, an image recording module for medium-wave wide / narrow band, a spectrum measuring module for visible light and near-infrared light and near infrared light, one image recording comprises an ultraviolet light spectrum measurement module, an image and spectrum integration signal processing module, a control module, and a servo system.

The riflescope for 2D scanning with a large field of view controls the rotation via the servo system for position adjustment and aligns it to the object area by adjusting the inclination in order to reflect the light from the object area onto the main optical system module with a common aperture, the main optical system module with a common aperture the infrared light to the optical subsystem module for infrared image recording and spectrum formation and at the same time also the visible light / ultraviolet / near infrared light to the optical subsystem module for formation of visible spectrum / ultraviolet spectrum / near infrared spectrum and image recording in the visible and near infrared range reflects, whereby the optical subsystem module for infrared image recording and spectrum formation reflects the Main optical system module with a common aperture, let through infrared light focused on the spectrum measurement module for short-wave / medium-wave / long-wave infrared light in order to make a spectrum measurement for ku To enable rwo-wave / medium-wave / long-wave infrared light, and at the same time also focus a part of the medium-wave infrared light on the image recording module for medium-wave wide / narrow band in order to realize image recording in the medium-wave infrared range, with the optical subsystem module for the formation of visible spectrum / ultraviolet spectrum / near-infrared spectrum and image recording In the visible and near-infrared range, the ultraviolet light reflected by the main optical system module with a common aperture is focused on the spectrum measurement module for ultraviolet light in order to enable spectrum measurement for ultraviolet light, at the same time 50% of the visible light / near-infrared light is also focused on the spectrum measurement module for visible light and near-infrared light, to perform spectrum measurement for visible light and near-infrared light, and focus the remaining 50% of the visible light / near-infrared light on the image pick-up module in the visible / near-infrared range to realize image pick-up in the visible / near-infrared range, with the processing module for image and spectrum integration information above all is used to receive a medium-wave infrared image, a visual image / near-infrared image, in order to record and process an object in real time, to record its spectrum data of ultraviolet, visible light and infrared light and finally to integrate, process and analyze, the control module based on the request for a task and the result of the processing and analysis of the processing module for image and spectrum integration information via the servo system, the search, tracking and alignment of a moving object or a dynamic appearance through there s riflescope for 2D scanning with a large field of view controls to enable processing of optical, mechanical and electrical information with all modules working together.

In terms of composition, the stabilizing platform of the rifle scope for 2D scanning with a large field of view includes an outer frame (fixing frame), a central frame, and an inner frame, the inner frame having a flat rifle scope. The inner frame is supported by the outer frame via a bearing, while the outer frame is supported via a bearing on a base support firmly connected to the device, the middle frame being located between the inner frame and the outer frame and connected to the inner frame and the outer frame via a bearing is. When designing the structure, the principle of symmetry should be used as much as possible in order to achieve a balance using the payload, to minimize the counterweight and thus to reduce the rotational inertia of the system. Through precise calculation and targeted construction of the counterweight, it must be designed in such a way that the theoretical center of mass of the load is projected onto an axis of rotation. During assembly and commissioning, appropriate distribution and a low counterweight ensure that the actual center of mass overlaps the axis of rotation, thus eliminating an eccentric overload torque caused by design and manufacturing errors. In the construction of the 2D scanning unit of the device, the requirement of the scanning range (azimuth ± α °, pitch angle ± β °) ensures that the reflection light path of the telescopic sight is not blocked.

The servo system consists of a master computer, a stabilization platform, an inner frame torque motor, an outer frame torque motor, an inner / outer frame rotary transformer, an inner / outer frame power boost module, a servo controller and a photoelectric isolation module.

The inner frame of the servo platform of the servo system is a pitch frame to which a flat telescopic sight, a rotary transformer for pitch axis and a rotor of a pitch motor are attached, while the outer frame represents an azimuth frame and an azimuth rotary transformer and a rotor are attached to the outer frame axis an azimuth torque motor are attached.

With regard to the construction of the stabilization platform of the servo system, the platform is driven directly by a torque motor, which contributes to a simpler construction of the platform and significantly reduced damping and gaps due to power transmission on the frame axis, with the measurement using the rotary transformer taking place without contact and no frictional torque brings itself, and with the cable lead-through between the platform and the machine box by means of a cable reel, which significantly reduces the torque of the cable and contributes to ensuring the adjustment process.

The servo controller uses the structure of digital signal processing (DSP) + Field Programmable Gate Array (FPGA). The FPGA is mainly used to organize and manage the timing and communication of the servo system and is external with the control module and internal with the DSP, a digital / analog converter (DAC), an analog / digital converter (ADC), a processing circuit for signals of the rotary transformer, etc., whereby the DSP is mainly used for the functional organization of the stabilization servo control system, for the correction algorithm of the control of the platform frame, etc.

Depending on a command from the master computer, the servo controller enables the stabilization of the speed of the stabilization platform and the position circle by means of digital control and generates a current command for a drive in order to implement digital control of the azimuth frame and the pitch frame. To compensate for the large dynamic range and the requirement for a high signal-to-noise ratio of the signal, two gain switchovers are provided in front of the A / D conversion module and in the control algorithm for each channel, while on the other hand, a high signal-to-noise ratio at cost if there is little interference a certain dynamic range is guaranteed, with the control module via an RS422 Interface with the servo control system carries out two-way communication and can directly access the memory area of the servo drive at any time, give commands and data to the servo drive and record the status information of the servo control system in good time.

In order to reduce the deformation of the flat telescopic sight, the flat telescopic sight uses a material with little deformation and light weight, and after applying a reflective layer it has a high degree of reflection for ultraviolet light, visible light, near infrared light, medium wave and long wave infrared light.

The main optical system module with a common aperture uses a Cassegrain system with a spectroscope and consists of a main mirror (curved reflector), a secondary mirror (parabolic reflector) and a spectroscope for ultraviolet light, visible light and near infrared light to perform spectrum recording and image recording with ultraviolet light, visible light, To enable near-infrared light, medium-wave infrared light and long-wave infrared light as well as an energy concentration of the object. The spectroscope for ultraviolet light, visible light and near-infrared light is placed between the main reflector and the secondary reflector at an angle of 45 degrees, with the ratio of the covered area of the main mirror to that of the secondary mirror not being greater than 1: 3, since one is guaranteed for The image recording by means of the main and secondary mirror requires a reasonable distance, a low ratio of covered area contributes to an increased degree of transmission for the optical system.

The optical subsystem module for infrared imaging and spectrum formation consists of a broadband spectrum relay lens, an infrared spectrum formation lens group, a spectrum formation spectroscope (for medium wave range semi-transparent and semi-reflective) for short / medium / long wave infrared light and an imaging lens group in medium wave infrared range. The broadband spectrum relay lens focuses the light transmitted through the main optics system module with a common aperture onto the spectrum formation spectroscope for short / medium / long wave infrared light, which in turn reflects the infrared light onto the infrared spectrum formation lens group and at the same time also a part of the medium wave infrared light onto the image recording lens group in the medium-wave infrared range.

The infrared spectrum-forming lens group has a variable field diaphragm and, as a function of a control command, enables the properties of an infrared spectrum for the object or the background to be measured within different fields of view. The image recording lens group in the medium-wave infrared range has a switchable light filter for medium-wave narrowband / broadband and, depending on a control command, can capture the information of an image in the medium-wave narrowband and broadband range for the object or the background within different fields of view.

The optical subsystem module for formation of visible spectrum / ultraviolet spectrum / near infrared spectrum and image acquisition in the visible and near infrared range consists of an ultraviolet spectrum formation reflector group, a flat reflector, an ultraviolet spectroscope, a semi-transparent and semi-reflective spectroscope for visible light and near infrared light in the visible and near infrared light group, an image pickup lens group Near-infrared range and a spectrum-forming lens group for visible light and near-infrared light. The ultraviolet spectroscope reflects the ultraviolet light onto the ultraviolet spectrum forming reflector group and at the same time also lets the visible light and near-infrared light through to the flat reflector, which reflects the light transmitted through the ultraviolet spectroscope onto the semi-transparent and semi-reflective spectroscope for visible light and near-infrared light, whereby the (semi-transparent and semi-reflective) spectroscope for visible light and near-infrared light transmits 50% of the visible light and near-infrared light to the image pickup lens group in the visible and near-infrared range and at the same time also reflects 50% of the visible light and near-infrared light to the spectrum-forming lens group for visible light and near-infrared light .

The spectrum-forming lens group for visible light and near-infrared light has a variable field diaphragm and enables, depending on a control command, a measurement of the properties of a spectrum of visible light and near-infrared light for the object or the background within different fields of view.

The ultraviolet spectrum forming reflector group is for focusing the light reflected by the ultraviolet spectroscope onto the spectrum measuring module for ultraviolet light to enable detection of an ultraviolet spectrum, and the spectrum forming lens group for visible light and near infrared light for focusing the light through the semi-infrared. Translucent and semi-reflective spectroscope for visible light and near-infrared light reflected light on the spectrum measuring module for visible light and near-infrared light is used to realize the detection of a spectrum of visible light and near-infrared light, and the image pickup lens group in the visible and near-infrared range for focusing the through the half -Transparent and semi-reflective spectroscope for visible light and near-infrared light, light transmitted to the image acquisition module in the visible and near-infrared range is used to enable image acquisition.

The infrared spectrum formation lens group, the ultraviolet spectrum formation reflector group and the spectrum formation lens group for visible light and near infrared light can, depending on the restriction of the structural arrangement of the device and the size of the respective spectrum measuring modules, each in the form of an optical lens group coupling and an optical fiber coupling with a spectrum measuring module of the respective wave range be coupled.

The intended wavelength range for image recording and spectrum formation involves the entire wavelength ranges, which include ultraviolet light, visible light, near-infrared light, medium-wave and long-wave infrared light.

• Betriebsart 1: Hundertprozentige Reflexion kurzwelligen und langwelligen Infrarotlichts; halbes Durchlassen und halbe Reflexion vom Infrarotlicht mittelwelligen Schmalbands zu einem Verhältnis von 1:1.
• Betriebsart 2: Hundertprozentige Reflexion kurzwelligen und langwelligen Infrarotlichts; halbes Durchlassen und halbe Reflexion vom Infrarotlicht mittelwelligen Breitbands zu einem Verhältnis von 1:1.

The light irradiated / scattered by the object of entire wavelength ranges is concentrated by a Cassegrain system with a spectroscope and split four times. During the first decomposition, ultraviolet light, visible light and near-infrared light are reflected and infrared light is transmitted. In the second decomposition, ultraviolet light is reflected and visible light and near-infrared light are transmitted. In the third decomposition, visible light and near-infrared light are half transmitted and half reflected at a ratio of 1: 1. There are two modes of operation for the fourth dismantling:

• Operating mode 1: 100% reflection of short-wave and long-wave infrared light; half transmission and half reflection of infrared light of medium-wave narrow band at a ratio of 1: 1.
• Operating mode 2: 100% reflection of short-wave and long-wave infrared light; half transmission and half reflection of medium-wave broadband infrared light at a ratio of 1: 1.

The spectrum formation waveband includes 1) broadband infrared light which is reflected by the spectroscope in the fourth decomposition, 2) ultraviolet light which is reflected by the spectroscope in the second decomposition, and 3) visible and near infrared light which is reflected by the spectroscope in the third decomposition be reflected.

The imaging waveband includes 1) medium infrared light which is half transmitted by the spectroscope in the fourth decomposition, and 2) visible and near infrared light which is half transmitted by the spectroscope in the third decomposition.

The present invention enables the process of automatic inspection, tracking and recognition of the image of a moving object and a dynamic appearance to cooperate with the process of spectrum measurement for the moving object / dynamic appearance, thus realizing the observation of the image and the spectrum of entire wavelength ranges for dynamic change of the moving object and an outside scene.

In the present invention, a common optical axis for entire wavelength ranges, a common light path for image recording in the medium-wave infrared range and infrared spectrum measurement and a common light path for image recording in the visible and near-infrared range and spectrum measurement for visible light and near-infrared light are used to allow real-time observation of the image and of the spectrum of entire wavelength ranges for dynamic change of different moving objects and outdoor scenes, whereby the advantages of short response time and high detection efficiency are also realized.

The present invention uses an integrated image and spectrum detection system for image acquisition in the medium-wave infrared range and image acquisition in the visible and near-infrared range in order to check and recognize an object of interest, information from a spectrum in entire wavelength ranges and an image of the moving object and the subject of dynamic change and thus to realize the observation of the image and the spectrum of entire wavelength ranges for dynamic change of the moving object and the outside scene.

The present invention is characterized by small dimensions, a high degree of integration, simple and flexible use and can provide a coordinated observation of the spectrum of entire wavelength ranges for dynamic change of a moving object and an outside scene and also intelligent detection and tracking in entire wavelength ranges for different objects enable. Thus, the invention finds wide application in the field of national economy and state security.

1. (1) Suchen nach einem Sichtfeld durch ein Zielfernrohr für 2D-Abtastung mit einem großen Sichtfeld;
2. (2) Erfassen und Verfolgen eines beweglichen Objekts und eines Gegenstands dynamischer Änderung mittels einer mittelwelligen Infrarotbildaufnahme, um eine Sequenz von mittelwelligen Infrarotbildern des interessanten beweglichen Objekts und des Gegenstands dynamischer Änderung zu erhalten, und gleichzeitiges Erfassen und Verfolgen des beweglichen Objekts und des Gegenstands dynamischer Änderung mittels einer Bildaufnahme im sichtbaren und Nahinfrarotbereich, um eine Sequenz von sichtbaren Bildern und Nahinfrarotbildern des interessanten beweglichen Objekts und des Gegenstands dynamischer Änderung zu erhalten;
3. (3) Erfassen der Geschwindigkeits- und Forminformation aus der Bildersequenz durch ein Objektüberprüfungsmodul, um den Satz verfolgter beweglicher Objekte festzulegen,
4. (4) Feststellen, ob es sich dabei um ein flächiges oder punktförmiges Objekt handelt, und Verschieben der Bildaufnahme-Optikachse durch das Abtastungs-Zielfernrohr in das Zentrum des Objekts, wenn dies der Fall ist, wobei zunächst ein Merkmalspunkt und eine Merkmalsstelle entnommen und die Bildaufnahme-Optikachse durch das Abtastungs-Zielfernrohr in das Zentrum des Merkmalspunkts und der Merkmalsstelle des Objekts verschoben wird, wenn es sich dabei um ein flächiges Objekt handelt,
5. (5) Messen der Merkmalsdaten des beweglichen Objekts hinsichtlich dessen Infrarotspektrums durch das Spektrummessmodul für Infrarotlicht, Messen der Merkmalsdaten des beweglichen Objekts hinsichtlich dessen Ultraviolettspektrums durch das Spektrummessmodul für Ultraviolettlicht, Messen der Merkmalsdaten des beweglichen Objekts hinsichtlich dessen Spektrums sichtbaren Lichts und Nahinfrarotspektrums durch das Spektrummessmodul für sichtbares Licht und Nahinfrarotlicht und Bilden eines Zeit-Raum-Spektrummerkmalsvektors des erfassten Objekts anhand der in Schritt (3) erfassten Form- und Geschwindigkeitsinformation des Objekts;
6. (6) Aufruf einer Merkmalsbibliothek für Ultraviolettspektrum, einer Merkmalsbibliothek für Spektrum sichtbaren Lichts und Nahinfrarotspektrum, einer Merkmalsbibliothek für kurz/mittel/langwelliges Infrarotspektrum sowie einer Merkmalsbibliothek für Geschwindigkeit und Form des Objekts, um eine Zeit-Raum-Spektrummerkmalsvorlage zu bilden;
7. (7) Aufruf eines Erkennungsmoduls, um einen in Echtzeit erfassten Zeit-Raum-Spektrummerkmalsvektor mit der Zeit-Raum-Spektrummerkmalsvorlage zu vergleichen und eine Objektart auszugeben,
8. (8) Aufzeichnen des mittelwelligen Infrarotbildes, des sichtbaren und Nahinfrarotbildes, des Merkmals der Form und Geschwindigkeit des Objekts sowie der Information des Spektrummerkmals über das gesamte Wellenband und Anzeigen des Ergebnisses der Objektverfolgung und des Zeit-Raum-Spektrummerkmals.

According to a further aspect of the invention, a method for the detection of a moving object using images in cooperation with spectrum of entire Wavelength ranges provided, which comprises the following steps:

1. (1) searching for a field of view through a scope for 2D scanning with a large field of view;
2. (2) Detecting and tracking a moving object and an object of dynamic change by means of medium-wave infrared imaging to obtain a sequence of medium-wave infrared images of the moving object and the object of dynamic change of interest, and simultaneously detecting and tracking the moving object and the object of dynamic change by means of visible and near-infrared image pick-up to obtain a sequence of visible and near-infrared images of the moving object of interest and the subject of dynamic change;
3. (3) Acquiring the speed and shape information from the sequence of images by an object inspection module to determine the set of tracked moving objects,
4. (4) Determine whether it is a flat or point-shaped object, and moving the image pickup optical axis through the scanning telescopic sight into the center of the object, if this is the case, with a feature point and a feature point removed and the The image recording optical axis is shifted through the scanning telescopic sight into the center of the feature point and the feature point of the object, if this is a flat object,
5. (5) measuring the feature data of the moving object in terms of its infrared spectrum by the spectrum measuring module for infrared light, measuring the feature data of the moving object in terms of its ultraviolet spectrum by the spectrum measuring module for ultraviolet light, measuring the feature data of the moving object in terms of its visible light spectrum and near infrared spectrum by the spectrum measuring module for visible light and near-infrared light and forming a time-space spectral feature vector of the detected object on the basis of the shape and speed information of the object detected in step (3);
6. (6) Calling up a feature library for the ultraviolet spectrum, a feature library for the spectrum of visible light and near-infrared spectrum, a feature library for short / medium / long-wave infrared spectrum and a feature library for the speed and shape of the object in order to form a time-space spectrum feature template;
7. (7) Calling a recognition module in order to compare a time-space-spectrum feature vector recorded in real time with the time-space-spectrum feature template and to output an object type,
8. (8) Record the medium-wave infrared image, the visible and near-infrared image, the feature of the shape and speed of the object and the information of the spectrum feature over the entire waveband and display the result of the object tracking and the time-space spectrum feature.

In the present invention, a method for the detection of a moving object using images in cooperation with spectrum of entire wavelength ranges is used, with which different structures or substances can be distinguished from one another on the basis of the spectrum features of the respective components of an object, the spatial 2D image and temporal change sequence of the object contributes to enhanced ability of remote detection and recognition of the object.

The present invention provides a detection method using images in cooperation with a spectrum of entire wavelength ranges in which a moving object (e.g. aircraft, vehicle, flat object, point-like object, etc.) and a dynamic phenomenon (e.g. fire, volcanic eruption, Explosion, etc.) a method for integrating the time-space features recorded by means of a medium-wave infrared image recording and an image recording in the visible and near-infrared range with the information of the spectrum for ultraviolet light, visible light, near-infrared light and wide-wave infrared light is used in order to achieve a more comprehensive, more precise and more stable To enable detection, tracking and detection of the moving object.

Figure list

• 1 die Einrichtung zur Detektion eines beweglichen Objekts unter Verwendung von Bildern in Zusammenarbeit mit Spektrum von gesamten Wellenlängenbereichen gemäß der vorliegenden Erfindung in einer strukturellen schematischen Darstellung,
• 2 die optische Anordnung der Einrichtung zur Detektion eines beweglichen Objekts unter Verwendung von Bildern in Zusammenarbeit mit Spektrum von gesamten Wellenlängenbereichen gemäß einem Ausführungsbeispiel der vorliegenden Erfindung,
• 3(a) die Stabilisierungsplattform des Zielfernrohrs für 2D-Abtastung mit einem großen Sichtfeld in der Einrichtung zur Detektion eines beweglichen Objekts unter Verwendung von Bildern in Zusammenarbeit mit Spektrum von gesamten Wellenlängenbereichen gemäß der vorliegenden Erfindung in einer zweidimensionalen strukturellen schematischen Darstellung,
• 3(b) die Stabilisierungsplattform des Zielfernrohrs für 2D-Abtastung mit einem großen Sichtfeld in der Einrichtung zur Detektion eines beweglichen Objekts unter Verwendung von Bildern in Zusammenarbeit mit Spektrum von gesamten Wellenlängenbereichen gemäß der vorliegenden Erfindung in einer dreidimensionalen strukturellen schematischen Darstellung,
• 4 das Servosystem in der Einrichtung zur Detektion eines beweglichen Objekts unter Verwendung von Bildern in Zusammenarbeit mit Spektrum von gesamten Wellenlängenbereichen gemäß der vorliegenden Erfindung in einer schematischen Darstellung,
• 5 das Ablaufdiagramm des Verfahrens zur Detektion eines beweglichen Objekts unter Verwendung von Bildern in Zusammenarbeit mit Spektrum von gesamten Wellenlängenbereichen gemäß der vorliegenden Erfindung und
• 6 die interessanten Bereiche, Merkmalspunkte und Merkmalsstellen der Objekte und Szenen dynamischer Änderung gemäß dem vorliegenden Ausführungsbeispiel der Erfindung in einer schematischen Darstellung.

Show it

• 1 the device for the detection of a moving object using images in cooperation with spectrum of entire wavelength ranges according to the present invention in a structural schematic representation,
• 2 the optical arrangement of the device for the detection of a moving object using images in cooperation with the spectrum of entire wavelength ranges according to an embodiment of the present invention,
• 3 (a) the stabilization platform of the riflescope for 2D scanning with a large field of view in the device for detecting a moving object using images in cooperation with spectrum of entire wavelength ranges according to the present invention in a two-dimensional structural schematic representation,
• 3 (b) the stabilization platform of the riflescope for 2D scanning with a large field of view in the device for detecting a moving object using images in cooperation with spectrum of entire wavelength ranges according to the present invention in a three-dimensional structural schematic representation,
• 4th the servo system in the device for the detection of a moving object using images in cooperation with the spectrum of entire wavelength ranges according to the present invention in a schematic representation,
• 5 the flowchart of the method for the detection of a moving object using images in cooperation with spectrum of entire wavelength ranges according to the present invention and
• 6th the areas of interest, feature points and feature locations of the objects and scenes of dynamic change according to the present exemplary embodiment of the invention in a schematic representation.

Concrete embodiments

For a better understanding of the task, technical refinements and advantages of the invention, the present invention will be discussed in more detail below using exemplary embodiments with reference to the accompanying drawings. It goes without saying that the specific exemplary embodiments described here serve only to explain rather than to restrict the invention. In addition, the technical features involved in the individual embodiments of the invention described below can be combined with one another, provided that there are no contradictions to one another.

How 1 As can be seen, the present invention provides a device for acquiring information of a spectrum of entire wavelength ranges, which integrates an image recording and a spectrum measurement function and a telescopic sight for 2D scanning with a large field of view, a main optical system module with a common aperture, an optical subsystem module for Infrared image acquisition and spectrum formation, an optical subsystem module for formation of visible spectrum / ultraviolet spectrum / near infrared spectrum and image acquisition in the visible and near infrared range, a spectrum measuring module for short wave / medium wave / long wave infrared light, an image recording module for medium wave wide / narrow band, a spectrum measuring module for visible light and near infrared light Imaging module in the visible and near-infrared range, a spectrum measurement module for ultraviolet light, a processing module for image and spectrum integration signals, a control module and a servo system.

The riflescope for 2D scanning with a large field of view controls the rotation via the servo system for position adjustment and aligns it to the object area by adjusting the inclination in order to reflect the light from the object area onto the main optical system module with a common aperture, the main optical system module with a common aperture the infrared light to the optical subsystem module for infrared image recording and spectrum formation and at the same time also the visible light / ultraviolet / near infrared light to the optical subsystem module for formation of visible spectrum / ultraviolet spectrum / near infrared spectrum and image recording in the visible and near infrared range reflects, whereby the optical subsystem module for infrared image recording and spectrum formation reflects the Main optical system module with a common aperture, let through infrared light focused on the spectrum measurement module for short-wave / medium-wave / long-wave infrared light in order to make a spectrum measurement for ku To enable rwo-wave / medium-wave / long-wave infrared light, and at the same time also focus a part of the medium-wave infrared light on the image recording module for medium-wave wide / narrow band in order to realize image recording in the medium-wave infrared range, with the optical subsystem module for the formation of visible spectrum / ultraviolet spectrum / near-infrared spectrum and image recording In the visible and near-infrared range, the ultraviolet light reflected by the main optical system module with a common aperture is focused on the spectrum measurement module for ultraviolet light in order to enable a spectrum measurement for ultraviolet light, at the same time also 50% of the visible light / near-infrared light is focused on the spectrum measurement module for visible light and near-infrared light for visible light / near infrared light, and the remaining 50% of the visible light / near infrared light on the image acquisition module in the visible / near infrared range focused in order to realize an image recording in the visible range / near infrared range, whereby the processing module for image and spectrum integration information is mainly used to receive a medium-wave infrared image, a visual image / near infrared image in order to capture and process an object in real time Acquiring spectrum data of ultraviolet, visible light and infrared light, and finally processing and analyzing integration data, the control module searching, tracking and analyzing based on the request of a task as well as the result of the processing and analysis of the processing module for image and spectrum integration information through the servo system Alignment of a moving object or a dynamic appearance through the riflescope for 2D scanning with a large field of view ( 3 ) controls.

It is also provided that, as can be seen from 3 results, in terms of composition, the stabilization platform of the rifle scope for 2D scanning with a large field of view according to the present embodiment of the invention comprises an outer frame (fixing frame), a central frame and an inner frame, the inner frame having a flat telescopic sight whose two-dimensional representation (a) and three-dimensional representation (b) 3 can be seen. The inner frame is supported by the outer frame via a bearing, while the outer frame is supported via a bearing on a base support firmly connected to the device, the middle frame being located between the inner frame and the outer frame and connected to the inner frame and the outer frame via a bearing is. When designing the structure, the principle of symmetry should be used as much as possible in order to achieve a balance using the payload, to minimize the counterweight and thus to reduce the rotational inertia of the system. Through precise calculation and targeted construction of the counterweight, it must be designed so that the theoretical center of mass of the load is projected onto an axis of rotation. During assembly and commissioning, appropriate distribution and a low counterweight ensure that the actual center of mass overlaps the axis of rotation, thus eliminating an eccentric overload torque caused by design and manufacturing errors. In the construction of the 2D scanning unit of the device, the requirement of the scanning range (azimuth ± α °, pitch angle ± β °) ensures that the reflection light path of the telescopic sight is not blocked.

It is also provided that how 4th it can be seen that the servo system consists of a control module, a stabilization platform, a torque motor for inner frames, a torque motor for outer frames, a rotary transformer for inner / outer frames, a power booster module for inner / outer frames, a servo controller and a photoelectric isolation module.

It is also provided that the inner frame of the servo platform of the servo system is a pitching frame on which a flat telescopic sight, a rotary transformer for the pitching axis and a rotor of a pitching torque motor are attached, while the outer frame represents an azimuth frame and an azimuth is attached to the outer frame axis -Rotation transformer and a rotor of an azimuth torque motor are attached.

It is also provided that, with regard to the construction of the stabilization platform of the servo system, the platform is driven directly by a torque motor, which contributes to a simpler construction of the platform and significantly reduced damping and gaps due to the transmission of force on the frame axis, the measurement using the rotary transformer without contact takes place and brings no frictional torque with it, and wherein the cable lead-through between the platform and the machine box takes place by means of a cable reel, which significantly reduces the torque of the cable and contributes to ensuring the adjustment process.

It is also provided that the servo controller uses the structure of digital signal processing (DSP) + Field Programmable Gate Array (FPGA). The FPGA is mainly used to organize and manage the timing and communication of the servo system and is external with the control module and internal with the DSP, a digital / analog converter (DAC), an analog / digital converter (ADC), a processing circuit for signals of the rotary transformer, etc., whereby the DSP is mainly used to stabilize the functional organization of the servo control system, for the correction algorithm of the control of the platform frame, etc.

It is also provided that, depending on a command from the control module, the servo controller enables the speed of the stabilization platform and the position circle to be stabilized by means of digital control and thereby generates a current command for a drive in order to implement digital control of the azimuth frame and the pitch frame. To compensate for the large dynamic range and the requirement for a high signal-to-noise ratio of the signal, two gain switchovers are provided in front of the A / D conversion module and in the control algorithm for each channel, while on the other hand, a high signal-to-noise ratio at cost if there is little interference A certain dynamic range is guaranteed, whereby the control module carries out two-way communication with the servo control system via an RS422 interface and accesses the memory area of the servo drive directly at any time and sends commands and data to the servo drive and can timely acquire the status information of the servo control system.

It is also provided that, to reduce the deformation of the flat telescopic sight, the flat telescopic sight uses a material (e.g. K9 glass) with low deformation and light weight, whereby after applying a reflective layer it has a high degree of reflection for ultraviolet light, visible light, near infrared light, medium-wave and long-wave infrared light having.

It is also provided that, as can be seen from 2 results, the main optical system module with a common aperture uses a Cassegrain system with a spectroscope and consists of a main mirror (curved reflector), a secondary mirror (parabolic reflector) and a spectroscope for ultraviolet light, visible light and near infrared light to record spectrum and image with ultraviolet light, visible Light, near-infrared light, medium-wave infrared light and long-wave infrared light as well as an energy concentration of the object to enable. The spectroscope for ultraviolet light, visible light and near-infrared light is placed between the main reflector and the secondary reflector at an angle of 45 degrees, with the ratio of the covered area of the main mirror to that of the secondary mirror not being greater than 1: 3, since one is guaranteed for the image recording of the main and secondary mirror requires a reasonable distance a low ratio of covered area contributes to an increased transmittance for the optical system.

It is also provided that, as can be seen from 2 results, the optical subsystem module for infrared imaging and spectrum formation consists of a broadband spectrum relay lens, an infrared spectrum formation lens group, a spectrum formation spectroscope (semi-transparent and semi-reflective for medium wave range) for short / medium / long wave infrared light and an imaging lens group in medium wave infrared range. The broadband spectrum relay lens focuses the light transmitted through the main optics system module with a common aperture onto the spectrum formation spectroscope for short / medium / long wave infrared light, which in turn reflects the infrared light onto the infrared spectrum formation lens group and at the same time also a part of the medium wave infrared light onto the image recording lens group in the medium-wave infrared range.

It is also provided that, as can be seen from 2 results, the infrared spectrum-forming lens group has a variable field stop and, as a function of a control command, enables the properties of an infrared spectrum for the object or the background to be measured within different fields of view. The image recording lens group in the medium-wave infrared range has a switchable light filter for medium-wave narrowband / broadband and, depending on a control command, can capture the information of an image in the medium-wave narrowband and broadband range for the object or the background within different fields of view.

It is also provided that, as can be seen from 2 results, the optical subsystem module for visible spectrum / ultraviolet spectrum / near infrared spectrum formation and image acquisition in the visible and near infrared range from an ultraviolet spectrum formation reflector group, a flat reflector, an ultraviolet spectroscope, a semitransparent and semi-reflective spectroscope for visible light and near infrared light lens, an image pickup group and near infrared and a spectrum forming lens group for visible light and near infrared light. The ultraviolet spectroscope reflects the ultraviolet light onto the ultraviolet spectrum formation reflector group and at the same time also lets the visible light and near-infrared light through to the flat reflector, which reflects the light transmitted through the ultraviolet spectroscope onto the semi-transparent and semi-reflective spectroscope for visible light and near-infrared light, whereby the (semi-transparent and semi-reflective) spectroscope for visible light and near-infrared light transmits 50% of the visible light and near-infrared light to the image pickup lens group in the visible and near-infrared range and at the same time also reflects 50% of the visible light and near-infrared light to the spectrum-forming lens group for visible light and near-infrared light .

It is also provided that, as can be seen from 2 results, the spectrum-forming lens group for visible light and near-infrared light has a variable field diaphragm and, depending on a control command, enables a measurement of the properties of a spectrum of visible light and near-infrared light for the object or the background within different fields of view.

It is also provided that, as can be seen from 2 the ultraviolet spectrum formation reflector group serves to focus the light reflected by the ultraviolet spectroscope onto the spectrum measurement module for ultraviolet light to enable detection of an ultraviolet spectrum, and the spectrum formation lens group for visible light and near infrared light to focus the light through the semi-transparent and semi-reflective spectroscope for visible light and near-infrared light, light reflected on the spectrum measuring module for visible light and near-infrared light is used to detect a spectrum of visible light and to realize near-infrared light, and wherein the image-taking lens group in the visible and near-infrared ranges is for focusing the light transmitted through the semi-transparent and semi-reflective spectroscopes for visible light and near-infrared light onto the image-taking module in the visible and near-infrared ranges to enable image recording.

It is further provided that the ultraviolet spectrum formation reflector group consists of two ultraviolet reflectors and has an optical transmittance of 0.5, the spectrum-forming lens group for visible light and near infrared light consists of seven lenses and has an optical transmittance of 0.5, the image pickup lens group consists of five lenses in the visible and near-infrared range and has an optical transmittance of 0.5, with the image recording lens group in the medium-wave infrared range consisting of a lens group within the spectrum range for image recording and a lens group outside the spectrum range for image recording, each with a transmittance of 0.2 and 0.3, respectively, wherein the infrared spectrum forming lens group consists of five lenses and has a transmittance of 0.4.

Furthermore, it is provided that the infrared spectrum formation lens group, the ultraviolet spectrum formation reflector group and the spectrum formation lens group for visible light and near infrared light depending on the restriction of the structural arrangement of the device and the dimensions of the respective spectrum measurement modules in the form of an optical lens group coupling and an optical fiber coupling with a Spectrum measurement module of the respective waveband can be coupled.

It is further provided that the intended wavelength range for image recording and spectrum formation is the entire wavelength ranges which include ultraviolet light, visible light, near-infrared light, medium-wave and long-wave infrared light.

• Betriebsart 1: Hundertprozentige Reflexion kurzwelligen und langwelligen Infrarotlichts; halbes Durchlassen und halbe Reflexion vom Infrarotlicht mittelwelligen Schmalbands zu einem Verhältnis von 1:1.
• Betriebsart 2: Hundertprozentige Reflexion kurzwelligen und langwelligen Infrarotlichts; halbes Durchlassen und halbe Reflexion vom Infrarotlicht mittelwelligen Breitbands zu einem Verhältnis von 1:1.

It is also provided that the light irradiated / scattered by the object of entire wavelength ranges is concentrated and broken down four times by a Cassegrain system with a spectroscope. During the first decomposition, ultraviolet light, visible light and near-infrared light are reflected and infrared light is transmitted. In the second decomposition, ultraviolet light is reflected and visible light and near-infrared light are transmitted. In the third decomposition, visible light and near-infrared light are half transmitted and half reflected at a ratio of 1: 1. There are two modes of operation for the fourth dismantling:

• Operating mode 1: 100% reflection of short-wave and long-wave infrared light; half transmission and half reflection of the infrared light of medium-wave narrow band at a ratio of 1: 1.
• Operating mode 2: 100% reflection of short-wave and long-wave infrared light; half transmission and half reflection of medium-wave broadband infrared light at a ratio of 1: 1.

The spectrum formation waveband includes 1) broadband infrared light which is reflected by the spectroscope in the fourth decomposition, 2) ultraviolet light which is reflected by the spectroscope in the second decomposition, and 3) visible and near infrared light which is reflected by the spectroscope in the third decomposition be reflected.

The imaging waveband includes 1) medium infrared light which is half transmitted by the spectroscope in the fourth decomposition, and 2) visible and near infrared light which is half transmitted by the spectroscope in the third decomposition.

1. (1) Suchen nach einem Sichtfeld durch ein Zielfernrohr für 2D-Abtastung mit einem großen Sichtfeld;
2. (2) Erfassen und Verfolgen eines beweglichen Objekts und eines Gegenstands dynamischer Änderung mittels einer mittelwelligen Infrarotbildaufnahme, um eine Sequenz von mittelwelligen Infrarotbildern des interessanten beweglichen Objekts und des Gegenstands dynamischer Änderung zu erhalten, und gleichzeitiges Erfassen und Verfolgen des beweglichen Objekts und des Gegenstands dynamischer Änderung mittels einer Bildaufnahme im sichtbaren und Nahinfrarotbereich, um eine Sequenz von sichtbaren Bildern und Nahinfrarotbildern des interessanten beweglichen Objekts und des Gegenstands dynamischer Änderung zu erhalten;
3. (3) Erfassen der Geschwindigkeits- und Forminformation aus der Bildersequenz durch ein Objektüberprüfungsmodul, um den Satz verfolgter beweglicher Objekte festzulegen,
4. (4) Feststellen, ob es sich dabei um ein flächiges oder punktförmiges Objekt handelt, und Verschieben der Bildaufnahme-Optikachse durch das Abtastungs-Zielfernrohr in das Zentrum des Objekts, wenn dies der Fall ist, wobei zunächst ein Merkmalspunkt und eine Merkmalsstelle entnommen und die Bildaufnahme-Optikachse durch das Abtastungs-Zielfernrohr in das Zentrum des Merkmalspunkts und der Merkmalsstelle des Objekts verschoben wird, wenn es sich dabei um ein flächiges Objekt handelt,
5. (5) Messen der Merkmalsdaten des beweglichen Objekts hinsichtlich dessen Infrarotspektrums durch das Spektrummessmodul für Infrarotlicht, Messen der Merkmalsdaten des beweglichen Objekts hinsichtlich dessen Ultraviolettspektrums durch das Spektrummessmodul für Ultraviolettlicht, Messen der Merkmalsdaten des beweglichen Objekts hinsichtlich dessen Spektrums sichtbaren Lichts und Nahinfrarotspektrums durch das Spektrummessmodul für sichtbares Licht und Nahinfrarotlicht und Bilden eines Zeit-Raum-Spektrummerkmalsvektors des erfassten Objekts anhand der in Schritt (3) erfassten Form- und Geschwindigkeitsinformation des Objekts;
6. (6) Aufruf einer Merkmalsbibliothek für Ultraviolettspektrum, einer Merkmalsbibliothek für Spektrum sichtbaren Lichts und Nahinfrarotspektrum, einer Merkmalsbibliothek für kurz/mittel/langwelliges Infrarotspektrum sowie einer Merkmalsbibliothek für Geschwindigkeit und Form des Objekts, um eine Zeit-Raum-Spektrummerkmalsvorlage zu bilden;
7. (7) Aufruf eines Erkennungsmoduls, um einen in Echtzeit erfassten Zeit-Raum-Spektrummerkmalsvektor mit der Zeit-Raum-Spektrummerkmalsvorlage zu vergleichen und eine Objektart auszugeben,
8. (8) Aufzeichnen des mittelwelligen Infrarotbildes, des sichtbaren und Nahinfrarotbildes, des Merkmals der Form und Geschwindigkeit des Objekts sowie der Information des Spektrummerkmals über das gesamte Wellenband und Anzeigen des Ergebnisses der Objektverfolgung und des Zeit-Raum-Spektrummerkmals.

It is also provided that how 5 It can be seen that the present invention provides a method for the detection of a moving object using images in cooperation with the spectrum of entire wavelength ranges, which comprises the following specific steps:

1. (1) searching for a field of view through a scope for 2D scanning with a large field of view;
2. (2) Detecting and tracking a moving object and an object of dynamic change by means of medium-wave infrared imaging to obtain a sequence of medium-wave infrared images of the moving object and the object of dynamic change of interest, and simultaneously detecting and tracking the moving object and the object of dynamic change by means of visible and near-infrared image pick-up to obtain a sequence of visible and near-infrared images of the moving object of interest and the subject of dynamic change;
3. (3) Acquiring the speed and shape information from the sequence of images by an object inspection module to determine the set of tracked moving objects,
4. (4) Determine whether it is a flat or point-shaped object, and moving the image pickup optical axis through the scanning telescopic sight into the center of the object, if this is the case, with a feature point and a feature point removed and the The image recording optical axis is shifted through the scanning telescopic sight into the center of the feature point and the feature point of the object, if this is a flat object,
5. (5) measuring the feature data of the moving object in terms of its infrared spectrum by the spectrum measuring module for infrared light, measuring the feature data of the moving object in terms of its ultraviolet spectrum by the spectrum measuring module for ultraviolet light, measuring the feature data of the moving object in terms of its visible light spectrum and near infrared spectrum by the spectrum measuring module for visible light and near-infrared light and forming a time-space spectral feature vector of the detected object on the basis of the shape and speed information of the object detected in step (3);
6. (6) Calling up a feature library for the ultraviolet spectrum, a feature library for the spectrum of visible light and near-infrared spectrum, a feature library for short / medium / long-wave infrared spectrum and a feature library for the speed and shape of the object in order to form a time-space spectrum feature template;
7. (7) Calling a recognition module in order to compare a time-space-spectrum feature vector recorded in real time with the time-space-spectrum feature template and to output an object type,
8. (8) Record the medium-wave infrared image, the visible and near-infrared image, the feature of the shape and speed of the object and the information of the spectrum feature over the entire waveband and display the result of the object tracking and the time-space spectrum feature.

How out 6th results, the embodiment of the invention can also enable the detection of the feature point and the feature location of a point-like and flat object, with the head, the tail, the cockpit, the tire and the engine of an aircraft and a volcanic eruption, etc. under a flat object understand are.

It is understood for those skilled in the art that only preferred exemplary embodiments of the present invention have been described so far, which in no way limit the invention, wherein any modifications, equivalent substitutions and improvements within the scope of the basic ideas and principles of the invention are encompassed by the scope of protection of the invention.

Claims (9)

Device for the detection of a moving object using images in cooperation with the spectrum of entire wavelength ranges, characterized in that it comprises a telescopic sight for 2D scanning with a large field of view, a main optical system module with a common aperture, an optical sub-system module for infrared image recording and spectrum formation, an optical sub-system module for the formation of visible spectrum / ultraviolet spectrum / near-infrared spectrum and image recording in the visible and near-infrared range, a spectrum measuring module for short-wave / medium-wave / long-wave infrared light, an image recording module for medium-wave wide / narrow band, a spectrum measuring module for visible light and near-infrared light, a visible and near-infrared image recording module in the red Spectrum measurement module for ultraviolet light, a processing module for image and spectrum integration signals, a control module and a servo system, wherein - the riflescope for 2D scanning with a g large field of view controls the rotation via the servo system for position adjustment and aligns it with the object area by adjusting the inclination in order to reflect the light of the object area onto the main optical system module with a common aperture, - the main optical system module with a common aperture to let the infrared light through to the optical subsystem module for infrared image recording and spectrum formation and at the same time also serves to reflect visible light / ultraviolet / near infrared light onto the optical subsystem module for the formation of visible spectrum / ultraviolet spectrum / near infrared spectrum and image recording in the visible and near infrared range, - the optical subsystem module for infrared image recording and spectrum formation for focusing the transmitted through the main optical system module with a common aperture Infrared light on the spectrum measurement module for short-wave / medium-wave / long-wave infrared light to make a spectrum measurement for short-wave / medium-wave / long-wave to enable total infrared light, and at the same time also serves to focus part of the medium-wave infrared light on the image recording module for medium-wave wide / narrow band in order to realize image recording in the medium-wave infrared range, - the optical subsystem module for the formation of the visible spectrum / ultraviolet spectrum / near-infrared spectrum and image recording in the visible and near-infrared region for focusing the ultraviolet light reflected by the common aperture main optical system module onto the ultraviolet light spectrum measurement module to enable ultraviolet light spectrum measurement at the same time as the Focusing 50% of the visible / near-infrared light on the visible and near-infrared light spectrum measurement module to perform a visible / near-infrared spectrum measurement and for focusing the remaining 50% of the visible / near-infrared light on the visible / near-infrared image pickup module to to realize an image recording in the visible / near-infrared range, - the processing module for image and spectrum integration information is used to receive a medium-wave infrared image, a visual image / near-infrared image, in order to record and process an object in real time, its spectrum data of ultraviolet, visible light and To detect infrared light and finally to process and analyze integration data, - the control module based on the request of a task as well as the result of the processing and analysis of the processing module for image and spectrum integration information the servo system controls the search, tracking and alignment of a moving object or a dynamic phenomenon through the riflescope for 2D scanning with a large field of view to enable processing of optical, mechanical and electrical information, with all modules working together. Device for the detection of a moving object using images in cooperation with spectrum from entire wavelength ranges according to Claim 1 , characterized in that the main optical system module with a common aperture uses a Cassegrain system with a spectroscope and consists of a main mirror, a secondary mirror and a spectroscope for ultraviolet light, visible light and near infrared light in order to record spectrum and image with ultraviolet light, visible light, near infrared light, To enable medium-wave infrared light and long-wave infrared light as well as a concentration of energy of the object, the main mirror being a curved reflector and the secondary mirror being a parabolic reflector and the spectroscope for ultraviolet light, visible light and near infrared light between the main reflector and the secondary reflector with one each An angle of 45 degrees is set to it, the ratio of the covered area of the main mirror to that of the secondary mirror not being greater than 1: 3. Device for the detection of a moving object using images in cooperation with spectrum from entire wavelength ranges according to Claim 1 or 2 , characterized in that the optical subsystem module for infrared image recording and spectrum formation consists of a broadband spectrum relay lens, an infrared spectrum formation lens group, a spectrum formation spectroscope for short / medium / long wave infrared light and an image recording lens group in the medium wave infrared range, the broadband spectrum relay lens for focusing the light transmitted through the main optical system module with a common aperture onto the spectrum formation spectroscope for short / medium / long wave infrared light, which in turn serves to reflect the infrared light onto the infrared spectrum formation lens group and at the same time also to allow part of the medium wave infrared light to pass through to the image recording lens group in the medium wave infrared range , the spectrum formation spectroscope being semi-transparent for short / medium / long-wave infrared light and semi-reflective for medium-wave light. Device for the detection of a moving object using images in cooperation with spectrum from entire wavelength ranges according to Claim 1 or 2 , characterized in that the optical subsystem module for formation of visible spectrum / ultraviolet spectrum / near-infrared spectrum and image recording in the visible and near-infrared range from an ultraviolet spectrum formation reflector group, a flat reflector, an ultraviolet spectroscope, a semi-transparent and semi-reflective spectroscope for visible light and near infrared light, a There is an image pickup lens group in the visible and near-infrared regions and a spectrum-forming lens group for visible light and near-infrared light, the ultraviolet spectroscope for reflecting the ultraviolet light onto the ultraviolet-spectrum-forming reflector group and at the same time also transmitting the visible light and near-infrared light to the flat reflector which is used for reflecting through the ultraviolet spectrum Light on the semi-transparent and semi-reflective spectroscope for visible light and near-infrared light is used, w obei the spectroscope for visible light and near-infrared light for transmitting 50% of the visible light and near-infrared light to the image pickup lens group in the visible and near-infrared range and at the same time also for reflecting 50% of the visible light and near-infrared light onto the spectrum-forming lens group for visible light and near-infrared light, where the Visible light and near-infrared light spectroscope is semi-transparent and semi-reflective for visible light and near-infrared light. Device for the detection of a moving object using images in cooperation with spectrum from entire wavelength ranges according to Claim 4 , characterized in that the spectrum forming lens group for visible light and near infrared light has a variable field stop and depending on one Control command enables a measurement of the properties of a spectrum of visible light and near-infrared light for the object or the background within different fields of view. Device for the detection of a moving object using images in cooperation with spectrum from entire wavelength ranges according to Claim 4 , characterized in that the ultraviolet spectrum formation reflector group is for focusing the light reflected by the ultraviolet spectroscope on the spectrum measuring module for ultraviolet light to enable detection of an ultraviolet spectrum, the spectrum formation lens group for visible light and near infrared light for focusing the light through the semi-transparent and half -reflective spectroscope for visible light and near-infrared light reflected light on the spectrum measuring module for visible light and near-infrared light is used to realize the detection of a spectrum of visible light and near-infrared light, and the image taking lens group in the visible and near-infrared range for focusing the through the semi-transparent and semi-reflective spectroscope for visible light and near-infrared light, light transmitted to the image acquisition module in the visible and near-infrared range, is used to enable image acquisition. Device for the detection of a moving object using images in cooperation with spectrum from entire wavelength ranges according to Claim 3 and Claim 4 , characterized in that the infrared spectrum formation lens group, the ultraviolet spectrum formation reflector group and the spectrum formation lens group for visible light and near infrared light depending on the restriction of structural arrangement of the device and the size of the respective spectrum measurement modules in the form of an optical lens group coupling and an optical fiber coupling with a Spectrum measurement module of the respective waveband can be coupled. Device for the detection of a moving object using images in cooperation with spectrum from entire wavelength ranges according to Claim 1 or 2 , characterized in that the stabilization platform of the rifle scope for 2D scanning with a large field of view comprises an outer frame, a central frame and an inner frame, the inner frame comprising a flat rifle scope and supported by the outer frame via a bearing, while the outer frame via a bearing is supported on a base bracket firmly connected to the device, the central frame being located between the inner frame and the outer frame and being connected to the inner frame and the outer frame via a bearing. Detection method using the device for detecting a moving object using images in cooperation with spectrum of entire wavelength ranges according to one of the Claims 1 to 8th characterized in that the method comprises the steps of: (1) searching for a field of view through a scope for 2D scanning with a large field of view; (2) Detecting and tracking a moving object and an object of dynamic change by means of medium-wave infrared imaging to obtain a sequence of medium-wave infrared images of the moving object and the object of dynamic change of interest, and simultaneously detecting and tracking the moving object and the object of dynamic change by means of visible and near-infrared image capture to obtain a sequence of visible and near-infrared images of the moving object of interest and the subject of dynamic change; (3) Acquiring the speed and shape information of each object from the image sequence by an object inspection module to determine the set of tracked moving objects, (4) Determining whether it is a flat or point object, and shifting the image pickup optical axis through the scanning rifle scope into the center of the object, if so; where a feature point and a feature point are first removed and the image recording optical axis is shifted through the scanning telescopic sight into the center of the feature point and the feature point of the object if this is a flat object, (5) measuring the feature data of the moving object with regard to its infrared spectrum by the spectrum measuring module for infrared light, measuring the feature data of the moving object with regard to its ultraviolet spectrum by the spectrum measuring module for ultraviolet light, measuring the characteristic data of the moving object with regard to its spectrum of visible light and near infrared spectrum by the spectrum measuring module for visible light and near infrared light and forming a time Spatial spectrum feature vector of the detected object based on the shape and speed information of the object detected in step (3); (6) Calling up a feature library for the ultraviolet spectrum, a feature library for the spectrum of visible light and near-infrared spectrum, a feature library for short / medium / long-wave infrared spectrum and a feature library for the speed and shape of the object in order to form a time-space spectrum feature template; (7) Calling a recognition module to compare a time-space-spectrum feature vector recorded in real time with the time-space-spectrum feature template and output an object type, (8) recording the medium-wave infrared image, the visible and near-infrared image, the feature of shape and speed of the object as well as the information of the spectrum feature over the entire waveband and display of the result of the object tracking and the time-space spectrum feature.

Images