Linear multi-spectrum radar and vision integrated machine

Abstract

The application provides a linear multi-spectrum radar and vision integrated machine, and belongs to the technical field of radar equipment, which comprises a shell, a main radar, a thermal imaging camera, a first white light camera, a blind-filling radar and a control module; the main radar is installed on the front and back sides of the shell, the thermal imaging camera and the first white light camera are both located directly above the main radar, the blind-filling radar is located directly below the main radar, and the control module is electrically connected with the main radar, the thermal imaging camera, the first white light camera and the blind-filling radar respectively. The linear multi-spectrum radar and vision integrated machine provided by the application can detect the blind area above the main radar through the thermal imaging camera and the first white light camera, and can detect the blind area below the main radar through the blind-filling radar, so that the detection range of the whole linear multi-spectrum radar and vision integrated machine is larger, the blind area range is reduced, and the detection precision and all-weather adaptability of the linear multi-spectrum radar and vision integrated machine are improved.

Description

Technical Field

[0001] This application belongs to the field of radar equipment technology, and more specifically, relates to a linear multi-spectral radar-visual integrated machine. Background Technology

[0002] The linear multi-spectral radar-visual integrated machine is an intelligent transportation device that integrates millimeter-wave radar and video sensing technologies. It achieves all-weather, high-precision traffic target detection and tracking through multi-spectral collaborative detection. Existing road or area monitoring systems often use single or limited sensors (such as cameras or single radars), resulting in blind spots. Utility Model Content

[0003] The purpose of this application is to provide a linear multi-spectral radar-visual integrated machine, which aims to solve the problem of perception blind spots in existing road or area monitoring systems.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: a linear multi-spectral radar-visual integrated machine is provided, comprising: a housing, a main radar, a thermal imaging camera, a first white light camera, a blind spot radar, and a control module; the main radar is installed on the front and rear sides of the housing, the thermal imaging camera and the first white light camera are both located directly above the main radar, the blind spot radar is located directly below the main radar, and the control module is electrically connected to the main radar, the thermal imaging camera, the first white light camera, and the blind spot radar respectively.

[0005] In one possible implementation, a linear multi-spectral radar-visual integrated machine further includes a second white light camera, which is at the same height as the first white light camera and is located on the left and right sides of the housing.

[0006] In one possible implementation, the thermal imaging camera is integrated with the first white light camera.

[0007] In one possible implementation, a heat dissipation module for cooling the thermal imaging camera and the first white light camera is mounted on the housing. The heat dissipation module includes a supporting housing, a heat dissipation support plate, an outer protective cover, a sealing ring, and a protective lens. The supporting housing has openings on both its front and rear sides. The inner cavity of the supporting housing is used to accommodate the thermal imaging camera and the first white light camera. The heat dissipation support plate is detachably mounted on the rear opening of the supporting housing. The thermal imaging camera and the first white light camera are both fixedly mounted on the heat dissipation support plate. The outer protective cover is fixedly mounted on the supporting housing and covers the front opening of the supporting housing. The front side of the outer protective cover has a lens hole corresponding to the lens of the thermal imaging camera and the first white light camera. The outer protective cover is detachably connected to the housing. The sealing ring is installed between the outer protective cover and the supporting housing. The protective lens is fixedly mounted at the lens hole.

[0008] In one possible implementation, heat dissipation holes are provided on the outer periphery of the support housing.

[0009] In one possible implementation, a rain curtain is provided on the top front side of the outer protective cover.

[0010] In one possible implementation, an adjustment assembly for adjusting the elevation angle of the main radar is installed inside the housing. The adjustment assembly includes a support base, an adjustment frame, an adjustment screw, and a drive motor. The support base is fixedly installed inside the housing. The adjustment frame is slidably installed above the support base and has the freedom to move in the vertical direction. Guide grooves are provided on both the front and rear sides of the adjustment frame, and the guide grooves are set at an angle to the vertical direction. The lower end of the main radar is hinged to the support base, and the upper end of the main radar is slidably engaged with the guide grooves. The adjustment screw is rotatably installed on the support base in the vertical direction. The adjustment frame and the adjustment screw are connected by threads. The drive motor is used to drive the adjustment screw to rotate around an axis.

[0011] In one possible implementation, a heat sink is mounted on the back of the main radar.

[0012] In one possible implementation, the control module includes a top heat sink, an interface board, a middle heat sink, a data processing board, and a bottom heat sink, which are installed sequentially from top to bottom, and a cooling fan is installed on the top of the top heat sink.

[0013] In one possible implementation, an air valve and an aviation plug are mounted on the bottom outer side of the housing.

[0014] Compared with the prior art, the solution shown in this application's embodiment has a linear multi-spectral radar-visual integrated machine. The main radar is installed on the front and rear sides of the casing, so the main radar can detect the area in the front and rear directions of the casing. Since the detection angle of the main radar is within a certain range, there is a certain detection blind zone above the detection area of ​​the main radar. Therefore, a thermal imaging camera and a first white light camera are set above the main radar, and a blind spot radar is set below the main radar. The thermal imaging camera can clearly identify targets at night or in bad weather, while the first white light camera can adapt to strong light, backlight and low light environments. The thermal imaging camera and the first white light camera can detect the blind zone above the main radar, and the blind spot radar can detect the blind zone below the main radar, making the detection range of the entire linear multi-spectral radar-visual integrated machine larger and the blind zone smaller, improving the detection accuracy and all-weather adaptability of the linear multi-spectral radar-visual integrated machine of this application. The control module fuses the data acquired by the main radar, thermal imaging camera, first white light camera and blind spot radar to realize target association, global situational awareness and cross-regional target tracking in the coverage area of ​​the device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A three-dimensional structural schematic diagram of a linear multi-spectral radar-visual integrated machine provided in this application embodiment; Figure 2 A cross-sectional structural schematic diagram of a linear multi-spectral radar-visual integrated machine provided in this application embodiment; Figure 3 An exploded view of a linear multi-spectral radar-visual integrated machine provided in an embodiment of this application; Figure 4 Exploded views of the thermal imaging camera, the first white light camera, and the heat dissipation module provided in the embodiments of this application; Figure 5 An exploded view of the control module provided in an embodiment of this application.

[0017] In the diagram: 1. Outer shell; 101. Support shell; 102. Heat dissipation support plate; 103. Outer protective cover; 104. Sealing ring; 105. Protective lens; 106. Heat dissipation hole; 107. Rain curtain; 2. Main radar; 3. Thermal imaging camera; 4. First white light camera; 5. Control module; 501. Top layer heat dissipation plate; 502. Interface board; 503. Middle layer heat dissipation plate; 504. Data processing board; 505. Bottom layer heat dissipation plate; 506. Cooling fan; 6. Second white light camera; 7. Blind spot radar; 8. Air valve; 9. Aviation plug; 10. Support base; 11. Adjustment frame; 12. Adjustment screw; 13. Drive motor; 14. Guide slide; 15. Guide rod; 16. Heat sink. Detailed Implementation

[0018] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0019] Please refer to the following: Figure 1 and Figure 2 This application describes a linear multi-spectral radar-visual integrated machine. The linear multi-spectral radar-visual integrated machine includes: a housing 1, a main radar 2, a thermal imaging camera 3, a first white light camera 4, a blind spot radar 7, and a control module 5. The main radar 2 is mounted on the front and rear sides of the housing 1. The thermal imaging camera 3 and the first white light camera 4 are both located directly above the main radar 2, and the blind spot radar 7 is located directly below the main radar 2. The control module 5 is electrically connected to the main radar 2, the thermal imaging camera 3, the first white light camera 4, and the blind spot radar 7.

[0020] This embodiment provides a linear multi-spectral radar-visual integrated machine. Compared with the prior art, the main radar 2 is installed on the front and rear sides of the outer casing 1, so the main radar 2 can detect the area in the front and rear direction of the outer casing 1. Since the detection angle of the main radar 2 is within a certain range, there are certain detection blind spots above and below the detection area of ​​the main radar 2. Therefore, a thermal imaging camera 3 and a first white light camera 4 are set above the main radar 2, and a blind spot compensation radar 7 is set below the main radar 2. The thermal imaging camera 3 can clearly identify targets at night or in bad weather, while the first white light camera 4 can adapt to various conditions. It can withstand strong light, backlight, and low illumination environments; the thermal imaging camera 3 and the first white light camera 4 can detect the blind zone above the main radar 2, and the blind spot compensation radar 7 can detect the blind zone below the main radar 2, making the detection range of the entire linear multi-spectral radar-visual integrated machine larger and the blind zone range smaller, thus improving the detection accuracy and all-weather adaptability of the linear multi-spectral radar-visual integrated machine of this application; the control module 5 fuses the data acquired by the main radar 2, the thermal imaging camera 3, the first white light camera 4 and the blind spot compensation radar 7, thereby realizing target association, global situational awareness and cross-regional target tracking in the equipment coverage area.

[0021] The main radar 2 uses millimeter-wave radar or lidar, which can penetrate rain, snow, fog and haze, and has a detection range of ≥500 meters. The two main radars 2, which are installed back to back and monitor in opposite directions, provide long-distance monitoring in two main directions. The main radar 2 can be installed on a high-precision mechanical angle adjustment structure to achieve automatic / manual adjustment of the pitch angle of the main radar 2, thereby adapting to accurate coverage under complex road conditions.

[0022] The thermal imaging camera 3 uses infrared thermal imaging technology, which can still clearly identify targets at night or in bad weather.

[0023] Above each main radar 2, a first white light camera 4 and a thermal imaging camera 3 are integrated, forming a co-directional three-modal sensing unit of "main radar 2 + first white light camera 4 + thermal imaging camera 3". This three-dimensional sensing fusion architecture of "visible light + infrared + radar" achieves all-weather high-precision road monitoring under extreme conditions such as heavy rain, dense fog, and strong light through an environment-adaptive dynamic fusion engine and cross-modal continuous tracking technology. Deep fusion of millimeter-wave radar (range, speed, all-weather), visible light (details, color, texture), and thermal imaging (temperature, penetration of smoke / partial obscuration, nighttime) data significantly improves the accuracy and all-weather adaptability of target detection, classification, and tracking, ensuring effective operation under various lighting conditions (daytime, nighttime, strong light, weak light) and weather conditions (rain, fog, snow, dust). For example, in rain and fog, radar + thermal imaging dominates; at night, thermal imaging dominates + radar assistance + low-light camera; and in clear weather, the three complement each other.

[0024] The outer casing 1 has a through hole on the side wall on the same side as the main radar 2 for installing the blind spot radar 7. The angle between the blind spot radar 7 and the vertical direction is greater than the angle between the main radar 2 and the vertical direction. The detection angle of the blind spot radar 7 covers the near-ground blind zone of 0-200 meters below the main radar 2 and overlaps with the monitoring area of ​​the main radar 2 on the same side. This facilitates the fusion of data from the main radar 2 and the blind spot radar 7 on the same side. The blind spot radar 7 and the main radar 2 work together to achieve full coverage without blind spots at both near and far distances. The data from the near-range detection area and the far-range detection area can be seamlessly stitched together and the target can be continuously tracked.

[0025] The one-way three-modal fusion architecture adopts a deep learning model, using millimeter-wave radar data as a benchmark, and dynamically weights and fuses visible light and thermal imaging features to achieve all-weather enhanced perception capabilities and the collection of all elements of vehicle data. The collected information includes: vehicle dynamic data (real-time speed, real-time location, lane, unique ID number, movement trajectory, movement direction, and mileage), vehicle characteristic data (license plate information, vehicle model information, color information, and brand), and vehicle health data (vehicle temperature and wheel axle temperature).

[0026] The outer casing 1 includes a main casing, an upper casing, and a lower casing; the upper casing and the lower casing are respectively installed at the upper and lower ends of the main casing. The main radar 2 is located inside the main casing, the thermal imaging camera 3 and the first white light camera 4 are both installed on the upper casing, and the blind spot radar 7 and the control module 5 are both installed inside the lower casing.

[0027] In some embodiments, please refer to Figure 2 A linear multi-spectral radar-visual integrated machine also includes a second white light camera 6, which has the same height as the first white light camera 4 and is located on the left and right sides of the outer casing 1. In this embodiment, there are two second white light cameras 6, which are respectively installed on the left and right sides of the outer casing 1. Since the second white light camera 6 has the same height as the first white light camera 4, the second white light camera 6, the first white light camera 4, and the thermal imaging camera 3 are all installed on the upper casing. By integrating the second white light camera 6, the first white light camera 4, and the thermal imaging camera 3 onto the upper casing, the assembly efficiency is improved. Since the first white light camera 4 is located on the front and rear sides of the upper casing, and the second white light camera 6 is located on the left and right sides of the upper casing, the first white light camera 4 and the second white light camera 6 achieve 360° horizontal video surveillance coverage without blind spots for the linear multi-spectral radar-visual integrated machine of this application. Both the second white light camera 6 and the first white light camera use high-definition cameras, support 4K resolution and wide dynamic range (WDR), and can adapt to strong light, backlight, and low-light environments.

[0028] In some embodiments, please refer to Figure 1 and Figure 4The thermal imaging camera 3 and the first white light camera 4 are integrated together. In this embodiment, the integration of the thermal imaging camera 3 and the first white light camera 4 allows the device to exert unique advantages in different environments. In low-light scenes, the thermal imaging function can clearly capture the heat emitted by objects, making even targets hidden in the dark readily visible, providing security personnel with the possibility of early warning. When the ambient light is sufficient, the white light camera can record every detail with high definition. This integrated design greatly improves the comprehensiveness and accuracy of monitoring, providing reliable visual information to relevant personnel in cities or other places requiring monitoring, helping them to better understand the situation on site, promptly identify potential problems, and take corresponding measures to ensure safety and order. By integrating the thermal imaging camera 3 and the first white light camera 4 together, on the one hand, the structure of both can be made more compact, realizing the miniaturization of the device; on the other hand, assembling the two cameras as a whole can improve assembly efficiency.

[0029] In some embodiments, please refer to Figure 4The outer casing 1 is equipped with a heat dissipation module for cooling the thermal imaging camera 3 and the first white light camera 4. The heat dissipation module includes a support housing 101, a heat dissipation support plate 102, an outer protective cover 103, a sealing ring 104, and a protective lens 105. The front and rear sides of the support housing 101 are open structures. The inner cavity of the support housing 101 is used to accommodate the thermal imaging camera 3 and the first white light camera 4. The heat dissipation support plate 102 is detachably installed on the rear opening of the support housing 101. The thermal imaging camera 3 and the first white light camera 4 are both fixedly installed on the heat dissipation support plate 102. The outer protective cover 103 is fixedly installed on the support housing 101 and covers the front opening of the support housing 101. The front side of the outer protective cover 103 has a lens hole corresponding to the lens of the thermal imaging camera 3 and the first white light camera 4. The outer protective cover 103 is detachably connected to the outer casing 1. The sealing ring 104 is installed between the outer protective cover 103 and the support housing 101. The protective lens 105 is fixedly installed at the lens hole. In this embodiment, the heat dissipation module provides support and heat dissipation for the thermal imaging camera 3 and the first white light camera 4, thereby integrating the thermal imaging camera 3 and the first white light camera 4 together. After the heat dissipation support plate 102 is fixed to the rear opening of the support housing 101 with screws, both the thermal imaging camera 3 and the first white light camera 4 are fixedly mounted on the heat dissipation support plate 102. The back of the heat dissipation support plate 102 is provided with heat dissipation fins. The thermal imaging camera 3 and the first white light camera 4 are located inside the support housing 101. The outer protective cover 103 is fixed to the front side of the support housing 101 with screws. The outer protective cover 103 is used to block the front opening of the support housing 101. Lens holes corresponding to the lenses of the thermal imaging camera 3 and the first white light camera 4 are opened on the outer protective cover 103. The outer protective cover 103 is fixedly connected to the outer housing 1 with screws. The sealing ring 104 provides a circumferential seal between the outer protective cover 103 and the support housing 101. A protective lens 105 is installed at the lens hole, and the protective lens 105 can concentrate light.

[0030] In some embodiments, please refer to Figure 4The outer periphery of the support housing 101 is provided with heat dissipation holes 106. In this embodiment, the heat dissipation holes 106 are elongated and evenly distributed on the outer periphery of the support housing 101. This design can maximize the uniformity of heat dissipation, allowing the heat generated by the thermal imaging camera 3 and the first white light camera 4 inside the support housing 101 to be dissipated quickly and evenly. The size of the heat dissipation holes 106 is precisely calculated, neither too large to allow dust and other impurities to easily enter the support housing 101 and affect the normal operation of internal components, nor too small to hinder the effective dissipation of heat. Through these heat dissipation holes 106, the heat inside the support housing 101 can be fully exchanged with the outside air, thereby maintaining a suitable temperature environment inside the support housing 101 and ensuring that the relevant equipment works efficiently under stable temperature conditions. Moreover, the edges of these heat dissipation holes 106 are specially treated to be smooth and burr-free, avoiding scratches or other injuries to personnel or objects that come into contact with them during daily use. To effectively prevent dust, small particles, and other impurities from entering the support housing 101, a dustproof mesh can be installed inside the support housing 101 near the heat dissipation holes 106. This dustproof mesh extends the lifespan of the thermal imaging camera 3 and the first white light camera 4 inside the support housing 101 while ensuring uninterrupted heat dissipation, reducing the risk of malfunctions caused by dust accumulation. Furthermore, the layout of the heat dissipation holes 106 takes into account smooth airflow, forming a reasonable airflow channel that allows air to flow orderly within the support housing 101, quickly guiding heat from the heat source to the heat dissipation holes 106 for expulsion.

[0031] In some embodiments, please refer to Figure 4 A rain curtain 107 is provided on the top front side of the outer protective cover 103. In this embodiment, the rain curtain 107 is welded and fixed to the outer protective cover 103. The rain curtain 107 is located above the outer protective cover 103 and extends to the front side of the outer protective cover 103. The rain curtain 107 is located outside the outer casing 1, so the rain curtain 107 serves to block rainwater. The rain curtain 107 is made of a material with good waterproof performance, which can effectively block the intrusion of rainwater and prevent rainwater from splashing onto the protective lens 105, thereby protecting the internal electrical components and mechanical structures of the equipment from moisture corrosion and extending the service life of the equipment.

[0032] In some embodiments, please refer to Figure 2 and Figure 3The housing 1 contains an adjustment assembly for adjusting the pitch angle of the main radar 2. The adjustment assembly includes a support base 10, an adjustment frame 11, an adjustment screw 12, and a drive motor 13. The support base 10 is fixedly installed inside the housing 1. The adjustment frame 11 is slidably installed above the support base 10 and has the freedom to move in the vertical direction. The front and rear sides of the adjustment frame 11 are provided with guide grooves 14, which are set at an angle to the vertical direction. The lower end of the main radar 2 is hinged to the support base 10, and the upper end of the main radar 2 is slidably engaged with the guide grooves 14. The adjustment screw 12 is rotatably installed on the support base 10 in the vertical direction. The adjustment frame 11 and the adjustment screw 12 are connected by threads. The drive motor 13 is used to drive the adjustment screw 12 to rotate around the axis. In this embodiment, the support base 10 is fixedly installed inside the outer casing 1. Two main radars 2 are located on both sides of the support base 10. The adjustment frame 11 is slidably installed on the upper end of the support base 10. The adjustment frame 11 can move up and down vertically on the support base 10. The upper and lower ends of the adjustment screw 12 are respectively hinged to the support base 10. The adjustment screw 12 passes through the center of the adjustment frame 11 and is threadedly connected to the adjustment frame 11. The drive motor 13 is fixedly installed on the lower end of the support base 10. The output shaft of the drive motor 13 is fixedly connected to the adjustment screw 12. The drive motor 13 drives the adjustment screw 12 to rotate around the axis, thereby driving the adjustment frame 11 to move up and down. The front and rear sides of the adjustment frame 11 are symmetrically provided with guide grooves 14. The guide grooves 14 are inclined from bottom to top away from the side away from the adjustment screw 12. The lower end of the main radar 2 is hinged to the support base 10 and is equipped with a guide rod 15 that slides in cooperation with the guide groove 14. The length direction of the guide rod 15 is parallel to the hinge axis of the lower end of the main radar 2. When the adjustment frame 11 moves up and down in the vertical direction, the adjustment frame 11 drives the main radar 2 to rotate around its hinge axis through the sliding engagement of the guide groove 14 and the guide rod 15, thereby ultimately realizing the adjustment of the pitch angle of the main radar 2.

[0033] In some embodiments, please refer to Figure 2 and Figure 3 A heat sink 16 is mounted on the back of the main radar 2. In this embodiment, the heat sink 16 is fixedly mounted on the back of the main radar 2. The heat sink 16 dissipates heat from the main radar 2, greatly improving the heat dissipation efficiency of the main radar 2 and effectively transferring the heat generated by the main radar 2 away, preventing the internal temperature of the main radar 2 from becoming too high. The lower end of the heat sink 16 is hinged to the support base 10, and the guide rod 15 is mounted on the upper end of the heat sink 16.

[0034] In some embodiments, please refer to Figure 2 and Figure 5The control module 5 includes, from top to bottom, a top heat sink 501, an interface board 502, a middle heat sink 503, a data processing board 504, and a bottom heat sink 505. A cooling fan 506 is installed on the top of the top heat sink 501. In this embodiment, the control module 5 is fixedly installed inside the lower shell, located between the two blind spot radars 7. The control module 5 integrates high-performance processing hardware (CPU / GPU / AI acceleration chip) for running core algorithms and real-time data processing. Through a specially designed fusion algorithm, it fully leverages the advantages of each modality to achieve a perception effect of "1+1+1>3", improving target recognition rate and reducing false alarms and missed alarms. The interface board 502 and the data processing board 504 are the working units of the control module 5. The interface board 502 is located above the data processing board 504, and the plug on the interface board 502 is inserted into the corresponding slot on the data processing board 504 to achieve electrical connection. To dissipate heat from the interface board 502 and the data processing board 504, a top-layer heat sink 501 is installed above the interface board 502, a middle-layer heat sink 503 is installed between the interface board 502 and the data processing board 504, and a bottom-layer heat sink 505 is installed below the data processing board 504. A cooling fan 506 is mounted on top of the top-layer heat sink 501, located at the center of the top-layer heat sink 501. The top-layer heat sink 501 has heat dissipation fins around the cooling fan 506, which provides air cooling for the interface board 502 and the data processing board 504. The top-layer heat sink 501, middle-layer heat sink, and bottom-layer heat sink 505 are designed to provide space between adjacent components, creating airflow channels and improving heat dissipation efficiency. The top-layer heat sink 501 and the bottom-layer heat sink 505 are connected by screws, and through holes for screws are provided on the interface board 502, the middle-layer heat sink, and the data processing board 504.

[0035] In some embodiments, please refer to Figure 1 An air valve 8 and an aviation connector 9 are installed on the bottom outer side of the outer casing 1. In this embodiment, both the air valve 8 and the aviation connector 9 are installed on the lower casing. The air valve 8 is used to connect the inside of the outer casing 1 with the outside, so that the air pressure inside the outer casing 1 is consistent with the outside, preventing damage to the components inside the outer casing 1 due to excessively low or high air pressure. The aviation connector 9 includes a network aviation connector 9 and a power aviation connector 9; the network aviation connector is used to connect to an external communication network for convenient data transmission, while the power aviation connector 9 is used to connect to an external power source to provide power to the linear multi-spectral radar-visual integrated machine.

[0036] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A linear multi-spectral radar-visual integrated machine, characterized in that, include: The outer casing, main radar, thermal imaging camera, first white light camera, blind spot radar, and control module; The main radar is installed on the front and rear sides of the housing. The thermal imaging camera and the first white light camera are both located directly above the main radar. The blind spot radar is located directly below the main radar. The control module is electrically connected to the main radar, the thermal imaging camera, the first white light camera, and the blind spot radar, respectively.

2. The linear multi-spectral radar-visual integrated machine as described in claim 1, characterized in that, It also includes a second white light camera, which is at the same height as the first white light camera and is located on the left and right sides of the housing.

3. The linear multi-spectral radar-visual integrated machine as described in claim 1, characterized in that, The thermal imaging camera is integrated with the first white light camera.

4. The linear multi-spectral radar-visual integrated machine as described in claim 3, characterized in that, The housing is equipped with a heat dissipation module for cooling the thermal imaging camera and the first white light camera. The heat dissipation module includes a support housing, a heat dissipation support plate, an outer protective cover, a sealing ring, and a protective lens. The front and rear sides of the support housing are open. The inner cavity of the support housing is used to accommodate the thermal imaging camera and the first white light camera. The heat dissipation support plate is detachably mounted on the rear opening of the support housing. The thermal imaging camera and the first white light camera are both fixedly mounted on the heat dissipation support plate. The outer protective cover is fixedly mounted on the support housing and covers the front opening of the support housing. The front side of the outer protective cover has a lens hole corresponding to the lens of the thermal imaging camera and the first white light camera. The outer protective cover is detachably connected to the housing. The sealing ring is installed between the outer protective cover and the support housing. The protective lens is fixedly mounted at the lens hole.

5. A linear multi-spectral radar-visual integrated machine as described in claim 4, characterized in that, The outer periphery of the support shell is provided with heat dissipation holes.

6. A linear multi-spectral radar-visual integrated machine as described in claim 4, characterized in that, The outer protective cover is equipped with a rain curtain on the top front side.

7. A linear multi-spectral radar-visual integrated machine as described in claim 1, characterized in that, An adjustment assembly for adjusting the elevation angle of the main radar is installed inside the housing. The adjustment assembly includes a support base, an adjustment frame, an adjustment screw, and a drive motor. The support base is fixedly installed inside the housing. The adjustment frame is slidably installed above the support base and has the freedom to move in the vertical direction. Guide grooves are provided on both the front and rear sides of the adjustment frame. The guide grooves are set at an angle to the vertical direction. The lower end of the main radar is hinged to the support base, and the upper end of the main radar is slidably engaged with the guide grooves. The adjustment screw is rotatably installed on the support base in the vertical direction. The adjustment frame and the adjustment screw are connected by threads. The drive motor is used to drive the adjustment screw to rotate around an axis.

8. A linear multi-spectral radar-visual integrated machine as described in claim 1, characterized in that, The main radar has a heat sink mounted on its back.

9. A linear multi-spectral radar-visual integrated machine as described in claim 1, characterized in that, The control module includes, from top to bottom, a top heat sink, an interface board, a middle heat sink, a data processing board, and a bottom heat sink, with a cooling fan installed on the top of the top heat sink.

10. A linear multi-spectral radar-visual integrated machine as described in claim 1, characterized in that, An air valve and an aviation plug are installed on the bottom outer side of the housing.

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