JPH09197034A - Target detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a target detection device for estimating the type and capacity of t target from acquired data by detecting a target such as a missile which emits ultraviolet rays at a high temperature from the quantity of incidence light and spectral data. SOLUTION: A target candidate is detected by performing such processing as binarization at a target detection processing part 5c for an infrared ray image by an infrared ray optical system 1 and an infrared ray image pick-up part with a wide visual field, a drive instruction part 11d receives the position of the target candidate, an ultraviolet ray optical system 3 and an ultraviolet ray spectral part 4 are directed and ultraviolet rays are measured from the target candidate, and the ultraviolet ray light and background light generated by a background data processing part 7d at a target detection processing part 6c are switched to detect a target. At the same time, by comparing target data which a target identification processing part 13b has with the data of the quantity of incidence light, spectral waveform, and jet combustion time obtained from the target, a target detection device for estimating the type and capacity of the target can be obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a target detecting apparatus mounted on, for example, an aircraft and detecting and identifying a target that emits high temperature and ultraviolet rays such as a plume of a missile launched toward itself. is there.

[0002]

2. Description of the Related Art FIG. 13 is a block diagram showing a conventional target detecting apparatus using an element for detecting infrared rays and ultraviolet rays. In FIG. 13, 1 is an infrared optical system, 2 is an infrared imaging unit, 5a is a target detection processing unit, 8 is an output data processing unit, 9 is a display unit, 15 is an ultraviolet optical system, and 16 is 300n.
An ultraviolet imaging unit having a two-dimensional ultraviolet detector having a sensitivity in an ultraviolet region having a wavelength shorter than m, 17 is a target position comparison unit,
Reference numeral 18 is a synchronizing signal generator.

The operation of a conventional device using an element for detecting an infrared region will be described with reference to FIG. The infrared light imaged by the infrared optical system 1 enters a two-dimensional infrared detector of the infrared imaging unit 2 which is sensitive to infrared rays in the 3 to 5 μm band, and is output as an infrared image. The output infrared image is selected in the target detection processing unit 5a by performing a binarization process in which a portion having a certain luminance or more is set to a value of 1 and other portions are set to a value of 0, thereby selecting a target candidate. With respect to the candidates, the feature amount such as the position on the screen, the brightness and area of the pixel is measured, and the target candidate is determined by comparing with the feature amount such as the target pixel brightness and area that is input in advance, and the target candidate is determined. The data such as the position on the screen is output to the target position comparison unit 17.

Next, referring to FIG. 13, the operation of the conventional apparatus using the element for detecting the ultraviolet region will be described. The ultraviolet light imaged by the ultraviolet optical system 15 enters the ultraviolet imaging unit 16 and is output as an ultraviolet image. The output ultraviolet image is subjected to the same processing as the above infrared image to detect target candidates, and outputs data such as a position on the screen to the target position comparison unit 17.

A conventional target detection device is composed of the infrared sensor and the ultraviolet sensor which are fixed and image the same visual field range. The two obtained images are processed to detect target candidates, respectively, and the target position is detected. The target candidates were set as targets.

[0006]

The conventional target detecting apparatus has the above-mentioned configuration, and is only the target detecting method based on the amount of incident light from the target. Further, since there is a difference in the target detection ability between the infrared sensor and the ultraviolet sensor, there is a problem that the detection distance of the infrared sensor cannot be effectively utilized because it is limited by the detection distance of the ultraviolet sensor having a low detection ability.

In order to solve the above-mentioned problems, the present invention comprises a conventional infrared sensor having a wide field of view and an ultraviolet spectroscope having a narrow field of view having a driving unit, so that a target at a longer distance can be obtained. It is an object of the present invention to obtain a target detection device capable of detecting a target light amount and spectral data, and estimating a target type and its ability from the acquired data.

[0008]

The target detecting apparatus according to the present invention 1 is effective when both infrared and ultraviolet sensors are installed on a fixed body or on a moving body whose moving speed is very slow, and the conventional wide field of view. Consists of an infrared sensor with a range, an ultraviolet optical system with a narrow field of view, and an ultraviolet spectroscope,
The same field of view as the infrared sensor is secured by integrally driving the ultraviolet optical system and the ultraviolet spectroscope, and background data in the entire field of view is acquired, and the ultraviolet sensor is set as the target candidate detected by the infrared sensor as the target candidate. The presence / absence of ultraviolet radiation is checked by pointing, and if there is ultraviolet radiation, the target is detected by comparing the spectral waveform from the target candidate with the existing spectral waveform.

The target detecting apparatus according to the second aspect of the present invention is effective when both infrared and ultraviolet sensors are installed on a moving body such as an aircraft. Regarding the background data acquisition method described above, By receiving the speed and attitude data from the moving body, the background data of one line is continuously acquired to acquire the background data of the entire visual field range of the infrared sensor.

The target detecting apparatus according to the third aspect of the present invention is
Regarding the above-mentioned two types of background data acquisition methods, when a target candidate is detected by an infrared sensor, the ultraviolet sensor directs in the direction of the target candidate, and in order to avoid the loss of background data while making a determination, two drivable units can be used. It has a UV sensor and is used for background data acquisition and target candidate discrimination.

The target detecting device according to the fourth aspect of the present invention is effective without affecting the installation location of the sensor, and is composed of a conventional infrared sensor having a wide visual field range, an ultraviolet optical system having a narrow visual field range, and an ultraviolet spectroscope. And the UV spectroscope is integrated and driven to secure the same field of view as the infrared sensor, and continue to randomly acquire background data of the entire field of view, and target the median value of the acquired data as the background data of the entire field of view. It is to detect.

Further, the target detecting device according to the present invention 5 is
The background data of the invention 4 is further corrected by the fluctuation of the central value of the brightness of the infrared image, and the background data is used for the target detection.

The target detecting device according to the sixth aspect of the present invention is
In addition to the above configuration, by providing a target identification processing unit that possesses various target data, by comparing the amount of incident light and the spectral waveform obtained from the target with the existing target data when the target is detected by the above means, It estimates the type of goal.

Further, the target detecting device according to the present invention 7 is
In addition to the above configuration, the target identification processing unit is provided with a function of measuring the time from when the infrared target detection processing unit recognizes it as a target candidate until the output of the ultraviolet light disappears in the ultraviolet target detection processing unit. When the target is detected by the means, the type and ability of the target are estimated by comparing the amount of incident light obtained from the target, the spectral waveform, and the combustion time of injection with the existing target data.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1. FIG. 1 is a block diagram of a target detection device according to a first embodiment of the present invention. In FIG.
2, 5a, 8 and 9 are the same as the conventional device. 3
Is an ultraviolet optical system with a narrow viewing angle, 4 is an ultraviolet spectroscopic unit having a one-dimensional ultraviolet detector having sensitivity in the ultraviolet region, 6a is a target detection processing unit for ultraviolet rays, 7a is a background data processing unit for generating background data, 10a Is an ultraviolet sensor driver, 11
Reference numeral a is a drive instruction unit.

Next, the operation will be described. The infrared imaging unit 2 uses the brightness of each pixel as 12-bit data, and the brightness value with the largest number among the brightness data of the entire screen is set to 1
By correcting the brightness level of the entire screen so as to match the median of 2 BIT, the dynamic range can be sufficiently used even for the high brightness target. The target detection processing unit 5a performs a binarization process on the infrared image of the infrared imaging unit 2 in which pixels having a luminance equal to or higher than a certain value are set to 1, and other pixels are set to 0. A clustering process for numbering each, an area for each numbered range, vertical and horizontal lengths, barycentric position, maximum brightness, average brightness, feature amount detection process for detecting S / N, and each feature amount A target candidate detection process of determining a target candidate by comparing it with a preset value is performed, and the position data of the target candidate is output to the drive instructing unit 11a and the result of the feature amount detection process is output to the output data processing unit 8. When no target candidate is detected by the target detection processing unit 5a, the drive instruction unit 11a instructs the ultraviolet sensor drive unit 10a in the pointing direction in order to acquire the background data of the entire visual field range of the infrared sensor. The ultraviolet sensor driving unit 10a is driven, for example, as shown in FIG. 2 to continuously acquire the background data, and outputs the background data and the background position to the background data processing unit 7a.
The background data processing unit 7a stores the background data for the entire visual field range of the infrared sensor and updates it as needed. When the target detection processing unit 5a detects a target candidate, the drive instruction unit 11a instructs the ultraviolet sensor driving unit 10a to direct the ultraviolet sensor in the direction of the position data of the target candidate obtained from the target detection processing unit 5a. Give instructions. The ultraviolet spectroscopic unit 4 measures the ultraviolet light from the visual field range including the target candidate and outputs it to the target detection processing unit 6a. The target detection processing unit 6a uses the background data processing unit 7 to convert the background data of the visual field range in which the target candidate exists
The presence or absence of ultraviolet radiation from the target candidate is detected by reading from a and subtracting it from the ultraviolet light data from the target candidate. If UV radiation from the candidate targets is confirmed,
A target detection process of determining a target by performing comparison with a preset ultraviolet spectral waveform from sunlight is performed. The target detection processing unit 6a outputs what is determined to be a target to the output data processing unit 8, and the output data processing unit 8 forms output data to be output to the display unit 9.

The two-dimensional infrared detector of the infrared imaging section 2 uses an element having a sensitivity in the wavelength range of 3 to 5 μm for the following reason. Assuming that the plume's infrared radiation is a black body, from the Wien displacement law of "Equation 1",
It can be seen that an object at about 500 ° C. gives its maximum radiant intensity in the wavelength range of 3 to 5 μm. On the other hand, since the region of 400 ° C. to 600 ° C. occupies most of the area of the plume of the missile in many cases, it is advantageous to use an element having sensitivity in the vicinity of 3 to 5 μm.

[0018]

[Equation 1]

Further, the one-dimensional ultraviolet detector of the ultraviolet spectroscopic unit 4 uses an element sensitive to the solar blind region. Most of the ultraviolet light in this wavelength range from the sky is absorbed by the ozone layer in the sky, so if you use a detector in this wavelength range near the ground, it will emit ultraviolet light in this wavelength range like a missile plume. You can barely see anything other than the object. Therefore, it is understood that these wavelength ranges are effective for missile detection. However, in order to detect weak UV radiation from a distant target, it is necessary to measure the UV light from the sky that exists near the ground to some extent and separate it from the UV light from the target.

Embodiment 2 Second Embodiment FIG. 3 is a block diagram of a target detecting device showing a second embodiment of the present invention. In FIG. 3, 1 to 6a and 8 to 10a are the same as those in the first embodiment. Reference numeral 7b is a background data processing unit, 11b is a drive instructing unit, and 12 is an attitude data processing unit for receiving data such as speed and attitude of a moving body on which the present apparatus is mounted.

In the first embodiment described above, when it is installed on a moving body such as an aircraft, it becomes impossible to acquire background data of the entire field of view of the infrared sensor, which makes target detection extremely difficult. In order to solve this problem, in the present embodiment, the attitude data processing unit 12 receives the attitude data such as the speed and the traveling direction of the moving body, and continues to acquire the background data of one line of the traveling direction, thereby the infrared ray It has means for acquiring background data of the entire visual field range of the sensor. FIG. 4 and FIG. 5 are conceptual diagrams of a background data acquisition method when both sensors are performing target detection from the side direction of the moving body. In FIG. 4, v is the speed of the moving body, and φ is the angle formed by the moving body with the horizontal axis. In FIG. 5, θx is the horizontal movement angle of the field of view of the ultraviolet sensor, and θy is the vertical movement angle. When a moving body equipped with this device moves at a speed v with an angle φ with the horizontal axis, the moving angle of the field of view of the ultraviolet sensor for acquiring the background data in the azimuth direction is “Equation 2”, and The movement angle in the direction of movement is calculated by "Equation 3". 4 and 5, for simplification, it is considered that the moving body is moving upward in the side view and only the vertical change occurs on the screen. However, in an aircraft or the like, the change in the attitude angle of the airframe is considered. Occurs on three axes, so a slightly complicated calculation using a matrix needs to be performed to calculate the moving direction of the field of view of the ultraviolet sensor when background data is acquired, but the basic idea is the same.
According to this embodiment, it is possible to detect a target from a moving body such as an aircraft.

[0022]

[Equation 2]

[0023]

(Equation 3)

Embodiment 3. FIG. 6 is a block diagram of a target detecting apparatus according to Embodiment 3 of the present invention. In FIG. 6, 1 to 9 and 12 are the same as those in the second embodiment. Reference numeral 10b is a target ultraviolet sensor driving unit, 10c is a background ultraviolet sensor driving unit, and 11c is a drive instructing unit.

In the above-described first and second embodiments, when the target detection processing unit 5a detects a target candidate, the ultraviolet sensor that has acquired the background data until then is used for the target candidate determination. Background data may be missed when time is taken, which may miss goals. Therefore, two for background data acquisition and target detection
The background data is prevented from being lost by providing an ultraviolet sensor having the same performance as that of a stand that can be driven and operating as follows. When the target is not detected by the target detection processing unit 5a of the infrared sensor, the drive instruction unit 11c instructs the background ultraviolet sensor driving unit 10c to drive the background data acquisition ultraviolet sensor, and the background ultraviolet spectral unit. Reference numeral 4 outputs the acquired background data and background position to the background data processing unit 7b. Target detection processing unit 5 of infrared sensor
When the target candidate is detected in a, the ultraviolet sensor for background data acquisition continues the same operation as it is, and the drive instruction unit 11c detects the target in the direction of the position data of the target candidate obtained from the target detection processing unit 5a. The target ultraviolet sensor drive unit 10b is instructed to point the ultraviolet sensor of. The target ultraviolet spectroscopic unit 4 measures the ultraviolet light from the target candidate and performs the same target detection processing as in the first and second embodiments. According to the present embodiment, it is possible to reduce the loss of background data while the ultraviolet sensor makes a determination regarding the target candidate detected by the infrared sensor, and thus the target detection rate is improved.

Embodiment 4 FIG. 7 is a block diagram of a target detecting device showing a fourth embodiment of the present invention. In FIG. 7, 1 to 6a and 8 to 10a are the same as those in the first embodiment. Reference numeral 7c is a background data processing unit, and 11d is a drive instruction unit.

In the second to third embodiments described above, a new component for measuring the background data and a somewhat complicated process are required. In order to solve this problem, the present embodiment
Focusing on the fact that the ultraviolet sensor uses the solar blind area to detect the target, and outputs almost no light except from an object that emits ultraviolet light, the amount of ultraviolet light from a background without a target is almost the same in the entire field of view of the infrared sensor. The method has a method of acquiring background data by assuming that there is no difference. Next, the operation will be described. When no target candidate is detected by the target detection processing unit 5a, the drive instructing unit 11d instructs the ultraviolet sensor driving unit 10a to continue randomly acquiring background data within the visual field range of the infrared sensor. The background data processing unit 7c saves a certain amount of background data that has been sent, and updates it with new data as needed. When the target detection processing unit 5a detects a target candidate, the background data processing unit 7c determines the background data by performing background data calculation processing for obtaining the median value of the incident light amount from the stored background data. The target detection processing similar to that of 3 to 3 is performed. According to the present embodiment, it is possible to generate background data by simple processing without requiring a new component for acquiring background data.

Embodiment 5 FIG. 8 is a block diagram of a target detecting device showing a fifth embodiment of the present invention. In FIG. 8, 1-4, 6a and 8-11d are the same as in the fourth embodiment.
Is the same as 5b is an infrared target detection processing unit,
7d is a background data processing unit.

In the target detection methods of the above-described first to fourth embodiments, when the target detection is performed in the weather such as a day with a lot of clouds where the background light amount changes greatly, the target candidates detected by the target detection processing unit 5a are targeted. A large change in the amount of background light occurs until the detection processing unit 6a completes the determination, and the target light is buried in the background light when the background data is subtracted from the target light, and vice versa. You might miss it. Therefore, the present invention solves the above problem by operating as follows. The target detection processing unit 5b performs the target detection processing, obtains the median value of the brightness of the infrared image, and outputs it to the background data processing unit 7d. The background data processing unit 7d performs background data calculation processing when a target candidate is detected by the infrared sensor, calculates the median value of the median value of the brightness of the infrared image at the time of acquiring the background data, and stores the median value. To do. While the ultraviolet sensor is determining the target candidate, the background data processing unit 7d constantly monitors the median value of the brightness of the infrared image and corrects the background data according to the fluctuation. Using the background data corrected with the brightness of the infrared image, the target detection processing similar to that in the first to fourth embodiments is performed. According to the present embodiment, it becomes possible to perform target detection in response to a sudden change in the background light amount.

Embodiment 6 FIG. FIG. 9 is a block diagram of a target detecting device showing a sixth embodiment of the present invention. In FIG. 9, 1 to 11d are the same as those in the fifth embodiment. Reference numeral 13a is a target identification processing unit, and 14 is a target data storage unit.

Next, the operation will be described. The target identification processing unit 13a has various target data such as a spectral waveform, generates a spectral waveform of the target data from the amount of incident light from what is determined as the target in the fifth embodiment, and compares it with the measured spectral waveform of the target. To estimate the target type.
FIG. 10 shows an example of target estimation when the target is a missile. Data such as the amount of incident light and the spectral waveform measured from the target is recorded in the target data storage unit 14 and the target measurement data is accumulated. The target identification processing unit 13a also estimates the target type from the measurement data of all the targets recorded in the target data storage unit 14.

Embodiment 7 11 is a block diagram of a target detecting apparatus showing an embodiment 7 of the invention. FIG.
1, 1 to 4, 7d to 11d and 14 are the same as those in the sixth embodiment. Reference numeral 5c is an infrared target detection processing unit, 6c is an ultraviolet target detection processing unit, and 13b is a target identification processing unit.

Next, the operation will be described. When detecting the target candidate, the target detection processing unit 5c outputs information such as the position of the target candidate to the target identification processing unit 13b. Target identification processing unit 1
3b receives the signal and starts time measurement. The target detection processing unit 6c determines a target candidate, and when it determines that the target candidate is not a target, outputs that fact to the target identification processing unit 13b, and the target identification processing unit 13b stops the time measurement. When the target detection processing unit 6c determines that the target candidate is the target, it outputs a signal to the target identification processing unit 13b after confirming that the output of the ultraviolet light from the target has disappeared. Target identification processing unit 1
3b stops the time measurement, records the time, and estimates the target type and flight distance from the target incident light amount, the spectral waveform, and the combustion time of the injection. The method of estimating the target type is the same as that in the sixth embodiment. FIG. 12 shows a method of estimating the target flight distance. As shown in the figure, the time change of the incident light amount in a certain wavelength band is obtained, and the target flight distance is estimated from the data possessed by the target identification processing unit 13b from the integrated value of the incident light amount and the time when the output appears. To do.

[0034]

As described above, according to the present invention, by driving an ultraviolet sensor having a narrow field of view to obtain a wide viewing angle, the transmittance of the optical system and the resolution of the target are improved. The target detection distance can be extended, and the presence or absence of the target can be confirmed from the spectral waveform of ultraviolet rays in addition to the incident light amounts of infrared rays and ultraviolet rays, so that the reliability is improved.

Further, according to the present invention, it is possible to detect a target from a moving body such as an aircraft.

Further, according to the present invention, it is possible to reduce the loss of the background data while the ultraviolet sensor makes a determination on the target candidate detected by the infrared sensor, so that the target detection rate is improved.

Further, according to the present invention, even when a target candidate is detected by the infrared sensor, the target can be detected without missing the background data, so that the target detection rate is improved.

Further, according to the present invention, it is possible to cope with a sudden change in the amount of background light due to the shade of sunlight, etc., and therefore the reliability of target detection is improved.

Further, according to the present invention, it is possible to estimate the type or ability of a target that is a threat, and to promptly deal with and avoid the threat.

Further, according to the present invention, the reliability of target estimation is improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a target detection device according to a first embodiment of the present invention.

FIG. 2 is an image diagram of a background data acquisition method using an ultraviolet sensor.

FIG. 3 is a block diagram showing a target detection device according to a second embodiment of the present invention.

FIG. 4 is a conceptual diagram of a moving body when background data is acquired by an ultraviolet sensor.

FIG. 5 is an image diagram of a background data acquisition method using an ultraviolet sensor.

FIG. 6 is a block diagram showing a target detection device according to a third embodiment of the present invention.

FIG. 7 is a block diagram showing a target detection device according to a fourth embodiment of the present invention.

FIG. 8 is a block diagram showing a target detection device according to a fifth embodiment of the present invention.

FIG. 9 is a block diagram showing a target detection device according to a sixth embodiment of the present invention.

FIG. 10 is a diagram showing a target type estimation method according to a sixth embodiment of the present invention.

FIG. 11 is a block diagram showing a target detecting device according to a seventh embodiment of the present invention.

FIG. 12 is a diagram showing a method of estimating a target flight distance according to a seventh embodiment of the present invention.

FIG. 13 is a block diagram showing a conventional target detection device.

[Explanation of symbols]

1 infrared optical system, 2 infrared imaging section, 3 ultraviolet optical system, 4 ultraviolet spectroscopic section, 5a target detection processing section, 5b
Target detection processing unit, 5c target detection processing unit, 6a target detection processing unit, 6b target detection processing unit, 6c target detection processing unit, 7a background data processing unit, 7b background data processing unit, 7c background data processing unit, 7d background data Processing unit, 8 output data processing unit, 9 display unit, 10a UV sensor driving unit, 10b target UV sensor driving unit,
10c Background UV sensor drive unit, 11a drive instruction unit, 11b drive instruction unit, 11c drive instruction unit, 11d
Drive instruction unit, 12 attitude data receiving unit, 13a target determination processing unit, 13b target determination processing unit, 14 target data storage unit, 15 ultraviolet optical system, 16 ultraviolet imaging unit,
17 target position comparison unit, 18 synchronization signal generation unit.

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI Technical display location H04N 7/18 H04N 7/18 G

Claims (7)

[Claims] 1. An infrared optical system having a wide viewing angle, an infrared imaging section having a two-dimensional infrared detector having sensitivity in an infrared region, and image processing such as binarization of an infrared image to detect a target candidate. A target detection processing unit, a staring-type ultraviolet optical system having a narrow viewing angle, an ultraviolet spectroscopic unit having a spectroscope for dispersing condensed ultraviolet light and a one-dimensional ultraviolet detector having sensitivity in the ultraviolet region, and the ultraviolet light An ultraviolet sensor driving unit that integrally drives the optical system and the ultraviolet spectroscopic unit, a drive instructing unit that instructs the ultraviolet sensor driving unit in the direction of the field of view of the ultraviolet optical system, and some of the output from the ultraviolet spectroscopic unit. A background data processing unit that synthesizes ultraviolet light from a narrow field of view background to generate background data of a wide field of view, and the ultraviolet light from the target candidate detected in the infrared image is measured and the background data for that pointing direction is divided. A target detection processing unit for ultraviolet rays that determines whether or not it is a target from the spectral data obtained by subtracting, an output data processing unit that forms an output for display with respect to targets for which both infrared rays and ultraviolet rays have been confirmed to emit light, and the output described above. A target detection apparatus comprising a display unit for displaying data from a data processing unit. 2. When mounted on a moving body having a high speed such as an aircraft, the ultraviolet light from a background with a narrow field of view is combined to generate background data with a wide field of view, and target detection is performed. The target detecting apparatus according to claim 1, further comprising a posture data processing unit that receives posture data and the like from a moving body. 3. The target detecting apparatus according to claim 1, further comprising an ultraviolet optical system mainly used for background data acquisition, an ultraviolet spectroscopic section, and an ultraviolet sensor driving section. 4. A background data processing unit having a processing function of acquiring a plurality of ultraviolet rays from a background having an arbitrary narrow visual field within the visual field range of the infrared optical system and using the median value as background data. The target detection device according to claim 1, wherein the target detection device is a target detection device. 5. In order to cope with a sudden change in background light, a plurality of ultraviolet rays from the background having an arbitrary narrow field of view within the field of view of the infrared optical system are acquired, and the median value is the center of the brightness of the infrared image. The target detecting apparatus according to claim 1, further comprising a background data processing unit having a processing function of correcting the fluctuation of the value to obtain background data. 6. A target identification processing unit that has various kinds of target data and estimates the type of the target by comparing the measured incident light amount and the measured target waveform with each other. The target detection device according to 1, 2, 3, 4 or 5. 7. A target identification processing unit, which has various kinds of target data and estimates the target type and flight distance by comparing the measured incident light amount, spectral waveform, and combustion time of injection to the target. Claims 1, 2, 3, characterized in that
4. The target detection device according to 4 or 5.