CN103941305A - Method and device for detecting foreign object debris on high-speed movement plane - Google Patents
Method and device for detecting foreign object debris on high-speed movement plane Download PDFInfo
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Abstract
The invention provides a device for detecting foreign object debris on a high-speed movement plane. The device comprises a perpendicular support, a sliding rod, a speed encoder and a control center. The top end of the perpendicular support is connected with image sensors through a transverse rod, and the image sensors are used for capture of an image; the sliding rod is connected with the bottom of the perpendicular support, and a laser sensor is arranged on the sliding rod and is used for detecting the foreign object debris, wherein a height difference exists between a scanned region of the foreign object debris and the plane to be detected; the speed encoder is installed on a moving object and is used for obtaining the speed of the moving object; the control center is used for controlling the image sensors to be started. The invention further provides a method for detecting the foreign object debris on the high-speed movement plane. The method comprises the steps that D1, the laser detection sensor is used for carrying out constant-speed scanning in a certain region, detecting the foreign object debris and determining coordinates of the foreign object debris; D2, the corresponding image sensors are started to carrying out capture of the image, and a region of interest in the captured image is determined; D3, image processing and analysis are carried out on the region of interest, the foreign object debris is detected, and image marking display or alarm voice output is carried out. According to the method and device for detecting the foreign object debris on the high-speed movement plane on the basis of multi-sensor information fusion, the foreign object debris on the plane in the large region can be effectively detected on the situation of high-speed movement.
Description
Technical field
The present invention relates to image, laser sensor field of information processing, particularly relate to foreign matter detecting method and device thereof in a kind of high-speed motion plane.
Background technology
FOD is the abbreviation of Foreign Object Debris, certain external material of general reference system or plane.For example, specific to airport pavement, foreign matter just refers to certain external material that may damage aircraft or system, is often called runway foreign matter.
The kind of FOD is quite a lot of, as ice fragment of aircraft and engine web member (nut, screw, packing ring, fuse etc.), machine tool, flight article (nail, private certificate, pen, pencil etc.), wild animal, leaf, stone and sand, road plane materiel material, wooden unit, plastics or polythene material, paper products, operational area etc.
Experiment and case all show, the exotic on airfield pavement can be easy to be inhaled into engine, causes power failure.Fragment also can be deposited in mechanical hook-up, affects the normal operation of the equipment such as undercarriage, wing flap.According to conservative estimation, the loss that cause because of FOD in the annual whole world is at least hundred million dollars of 30-40, and in year May in May, 2007 to 2008, the event of more than 4500 FOD damage tire occurs altogether in CAAC.
Exotic not only can cause huge direct loss, also can cause airliner delay, abort, closes the indirect losses such as runway, and indirect loss is at least 4 times of direct loss.
It is one of target of airfield runway management pursuit that runway foreign matter detects with the robotization of identification always.At present in the world main runway foreign matter automatically to detect with recognition system be the Tarsier system of Qinetiq company of Britain.Two ground radars of this system can detect box location to runway foreign matter.Although Tarsier system has stronger function, its radar system cost is very high, and the dimensional requirement that foreign matter is detected is relatively high.And the domestic relevant commercial system that also there is no maturation at present.
The information data that machine vision technique gathers based on imageing sensor, use the visual performance of computer simulation animal, obtain the image of objective things, and therefrom extract useful information, process and make explanations, thus correct identification and understand surrounding environment.Machine vision mainly contain following characteristics:
High efficiency, low cost, a mole theorem is being followed in the development of computer hardware always, and the price of CPU is also but rising along with the development of technology constantly reduces still performance always, so Vision Builder for Automated Inspection also more and more becomes low-cost high-efficiency, be that so-called cost performance is more and more higher, and it is simple to operate, and repairs also very cheap; High precision, high-precision Vision Builder for Automated Inspection even can be measured and be accurate to the rank that 0.01mm is even more small; Applying flexible, Vision Builder for Automated Inspection can be measured various object.Such as, size, size, distance, positioning parts, flaw etc.When after the object variation that will detect, only need in algorithm and program, make amendment upgrading targetedly.Continuous service time is long, and owing to only need to having power supply that power is provided, except fault and maintenance, Vision Builder for Automated Inspection can be measured and use under various environment.
The key issue that machine vision is applied in industrial element testing system is that accuracy rate and the computing of image recognition algorithm is consuming time.In plane to be detected,, often there is many disturbing factors in external environment condition complexity, and as filling material between tire trace, cement pavement on airport pavement etc., these factors have all affected the accuracy rate of pick-up unit greatly.And because foreign matter is with respect to plane to be detected, often size is very little, as airport pavement need to detect the plumb foreign matter of 2mm in the scope of 1m*1m, this just requires imageing sensor to have very high resolution, and directly process these huge view data, calculated amount is very large, system operation very difficult practical requirement consuming time.
Laser sensor is the variation such as position, displacement of non-cpntact measurement testee accurately, is mainly used in the measurement of the geometric sense such as displacement, thickness, vibration, distance, diameter that detects object.The characteristic of the required processing of laser sensor is less, can realize the function of fast detecting, and it can play good inhibiting effect for the interference characteristic on plane surface to be detected (as significant filling material between tire trace, cement plate etc.).
But, the generation device of laser relatively complexity and volume larger, therefore can require harsher to the range of application of laser sensor.When larger for plane domain to be detected, need multiple laser sensors, increase system cost.And the environmental characteristic that laser sensor obtains is less, thereby the accuracy of its testing result and the intuitive of result output are affected.
Summary of the invention
The features and advantages of the present invention are partly statement in the following description, or can be apparent from this description, or can learn by putting into practice the present invention.
For solving low, the consuming time length of accuracy rate that on prior art high speed plane of movement, foreign matter detects, the problem that cost is high, the invention provides detection device for foreign matter in a kind of high-speed motion plane, comprise: vertical support frame, its top is by cross bar connection layout image-position sensor, for capturing image; Slide bar, is connected with the bottom of this vertical support frame, which is provided with laser sensor, has the foreign matter of difference in height for detection of scanning area and plane to be detected; Speed encoder, is arranged in moving object, for obtaining the speed of this moving object; Control center, carries out image processing and analyzing for the unlatching of control chart image-position sensor and to the image of capturing.
According to one embodiment of present invention, also comprise light source, be arranged on this vertical support frame, be used to this imageing sensor light filling.
According to one embodiment of present invention, this slide bar is along the direction setting vertical with this moving object direction of motion, and this laser sensor at the uniform velocity slides on this slide bar.
The present invention also provides foreign matter detecting method device in a kind of high-speed motion plane, comprises step: D1, use laser beam detecting sensor uniform speed scanning in certain area, the coordinate of detection definite foreign matter; D2, startup respective image sensor are captured image, and definite this grabbed the area-of-interest of being afraid of in image; D3, carry out image processing and analyzing for this area-of-interest, detect foreign matter and carry out image and indicate and show or warning voice output.
According to one embodiment of present invention, in this step D1, this laser sensor is the height change feature with respect to plane according to foreign matter in plane, detects this foreign matter.
According to one embodiment of present invention, before this step D2, also comprise step: calculate the displacement of this foreign matter according to the velograph of the pre-set velocity of this laser sensor and moving object.
According to one embodiment of present invention, in this step D2, according to the displacement of this foreign matter, and obtain this foreign matter in the positional information of capturing in image by coordinate system transformation, determine this area-of-interest.
According to one embodiment of present invention, the image processing and analyzing in this step D3 comprises step: first the bandpass filter in frequency of utilization territory is carried out filtering, strengthens the marginal information feature of foreign matter; Then this marginal information feature is carried out to morphology processing, and carry out foreign matter detection according to morphological feature.
According to one embodiment of present invention, when the bandpass filter in frequency of utilization territory is carried out filtering, set up 2-d gaussian filters device filter1, filter2, its mathematical model is as follows:
Wherein by the σ in model
1, σ
2set Gaussian function function window width corresponding to filter1, filter2, more just filter1 and filter2 subtract each other, thereby obtain a new Filter.
The invention provides the advantage that foreign matter detecting method in high-speed motion plane and device thereof utilize multiple sensor joint operations, improved the validity of each sensor in detection system, eliminate the limitation of single-sensor.First use laser beam detecting sensor uniform speed scanning in certain area, in detection plane, have the object of difference in height, thereby determine the coordinate of foreign matter.Then, start respective image sensor, and definite area-of-interest.Finally, carry out foreign matter detection for image processing and analyzing algorithms such as area-of-interest frequency of utilization territory bandpass filter, morphology processing.The method and device thereof, detect for foreign matter in high-speed motion plane have advantages of that Detection accuracy is high, consume when system operation short, installation cost is low.By reading instructions, those of ordinary skill in the art will understand feature and the content of these technical schemes better.
Brief description of the drawings
Below by describing particularly the present invention with reference to accompanying drawing and in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and do not form the restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is the structural representation of detection device for foreign matter in the high-speed motion plane of the embodiment of the present invention.
Fig. 2 is the schematic flow sheet of foreign matter detecting method in the high-speed motion plane of the embodiment of the present invention.
Fig. 3 is the schematic diagram that the laser sensor of the embodiment of the present invention detects foreign matter.
Fig. 4 is the result schematic diagram of the graphical analysis of the embodiment of the present invention.
Embodiment
As shown in Figure 1, the invention provides detection device for foreign matter in a kind of high-speed motion plane, comprising: vertical support frame 111, its top is by cross bar 109,110 connection layout image-position sensors 108,107, for capturing image; Slide bar 105, is connected with the bottom of vertical support frame 111, which is provided with laser sensor 104, has the foreign matter of difference in height for detection of scanning area and plane to be detected; Speed encoder 103, is arranged in moving object 101, for obtaining the speed of this moving object 101; Control center 102, the image of capturing for the unlatching of control chart image-position sensor 107,108 and to this imageing sensor carries out image processing and analyzing.Also comprise light source 106, be arranged on vertical support frame 111, be used to imageing sensor 107,108 light fillings.In the present embodiment, slide bar 105 is along the direction setting vertical with moving object 101 direction of motion, and this laser sensor 104 at the uniform velocity slides on slide bar 105.In addition, the length of vertical support frame 111 can regulate, and in order to make the image effect of imageing sensor 107,108 candid photographs better, can above vertical support frame 111, anti-dazzling screen be set, suppress ambient light according to the interference for imaging effect, thereby imageing sensor is worked in the uniform external environment of brightness.
Please refer to Fig. 2, the present invention also provides foreign matter detecting method in a kind of high-speed motion plane, comprises step: D1, use laser beam detecting sensor uniform speed scanning in certain area, the coordinate of detection definite foreign matter; D2, startup respective image sensor are captured image, and definite this grabbed the area-of-interest of being afraid of in image; D3, carry out image processing and analyzing for this area-of-interest, detect foreign matter and carry out image and indicate and show or warning voice output.
Referring to Fig. 3, in step D1, laser sensor 104 is the height change feature with respect to plane according to foreign matter in plane, detects foreign matter.Specifically, laser sensor is with pre-set velocity V
xthe region of uniform speed scanning fixed width, when occurring in scanning process that laser rays height changes, and variation range is while being greater than preset value Δ h, thinks and occurs foreign matter.
Before step D2, also comprise step: calculate the displacement of this foreign matter according to the velograph of the pre-set velocity of this laser sensor and moving object.Its concrete grammar is: when thinking while there is foreign matter, read the speed V of moving object by the speed encoder in moving object
y.V
x* t
1for foreign matter is with respect to the X displacement of laser instrument starting point, wherein t
1for laser instrument moves to time interval of current location from starting point.V
y* t
2for foreign matter is with respect to the Y displacement of laser instrument starting point, wherein t
2for detecting foreign matter, laser instrument arrives the time interval that starts respective camera.
In step D2, can be according to the displacement of this foreign matter, and obtain this foreign matter in the positional information of capturing in image by coordinate system transformation, determine this area-of-interest.Concrete grammar is: world coordinates (X, Y) is converted to image coordinate system (u, v) by the mapping equation group that is tied to real image coordinate system by world coordinates, and wherein mapping equation group is:
X
d＝X
u(1+kr
2)
-1
Y
d＝Y
u(1+kr
2)
-1
Wherein, X
w, Y
w, Z
wfor the world coordinates of unique point, R
3*3for orthogonal rotation matrix, t
3*1for translation matrix, f is focal length of camera, Z
cfor the z coordinate of unique point in camera coordinate system, X
u, Y
ufor ideal image coordinate; r
2=X
2 u+ Y
2 u, k is distortion factor, X
d, Y
dfor real image physical coordinates; (x
c, y
c) be computer graphic inconocenter, (N
x, N
y) be unit distance pixel count.
In the image of capturing, centered by (u, v), Δ l is that length is set up area-of-interest S.
Referring to Fig. 4, the image processing and analyzing in step D3 comprises step: first the bandpass filter in frequency of utilization territory is carried out filtering, strengthens the marginal information feature of foreign matter; Then this marginal information feature is carried out to morphology processing, and carry out foreign matter detection according to morphological feature.
Specifically: in S region, carry out foreign matter and detect while analysis, model 2-d gaussian filters device filter1, filter2, its mathematical model is as follows:
Wherein by the σ in model
1, σ
2set Gaussian function function window width corresponding to filter1, filter2, thereby the data that realize assigned frequency section are passed through wave filter.
Filter1 and filter2 are subtracted each other, thereby obtain a new Filter, this wave filter only produces response to the position that has limbus gradient information, and suppresses the image information of other all frequency bands.And this edge gradient information peculiar in the plane notable feature of foreign matter just.Use filter wave filter to carry out filtering processing to S region and obtain S1.Set up moving window taking Δ l1 pixel wide as unit, carry out edge cut apart in moving window by gradient information, moving window obtains S2 after S1 is traveled through to one time.S2 is carried out to morphology processing, close marginal point is merged, thereby form complete edge, obtain S3.The target sizes of calculating edge composition in S3, in the time that target sizes is greater than predetermined threshold value Δ T, thinks and detected foreign matter, thereby trigger control unit shows and early warning processing.
The invention provides foreign matter detecting method and device thereof in high-speed motion plane, first use the object that has difference in height in laser sensor detection plane, thereby determine the coordinate of foreign matter, laser sensor at the uniform velocity detects along the vertical direction of moving object direction of motion in testing process, thereby reduce the usage quantity of laser sensor, saved system cost.Start camera sensor by foreign matter coordinate, and set up the area-of-interest of the image that gathers, the use of area-of-interest has improved Riming time of algorithm and the antijamming capability of successive image Treatment Analysis.Finally, carry out image processing and analyzing in area-of-interest, the bandpass filter in frequency of utilization territory is carried out filtering, thereby strengthen the marginal information feature of foreign matter, marginal information feature is carried out to morphology processing, and carry out foreign matter detection according to morphological feature, thereby realize higher detection efficiency.
With reference to the accompanying drawings of the preferred embodiments of the present invention, those skilled in the art do not depart from the scope and spirit of the present invention above, can have multiple flexible program to realize the present invention.For example, illustrate as the part of an embodiment or the feature described can be used for another embodiment to obtain another embodiment.These are only the better feasible embodiment of the present invention, not thereby limit to interest field of the present invention, the equivalence that all utilizations instructions of the present invention and accompanying drawing content are done changes, within being all contained in interest field of the present invention.
Claims (9)
1. a detection device for foreign matter in high-speed motion plane, is characterized in that, comprising:
Vertical support frame, its top is by cross bar connection layout image-position sensor, for capturing image;
Slide bar, is connected with the bottom of described vertical support frame, which is provided with laser sensor, has the foreign matter of difference in height for detection of scanning area and plane to be detected;
Speed encoder, is arranged in moving object, for obtaining the speed of described moving object;
Control center, carries out image processing and analyzing for the unlatching of control chart image-position sensor and to the described image of capturing.
2. detection device for foreign matter in high-speed motion plane according to claim 1, is characterized in that, also comprises light source, is arranged on described vertical support frame, is used to described imageing sensor light filling.
3. detection device for foreign matter in high-speed motion plane according to claim 1, is characterized in that, described slide bar is along the direction setting vertical with described moving object direction of motion, and described laser sensor at the uniform velocity slides on described slide bar.
4. a foreign matter detecting method device in high-speed motion plane, is characterized in that, comprises step:
D1, use laser beam detecting sensor uniform speed scanning in certain area, the coordinate of detection definite foreign matter;
D2, startup respective image sensor are captured image, and are grabbed the area-of-interest of being afraid of in image described in determining;
D3, carry out image processing and analyzing for described area-of-interest, detect foreign matter and carry out image and indicate and show or warning voice output.
5. foreign matter detecting method in high-speed motion plane according to claim 4, is characterized in that, in described step D1, described laser sensor is the height change feature with respect to plane according to foreign matter in plane, detects described foreign matter.
6. foreign matter detecting method in high-speed motion plane according to claim 4, is characterized in that, also comprises step: calculated the displacement of described foreign matter according to the velograph of the pre-set velocity of described laser sensor and moving object before described step D2.
7. foreign matter detecting method in high-speed motion plane according to claim 5, it is characterized in that, in described step D2, according to the displacement of described foreign matter, and obtain described foreign matter in the positional information of capturing in image by coordinate system transformation, determine described area-of-interest.
8. foreign matter detecting method in high-speed motion plane according to claim 4, is characterized in that, the image processing and analyzing in described step D3 comprises step: first the bandpass filter in frequency of utilization territory is carried out filtering, strengthens the marginal information feature of foreign matter; Then described marginal information feature is carried out to morphology processing, and carry out foreign matter detection according to morphological feature.
9. foreign matter detecting method in high-speed motion plane according to claim 8, is characterized in that, when the bandpass filter in frequency of utilization territory is carried out filtering, sets up 2-d gaussian filters device filter1, filter2, and its mathematical model is as follows:
Wherein by the σ in model
1, σ
2set Gaussian function function window width corresponding to filter1, filter2, more just filter1 and filter2 subtract each other, thereby obtain a new Filter.
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| CN112464686A (en) * | 2014-12-27 | 2021-03-09 | 手持产品公司 | Acceleration-based motion tolerance and predictive coding |
| CN115861958A (en) * | 2023-02-23 | 2023-03-28 | 中科大路(青岛)科技有限公司 | Vehicle-mounted FOD identification method, electronic equipment and storage medium |
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