CN105572755A - Airport runway foreign matter detection device and detection method thereof - Google Patents
Airport runway foreign matter detection device and detection method thereof Download PDFInfo
- Publication number
- CN105572755A CN105572755A CN201610076973.2A CN201610076973A CN105572755A CN 105572755 A CN105572755 A CN 105572755A CN 201610076973 A CN201610076973 A CN 201610076973A CN 105572755 A CN105572755 A CN 105572755A
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- detector
- sweeper
- module
- airfield pavement
- foreign body
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to an airport runway foreign matter detection device and a detection method thereof. The device comprises a sweeper for cleaning airport runways; the front side of the sweeper is obliquely provided with more than one detector; the detectors are electrically connected with a control unit through an image splicing module which is used for splicing images acquired by the detectors; the control unit is electrically connected with a storage module used for storing image information and a display module for displaying the image information; the device further comprises an alarm module which performs warning when detecting a foreign matter; and the alarm module is electrically with the control unit. According to the detection device and the detection method of the invention, imaging is performed based on the advancing direction of the sweeper, and therefore, full coverage-based detection can be realized, and the accuracy of detection is improved, and fast detection and feedback of the airport runways can be realized.
Description
Technical field
The present invention relates to airport security field, particularly relate to a kind of airfield pavement foreign body pick-up unit and detection method thereof.
Background technology
Airport airstrips in use, there will be abnormal object (FOD), such as stone or screw etc., all may cause flight safety accident.In order to reduce or eliminate such foreign matter, need to clean face, road, and in flight course, or in the process of flight gap, need to clear up fast the runway on airport.
Summary of the invention
The object of the invention is for above weak point, provide a kind of airfield pavement foreign body pick-up unit and detection method thereof, realize the quick detection to airfield pavement and feedback.
The scheme that technical solution problem of the present invention adopts is: a kind of airfield pavement foreign body pick-up unit, comprise the sweeper for cleaning airport pavement, the front side of described scavenging machine tilts to be laid with more than one detector, described detector carries out the image mosaic module of splicing through one for the image gathered by each detector and control module is electrically connected, and described control module is also powered with a memory module for store image information and the display module for displays image information; Comprise one and detect that foreign matter carries out the alarm module warned, described alarm module and control module are electrically connected.
Further, described sweeper comprises a supporting seat, be arranged at the cleaning brush in the form of annular discs bottom supporting seat, described cleaning brush controls through one first drive motor, both sides, described supporting seat rear portion are also respectively equipped with a trailing wheel, described trailing wheel is respectively through one second Electric Machine Control, and the front bottom end of described supporting seat also has a universal wheel; Described first motor and the second motor are electrically connected through a motor drive module and sweeper controller respectively; Described supporting seat is also provided with one for the fixed head of fixed detector, described detector is downward-sloping to be arranged on described fixed head.
Further, the bottom of described supporting seat is also provided with a photoelectric sensor for travelling according to track, and described photoelectric sensor and sweeper controller are electrically connected.
Further, described fixed head is provided with an illuminating lamp, and described illuminating lamp and sweeper controller are electrically connected.
Further, also comprise a power module, described power module and sweeper controller and control module are electrically connected.
Further, described display module adopts the display of widescreen, and screen resolution is 1600 × 900 or 1600 × 1024.
Further, described detector is technical grade linear array DASLA camera, and line frequency is greater than 4k, and field angle is greater than 37 °.
Further, described control module is also powered with a wireless transport module, for the image information of collection is transferred to airfield control central.
The present invention also provides a kind of detection method based on airfield pavement foreign body pick-up unit described above, comprises the following steps:
Step S1: start power module, controls sweeper and detector carries out work, and sweeper travels on airfield pavement according to the track preset;
Step S2: detector is obliquely installed the front side with sweeper fixed head, ensure that the complete road surface of airfield pavement is dropped in the investigative range of detector, detector is greater than 1mm relative to the height on ground;
Step S3: the image of each detector collection of detector is carried out splicing by image mosaic module, shows the image after process in display module;
Step S4: if detect foreign matter in sweeper traveling process, then reported to the police by alarm module, neighbouring observation personnel process in time; Otherwise proceed detection.
Further, in step sl, sweeper initial position is positioned at the initial centre position of airfield pavement.
Compared with prior art, the present invention has following beneficial effect:
(1) all standing can be carried out to airfield runway, detect little foreign matter in real time;
Move ahead in process at sweeper, real-time quick detection can be carried out to the airfield runway of 75 meters wide.Carry out all standing to runway, face, real-time detection road foreign matter, can pick out the abnormal object that size is 0.02 meter simultaneously.By being optimized optical system, utilizing 4K linear array detector to carry out detection optical design, utilizing car direct of travel to carry out imaging, realize all standing and detect.
(2) Small object that can detect
The smallest object (imaging pixel is greater than 0.02m × 0.02m) that face, Gou Dui road picks out, long detector array is adopted to carry out scanning imagery, the splicing means of optical field of view are utilized to form the pixel count of 4096*3, for the face, road of 75 meters wide, the detectivity of each pixel resolution up to 0.006 meter, thus ensure that minimum detecting object can reach the pixel count of 4 × 4 on image, meet the minimum requirement of target identification.
(3) the Motion fusion imaging of linear array detector and sweeper is utilized
Adopt linear array detector to carry out imaging, usual linear array detector needs to carry out inner scanning just can carry out imaging, utilizes object space to scan and replaces image space scanning, improve the image taking speed of scanning.
(4) shock resistance ability is strong
Common area array cameras, in sweeper traveling process, need to utilize stable platform can continue steady picture to image, otherwise image there will be unintelligible in visual field, fuzzy problem.The special linear array image-forming principle of the camera of detector of the present invention, and adopt the mode of interscan to carry out imaging, do not need to install additional the compensation that stable platform can realize the vibrations in car motion process, utilize uniform pixel exposure time, the mode that time shutter is shorter simultaneously carries out imaging, ensure that the motion shock resistance of image.
(5) optical system of detector is simplified
Common area array cameras, in sweeper traveling process, adopts linear array detector, and the imaging point of itself, at same horizontal level, can not cause the problem that the focus of the image planes of front and back is inconsistent, installs simple.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, patent of the present invention is further illustrated.
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure: 1-sweeper; 2-detector; 3-airport pavement.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
As shown in Figure 1, a kind of airfield pavement foreign body pick-up unit, comprise the sweeper 1 for cleaning airport pavement 3, the front side of described scavenging machine tilts to be laid with more than one detector 2, described detector 2 carries out the image mosaic module of splicing through one for the image gathered by each detector 2 and control module is electrically connected, and described control module is also powered with a memory module for store image information and the display module for displays image information; Comprise one and detect that foreign matter carries out the alarm module warned, described alarm module and control module are electrically connected.
In the present embodiment, described sweeper 1 comprises a supporting seat, be arranged at the cleaning brush in the form of annular discs bottom supporting seat, described cleaning brush controls through one first drive motor, both sides, described supporting seat rear portion are also respectively equipped with a trailing wheel, described trailing wheel is respectively through one second Electric Machine Control, and the front bottom end of described supporting seat also has a universal wheel; Described first motor and the second motor are electrically connected through a motor drive module and sweeper 1 controller respectively; Described supporting seat is also provided with one for the fixed head of fixed detector 2, described detector 2 is downward-sloping to be arranged on described fixed head.
In the present embodiment, the bottom of described supporting seat is also provided with a photoelectric sensor for travelling according to track, and described photoelectric sensor and sweeper 1 controller are electrically connected.
In the present embodiment, described fixed head is provided with an illuminating lamp, and described illuminating lamp and sweeper 1 controller are electrically connected.By illuminating lamp, may be used for pavement detection at night.
In the present embodiment, also comprise a power module, described power module and sweeper 1 controller and control module are electrically connected.
In the present embodiment, described display module adopts the display of widescreen, and screen resolution is 1600 × 900 or 1600 × 1024.
In the present embodiment, described detector 2 is technical grade line-scan digital camera, and line frequency is greater than 4k, and field angle is greater than 37 °.
In the present embodiment, described control module is also powered with a wireless transport module, for the image information of collection is transferred to airfield control central.
The present invention also provides a kind of detection method based on airfield pavement foreign body pick-up unit described above, comprises the following steps:
Step S1: start power module, controls sweeper 1 and detector 2 carries out work, and sweeper 1 travels on airfield pavement according to the track preset;
Step S2: detector 2 is obliquely installed the front side with sweeper 1 fixed head, ensure that the complete road surface of airfield pavement is dropped in the investigative range of detector 2, detector 2 is greater than 1mm relative to the height on ground;
Step S3: the image that each detector 2 of detector 2 gathers is carried out splicing by image mosaic module, shows the image after process in display module;
Step S4: if detect foreign matter in sweeper 1 traveling process, then reported to the police by alarm module, neighbouring observation personnel process in time; Otherwise proceed detection.
In the present embodiment, in step sl, sweeper 1 initial position is positioned at the initial centre position of airfield pavement.
Below by the present invention will be further explained the explanation of the specific implementation process of the present embodiment.
Assuming that runway width 75 meters, length 3000 meters, the smallest object of detection is the object of 0.02 meter × 0.02 meter, and typical target is: stone, screw, glass fragment.The vehicular speeds of sweeper 1: maximum 60 kilometers/hour, horizontal parallel layout three detectors 2 in the front side of cleaning Vehicle, field angle is 37 degree.Described detector 2 adopts technical grade line-scan digital camera, and the camera resolution of horizontal direction is 37/180 × pi/4096=0.15mrad is 0.02 × 0.02mm for size
2object space resolution be 0.02/45=0.44mrad; Therefore, for the target of size like this, the size on imaging surface is the line length of 3 pixels; In addition for movement velocity, according to maximum movement velocity analysis, the speed of a motor vehicle is 60 kilometers/hour, close 16.67 meter per seconds, control module is analyzed according to 20 meter per seconds, motion per second 20 meters, for the target of formed objects, goal theory is similar to horizontal direction, the line frequency of 4k per second can meet the demands, because be front viewing system, angle is comparatively large, Ray obliquity, and therefore line frequency needs to strengthen, need suitably to relax, the present invention also can adopt the line frequency detector 2 of >8k.
In sum, a kind of airfield pavement foreign body pick-up unit provided by the invention and detection method thereof, utilize sweeper direct of travel to carry out imaging, realize all standing and detect, and improves the accuracy rate of detection, realize the quick detection to airfield pavement and feedback.
Above-listed preferred embodiment provided by the invention; the object, technical solutions and advantages of the present invention are further described; be understood that; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention; within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an airfield pavement foreign body pick-up unit, it is characterized in that: comprise the sweeper for cleaning airport pavement, the front side of described scavenging machine tilts to be laid with more than one detector, described detector carries out the image mosaic module of splicing through one for the image gathered by each detector and control module is electrically connected, and described control module is also powered with a memory module for store image information and the display module for displays image information; Comprise one and detect that foreign matter carries out the alarm module warned, described alarm module and control module are electrically connected.
2. a kind of airfield pavement foreign body pick-up unit according to claim 1, it is characterized in that: described sweeper comprises a supporting seat, be arranged at the cleaning brush in the form of annular discs bottom supporting seat, described cleaning brush controls through one first drive motor, both sides, described supporting seat rear portion are also respectively equipped with a trailing wheel, described trailing wheel is respectively through one second Electric Machine Control, and the front bottom end of described supporting seat also has a universal wheel; Described first motor and the second motor are electrically connected through a motor drive module and sweeper controller respectively; Described supporting seat is also provided with one for the fixed head of fixed detector, described detector is downward-sloping to be arranged on described fixed head.
3. a kind of airfield pavement foreign body pick-up unit according to claim 2, is characterized in that: the bottom of described supporting seat is also provided with a photoelectric sensor for travelling according to track, and described photoelectric sensor and sweeper controller are electrically connected.
4. a kind of airfield pavement foreign body pick-up unit according to claim 2, is characterized in that: described fixed head is provided with an illuminating lamp, and described illuminating lamp and sweeper controller are electrically connected.
5. a kind of airfield pavement foreign body pick-up unit according to claim 2, is characterized in that: also comprise a power module, and described power module and sweeper controller and control module are electrically connected.
6. a kind of airfield pavement foreign body pick-up unit according to claim 1, is characterized in that: described display module adopts the display of widescreen, and screen resolution is 1600 × 900 or 1600 × 1024.
7. a kind of airfield pavement foreign body pick-up unit according to claim 1, it is characterized in that: described detector is technical grade line-scan digital camera, and line frequency is greater than 4k, field angle is greater than 37 °.
8. a kind of airfield pavement foreign body pick-up unit according to claim 1, is characterized in that: described control module is also powered with a wireless transport module, for the image information of collection is transferred to airfield control central.
9., based on a detection method for airfield pavement foreign body pick-up unit according to claim 1, it is characterized in that, comprise the following steps:
Step S1: start power module, controls sweeper and detector carries out work, and sweeper travels on airfield pavement according to the track preset;
Step S2: detector is obliquely installed the front side with sweeper fixed head, ensure that the complete road surface of airfield pavement is dropped in the investigative range of detector, detector is greater than 1mm relative to the height on ground;
Step S3: the image of each detector collection of detector is carried out splicing by image mosaic module, shows the image after process in display module;
Step S4: if detect foreign matter in sweeper traveling process, then reported to the police by alarm module, neighbouring observation personnel process in time; Otherwise proceed detection.
10. a kind of airfield pavement foreign body detection method according to claim 9: it is characterized in that: in step sl, sweeper initial position is positioned at the initial centre position of airfield pavement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610076973.2A CN105572755A (en) | 2016-02-04 | 2016-02-04 | Airport runway foreign matter detection device and detection method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610076973.2A CN105572755A (en) | 2016-02-04 | 2016-02-04 | Airport runway foreign matter detection device and detection method thereof |
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| CN105572755A true CN105572755A (en) | 2016-05-11 |
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| CN201610076973.2A Pending CN105572755A (en) | 2016-02-04 | 2016-02-04 | Airport runway foreign matter detection device and detection method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111399076A (en) * | 2020-03-30 | 2020-07-10 | 中科蓝卓(北京)信息科技有限公司 | Method and device for detecting airport pavement foreign matter by vehicle-mounted line scanning camera |
| CN111897025A (en) * | 2020-08-06 | 2020-11-06 | 航泰众联(北京)科技有限公司 | Airport pavement foreign matter detection equipment and system based on 3D/2D integration detection |
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Cited By (2)
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| CN111897025A (en) * | 2020-08-06 | 2020-11-06 | 航泰众联(北京)科技有限公司 | Airport pavement foreign matter detection equipment and system based on 3D/2D integration detection |
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Application publication date: 20160511 |