CN103576159B - A kind of runway road surface checking device based on laser scanner technique and method - Google Patents
A kind of runway road surface checking device based on laser scanner technique and method Download PDFInfo
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- CN103576159B CN103576159B CN201310563357.6A CN201310563357A CN103576159B CN 103576159 B CN103576159 B CN 103576159B CN 201310563357 A CN201310563357 A CN 201310563357A CN 103576159 B CN103576159 B CN 103576159B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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Abstract
The present invention relates to invasion foreign bodies detection and laser scanner technique field, especially relate to a kind of the runway road surface checking device based on laser scanner technique and the method that are set up in runway edge.Technical matters to be solved by this invention is: for prior art Problems existing, a kind of runway edge of being set up in is provided, efficiently, a kind of runway road surface checking device based on laser scanner technique and method accurately, detect the invader of the threat aviation safety that airfield runway exists.The present invention includes at least one laser scanner, structural design etc. between at least one video camera and processor completes the present invention.The present invention is applied to the detection field of airfield runway plane invader.
Description
Technical field
The present invention relates to invasion foreign bodies detection and laser scanner technique field, especially relate to a kind of kind being set up in runway edge based on the runway road surface checking device of laser scanner technique and method.
Background technology
In takeoff and landing process, the invasion foreign matter (ForeignObjectDebris, FOD) that runway exists may cause great threat to the safety of flight.Potential harm gently then damages fuselage, heavy then cause airplane crash, fatal crass.Therefore, in order to ensure the safety of flight, invader must be found in time, identify, and makes corresponding process according to its threat level.Threaten the runway invader of aviation safety to can be as small as 3cm diameter, the runway that upper km is long uses the mode of artificial investigation, inefficiency, and the uncared-for possibility of invader is higher.Therefore use a kind of automated system to find efficiently and accurately and get rid of runway invader, significant to the safe operation on airport.
Technology mainly image technique and the Radar Technology that existing FOD automatic checkout equipment uses.The dependence of image technique to visible ray is stronger.Even if use infrared equipment, restricted factor, the accuracy rate etc. of such as resolution, detection automatically, also often, so there is no be widely used.By contrast, comparatively widely used technology is detections of radar.The radar wave of different wave length launched by detector, judges the existence of foreign matter according to echoed signal.But radar echo signal itself is more complicated, degree directly perceived is poor.And being subject to the impact such as clutter and secondary reflection, accuracy and precision are all restricted.
Scanning three-dimensional imaging laser technology is a kind of new technology of rising gradually, and it uses a large amount of laser spots to detect shape and the reflection strength of body surface, and the three-dimensional point cloud image of product surface.Be applied in airfield runway environment, use point apart from be less than 3cm scanning generate a point cloud chart picture, can nothing left lost territory record runway road surface exist FOD.But the cloud data directly generated can not find that FOD(can not distinguish invader and face, road automatically), therefore need a kind of method, can from a large amount of cloud datas, detect the existence of FOD and locate.
In airport takeoff and landing applied environment, the problem mainly containing three aspects is had higher requirement to detection system.First, ideal system should find invader in the very first time, and the time that invader stops is longer, and hurtful possibility is larger.Secondly, in order to airport steady ordered runs, the result of detection can not omit the invader that runway exists, and can not overemphasize and does not omit and occur too much mistake safety being judged into by accident danger.Finally, outdoor environment is different from laboratory ecotopia, and ground is not perfect plane, the weather such as haze sleet may bring the problem such as On The Deterioration of Visibility Over, road environment change in actual applications must faced by
.
Summary of the invention
Technical matters to be solved by this invention is: for above-mentioned Problems existing, provides a kind of runway edge that is set up in, efficiently, a kind of runway road surface checking device based on laser scanner technique and method accurately.For detecting the invader of the threat aviation safety that airfield runway exists.The present invention uses laser and image to be detect and confirmation means, devise a complete invader pick-up unit and method, and in invasion foreign bodies detection problem, use laser line scanning technology first, invents a kind of new invasion detection device for foreign matter and mode.
The technical solution used in the present invention is as follows:
A kind of runway road surface checking device based on laser scanner technique comprises:
At least one laser scanner, is erected at runway both sides of edges, the object parameters that detection runway plane occurs; Laser scanner repeats detection with time interval T to its guarded region, and the fan-shaped emission face of described laser scanner is parallel with ground, runway road surface, and distance runway road surface ground distance is less than the diameter of minimum invasion foreign matter.
At least one video camera, being erected at distance runway road surface is the same lateral position of D ', for the order of receiving processor, shooting invader picture, and invader image information is back to processor, described D ' >=0;
Processor, for receiving the signal of laser scanner, the object parameters (r, θ) namely detected, whether judgment object is invader; When invader is when fixed position life period is more than S, and in runway workspace, when then invader is doubtful invader, according to doubtful invader coordinate, send trigger command, trigger the video camera corresponding with doubtful invader coordinate and carry out image taking, and whether be true invader after receiving the doubtful invader image information of video camera shooting, and carrying out true invader removing, described r is the distance of object distance laser scanner, and θ is the emission angle of scanner detecting light beam.
Described laser scanner is installed on that runway both sides of edges is staggered settles, and the distance between adjacent two laser scanners of described homonymy is 2P, the laser scanner of described opposite side on the vertical line of adjacent two the laser scanner mid points of homonymy, described in
.The angular resolution that its laser scanner can reach be
, invasion foreign matter spatial resolution is
, then effective surface sweeping radius of laser scanner
for
, described in
, wherein
for the width of runway plane.
Distance between described adjacent two video cameras is
, wherein
for the useful effect radius of video camera,
for the distance at its distance runway edge, close-shot camera side.
The coordinate information process that described processor process laser scanner obtains object comprises:
Step 1: by the information of the laser scanner of collection, under being transformed into runway conventional coordinates
,
, wherein
the corresponding installation site of laser scanner on runway, x-axis represents runway plane length direction.Axle represents that runway plane width direction;
Step 2: when
or
time, be then the out-of-plane ambient signal of runway; When
time, object is invader, and processor triggers video camera and carries out invader image taking.
Described T scope is 0.1s to 0.5s, S scope is 1s to 3s.
Described laser scanner is linear laser scanner.
Runway road surface checking device based on laser scanner technique also comprises a monitor terminal, and described monitor terminal Telnet processor, reading images signal, manually finally confirms invader.
A kind of pavement detection method of going to based on laser scanner technique comprises:
Step 1: by the object parameters that at least one laser scanner detection runway plane occurs; Laser scanner repeats detection with time interval T to its guarded region, and the fan-shaped emission face of described laser scanner is parallel with ground, runway road surface, and distance runway road surface ground distance is less than the diameter of minimum invasion foreign matter;
Step 2: processor receives the signal of laser scanner, the object parameters (r, θ) namely detected, and whether judgment object is invader; When invader is when fixed position life period is more than S, and in runway workspace, when then invader is doubtful invader, according to doubtful invader coordinate, send trigger command, trigger the video camera corresponding with doubtful invader coordinate and carry out image taking, and whether be true invader after receiving the doubtful invader image information of video camera shooting, and carrying out true invader removing, described r is the distance of object distance laser scanner, and θ is the emission angle of scanner detecting light beam.
Described laser scanner is installed on that runway both sides of edges is staggered settles, and the distance between adjacent two laser scanners of described homonymy is 2P, the laser scanner of described opposite side on the vertical line of adjacent two the laser scanner mid points of homonymy, described in
.The angular resolution that its laser scanner can reach be
, invasion foreign matter spatial resolution is
, then effective surface sweeping radius of laser scanner
for
, described in
, wherein
for the width of runway plane; Distance between described adjacent two video cameras is
, wherein
for the useful effect radius of video camera,
for the distance at its distance runway edge, close-shot camera side.
The coordinate information process that described processor process laser scanner obtains object comprises:
Step 1: by the information of the laser scanner of collection, under being transformed into runway conventional coordinates
,
, wherein
the corresponding installation site of laser scanner on runway, x-axis represents runway plane length direction.Axle represents that runway plane width direction;
Step 2: when
or
time, be then the out-of-plane ambient signal of runway; When
and when time of occurrence is more than S continuously, object is invader, processor triggers video camera and carries out invader image taking.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows:
1)devise the airfield runway plane invader pick-up unit of complete set, comprehensive use laser and image technique, automatically find invasion foreign matter in time, and accurate and effective process, the safety of guarantee flight landing.
2)in invasion foreign bodies detection problem, use laser line scanning technology first, invent a kind of invasion foreign bodies detection mode newly.
3)in the performance of invasion foreign bodies detection, this device has lot of superiority than using the homogeneous system of other technology.Such as, positioning precision is the highest in existing product, far exceedes radar and image 3D technology; Initiatively send detectable signal, under night and haze weather, all have good adaptability.In similar invader detection system, the cost of native system is lower than other technical scheme.Contrast with radar equipment, use linear laser detection cost can be reduced only about half of.
4) parameter influence of the main Stimulated Light scanning device of the technical parameter of native system.Along with the maturation of laser scanner technique, the performance of native system will improve thereupon and old also decrease.Now for the existing product in market, provide native system at the technical parameter using these products to reach.
Minimum detection size: 2 centimetres
Occur to from invader and image/video confirmation signal is provided: <5s
Single Laser Scanning Equipment sensing range: 343 meters (angular resolution is in 0.2 point of situation)
Weather adaptability: normally can work under dark, haze, rainfall and slight accumulated snow environment.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 laser line scanning schematic diagram.
This principle of device of Fig. 2 block diagram.
Fig. 3 is this device scanning schematic diagram when adopting 4 laser scanners and two video cameras.
Embodiment
All features disclosed in this instructions, or the step in disclosed all methods or process, except mutually exclusive feature and/or step, all can combine by any way.
Arbitrary feature disclosed in this instructions (comprising any accessory claim, summary and accompanying drawing), unless specifically stated otherwise, all can be replaced by other equivalences or the alternative features with similar object.That is, unless specifically stated otherwise, each feature is an example in a series of equivalence or similar characteristics.
Video camera refers to the device with pictures taken or video.Similar also have camera etc.
Laser linear scanner is Emission Lasers and the device of finding range according to reflection.Similar also have laser range finder etc.
1, basic functional principle:
Laser ranging is surperficial to testee by transmitting one laser, and then mistiming of detection of reflected light and incident light or phase differential obtain the range information of object.Precisely, acquisition be the distance of the intersection point of laser beam and body surface, this working method is a range finding.Continuous high frequency rate launches range laser, and is the center of circle with lasing light emitter, and by fixed angles speed rotary laser direction, namely allow laser launch with fan-shaped (or circular), this working method is line range finding.What obtain is sector display face and the distance of series of discrete point on body surface intersection.Under normal circumstances in order to keep the stable of light source, laser beam be transmitted into become miter angle to tilt with ray and with ray be turning axle High Rotation Speed minute surface on.
This device, by the working method of the linear ranging scan of linear laser scanner, realizes the invasion foreign bodies detection covering whole runway face.This device has set up multiple linear laser scanner on the road surface of runway both sides of the edge.The fan-shaped emission face of each scanner is parallel with runway ground, and the height on sector distance ground is traditionally arranged to be the radius of minimum foreign matter.Because single laser scanner can be found range from limited, multiple laser scanner is used to combine the covering that can realize whole runway.Under normal circumstances, scanner can be found range and any object should not be detected on interior scanning plane.Once invader drops on runway, laser scanner scans face is just crossing with body surface.The direction of the Distance geometry Laser emission recorded according to reflects laser just can calculate the position of invasion foreign matter, sends early warning.Telephotograph/video camera auto-steering early warning foreign matter position that field frame side is established, according to picture/vision signal, via artificial identification, determines to give the alarm or cancel early warning.
2 workflows: laser scanner continues surveyed area emission detection laser, when when on runway, nothing invades foreign matter, Laser Scanning Equipment only detects background object (as runway edge lights and thick grass etc.), carries out filtering by data processing.When there being object to enter runway zone, laser scanner can receive reflected laser signals, and determines the position of doubtful invader according to the angle θ of distance r and Laser emission.The scan-data of laser scanner is uploaded to processor in real time, and the treatment and analysis of data is all complete within a processor.After doubtful invader being detected, the camera points object space that processor selection is nearest, and take image/video signals for manual confirmation.If negate manually, then remove doubtful alarm; If manual confirmation, then perform artificial invasion foreign matter of removing and operate, rear elimination alarm to be cleaned.
The camera that wherein processor selection is nearest or camera points object space, specific practice is: the photo cover coordinate storing each video camera in processor, when processor detects that there is an object on runway road surface, then according to the coordinate figure of object, search corresponding video camera or camera, and send trigger command, control corresponding video camera or camera shot object image, and the image receiving video camera shooting carries out invader manual confirmation.
3, this device composition:
Comprise at least one laser scanner, at least one video camera, processor and monitor terminal.
Laser scanner, is erected at runway both sides of edges, the object parameters that detection runway plane occurs; Laser scanner repeats detection with time interval T to its guarded region, and the fan-shaped emission face of described laser scanner is parallel with ground, runway road surface, and distance runway road surface ground distance is less than the diameter of minimum invasion foreign matter.Laser scanner is installed on that runway both sides of edges is staggered settles, and the distance between adjacent two laser scanners of described homonymy is 2P, the laser scanner of described opposite side on the vertical line of adjacent two the laser scanner mid points of homonymy, described in
.The angular resolution that its laser scanner can reach be
, invasion foreign matter spatial resolution is
, then effective surface sweeping radius of laser scanner
for
, described in
, wherein
for the width of runway plane.
Video camera, being erected at distance runway road surface is the same lateral position of D ', for the order of receiving processor, shooting invader picture, and invader image information is back to processor, described D '>=0; Distance between described adjacent two video cameras is
, wherein
for the useful effect radius of video camera,
for the distance at its distance runway edge, close-shot camera side.
Processor, for receiving the signal of laser scanner, the object parameters (r, θ) namely detected, whether judgment object is invader; When invader is when fixed position life period is more than S, and in runway workspace, when then invader is doubtful invader, according to doubtful invader coordinate, send trigger command, trigger the video camera corresponding with doubtful invader coordinate and carry out image taking, and whether be true invader after receiving the doubtful invader image information of video camera shooting, and carrying out true invader removing, described r is the distance of object distance laser scanner, and θ is the emission angle of scanner detecting light beam.The coordinate information process that described processor process laser scanner obtains object comprises:
Step 1: by the information of the laser scanner of collection, under being transformed into runway conventional coordinates
,
, wherein
the corresponding installation site of laser scanner on runway, x-axis represents runway plane length direction.Axle represents that runway plane width direction;
Step 2: when
or
time, be then the out-of-plane ambient signal of runway; When
time, object is invader, and processor triggers video camera and carries out invader image taking.
4, this device detection method comprises:
Step 1: by the object parameters that at least one laser scanner detection runway plane occurs; Laser scanner repeats detection with time interval T to its guarded region, and the fan-shaped emission face of described laser scanner is parallel with ground, runway road surface, and distance runway road surface ground distance is less than the diameter of minimum invasion foreign matter;
Step 2: processor receives the signal of laser scanner, the object parameters (r, θ) namely detected, and whether judgment object is invader; When invader is when fixed position life period is more than S, and in runway workspace, when then invader is doubtful invader, according to doubtful invader coordinate, send trigger command, trigger the video camera corresponding with doubtful invader coordinate and carry out image taking, and whether be true invader after receiving the doubtful invader image information of video camera shooting, and carrying out true invader removing, described r is the distance of object distance laser scanner, and θ is the emission angle of scanner detecting light beam.T scope is 0.1s to 0.5s, S scope is 1s to 3s.
Wherein said laser scanner is installed on that runway both sides of edges is staggered settles, and the distance between adjacent two laser scanners of described homonymy is 2P, the laser scanner of described opposite side on the vertical line of adjacent two the laser scanner mid points of homonymy, described in
.The angular resolution that its laser scanner can reach be
, invasion foreign matter spatial resolution is
, then effective surface sweeping radius of laser scanner
for
, described in
, wherein
for the width of runway plane; Distance between described adjacent two video cameras is
, wherein
for the useful effect radius of video camera,
for the distance at its distance runway edge, close-shot camera side.
Wherein the coordinate information process of processor process laser scanner acquisition object comprises:
Step 1: by the information of the laser scanner of collection, under being transformed into runway conventional coordinates
,
, wherein
the corresponding installation site of laser scanner on runway, x-axis represents runway plane length direction.Axle represents that runway plane width direction;
Step 2: when
or
time, be then the out-of-plane ambient signal of runway; When
time, object is invader, and processor triggers video camera and carries out invader image taking.
Described laser scanner is linear laser scanner.
On said method basis, this device detection method also comprises monitor terminal detecting step, and described monitor terminal Telnet processor, reading images signal, manually finally confirms invader.
The present invention is not limited to aforesaid embodiment.The present invention expands to any new feature of disclosing in this manual or any combination newly, and the step of the arbitrary new method disclosed or process or any combination newly.
Claims (9)
1., based on a runway road surface checking device for laser scanner technique, it is characterized in that comprising:
Multiple laser scanner, the object parameters that detection runway plane occurs; Laser scanner repeats detection with time interval T to its guarded region, and the fan-shaped emission face of described laser scanner is parallel with ground, runway road surface, and distance runway road surface ground distance is less than the diameter of minimum invasion foreign matter;
Multiple video camera, being erected at distance runway road surface is the same lateral position of D ', for the order of receiving processor, shooting invader picture, and invader image information is back to processor, described D ' >=0;
Processor, for receiving the signal of laser scanner, the object parameters (r, θ) namely detected; The signal that process laser scanner receives, obtains the coordinate information of object; Whether judgment object is invader; When invader is when fixed position life period is more than S, and in runway workspace, when then invader is doubtful invader, according to doubtful invader coordinate, send trigger command, trigger the video camera corresponding with doubtful invader coordinate and carry out image taking, and be whether the judgement of true invader after receiving the doubtful invader image information of video camera shooting, and carrying out true invader removing, described r is the distance of object distance laser scanner, and θ is the emission angle of scanner detecting light beam; Described laser scanner is installed on that runway both sides of edges is staggered settles, and the distance between adjacent two laser scanners of homonymy is 2P, the laser scanner of opposite side on the vertical line of adjacent two the laser scanner mid points of homonymy, described in
the angular resolution that its laser scanner can reach is θ
o, invasion foreign matter spatial resolution is d
o, then effective surface sweeping radius R of laser scanner is R=d
o/ θ
o, described R>=W, wherein W is the width of runway plane.
2. a kind of runway road surface checking device based on laser scanner technique according to claim 1, is characterized in that the distance between adjacent two video cameras is
wherein R ' useful effect the radius that is video camera, D ' is the distance at its distance runway edge, close-shot camera side.
3. a kind of runway road surface checking device based on laser scanner technique according to claim 1, is characterized in that the signal that described processor process laser scanner receives, and the coordinate information process obtaining object comprises:
Step 1: by the information of laser scanner gathered, is transformed into x=rcos θ+x under runway conventional coordinates
o, y=rsin θ+y
o, wherein (x
o, y
o) installation site of corresponding laser scanner on runway, x-axis represents runway plane length direction, and y-axis represents runway plane width direction;
Step 2: as y > W or y < 0 is then the out-of-plane ambient signal of runway; As 0≤y≤W and continuously time of occurrence is more than S time, object is invader, and processor toggling camera carries out invader image taking.
4. a kind of runway road surface checking device based on laser scanner technique according to claim 3, is characterized in that described T scope be 0.1s to 0.5s, S scope is 1s to 3s.
5. a kind of runway road surface checking device based on laser scanner technique according to claim 4, is characterized in that described laser scanner is linear laser scanner.
6. according to a kind of runway road surface checking device based on laser scanner technique one of claim 1 to 5 Suo Shu, characterized by further comprising monitor terminal, described monitor terminal Telnet processor, reading images signal, manually finally confirms invader.
7. a kind of runway pavement detection method based on laser scanner technique of device according to claim 1, is characterized in that comprising:
Step 1: by the object parameters that multiple laser scanner detection runway plane occurs; Laser scanner repeats detection with time interval T to its guarded region, and the fan-shaped emission face of described laser scanner is parallel with ground, runway road surface, and distance runway road surface ground distance is less than the diameter of minimum invasion foreign matter;
Step 2: processor receives the signal of laser scanner, the object parameters (r, θ) namely detected; The signal that processor process laser scanner receives, obtains the coordinate information of object; Whether judgment object is invader; When invader is when fixed position life period is more than S, and in runway workspace, when then invader is doubtful invader, according to doubtful invader coordinate, send trigger command, trigger the video camera corresponding with doubtful invader coordinate and carry out image taking, and be whether the judgement of true invader after receiving the doubtful invader image information of video camera shooting, and carrying out true invader removing, described r is the distance of object distance laser scanner, and θ is the emission angle of scanner detecting light beam; Described laser scanner is installed on that runway both sides of edges is staggered settles, and the distance between adjacent two laser scanners of homonymy is 2P, the laser scanner of opposite side on the vertical line of adjacent two the laser scanner mid points of homonymy, described in
the angular resolution that its laser scanner can reach is θ
o, invasion foreign matter spatial resolution is d
o, then effective surface sweeping radius R of laser scanner is R=d
o/ θ
o, described R>=W, wherein W is the width of runway plane, wherein multiple video camera, and being erected at distance runway road surface is the same lateral position of D '.
8. a kind of runway pavement detection method based on laser scanner technique according to claim 7, is characterized in that the distance between adjacent two video cameras is
wherein R ' useful effect the radius that is video camera, D ' is the distance at its distance runway edge, close-shot camera side.
9. a kind of runway pavement detection method based on laser scanner technique according to claim 8, is characterized in that the signal that described processor process laser scanner receives, and the coordinate information process obtaining object comprises:
Step 1: by the information of laser scanner gathered, is transformed into x=rcos θ+x under runway conventional coordinates
o, y=rsin θ+y
o, wherein (x
o, y
o) installation site of corresponding laser scanner on runway, x-axis represents runway plane length direction, and y-axis represents runway plane width direction;
Step 2: as y > W or y < 0 is then the out-of-plane ambient signal of runway; As 0≤y≤W and continuously time of occurrence is more than S time, object is invader, and processor toggling camera carries out invader image taking.
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| CN112560707B (en) * | 2020-12-18 | 2022-10-21 | 中国民用航空总局第二研究所 | Mobile road surface detection method and system based on laser light source |
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| CN101852869A (en) * | 2010-05-18 | 2010-10-06 | 中国民航大学 | Airfield runway foreign object detection system |
| CN202649486U (en) * | 2012-06-04 | 2013-01-02 | 中国民航大学 | Airfield runway alien invader combined positioning system |
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