CN108876899A - A kind of airfield runway foreign object detection binocular solid system and detection method - Google Patents
A kind of airfield runway foreign object detection binocular solid system and detection method Download PDFInfo
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- CN108876899A CN108876899A CN201810411969.6A CN201810411969A CN108876899A CN 108876899 A CN108876899 A CN 108876899A CN 201810411969 A CN201810411969 A CN 201810411969A CN 108876899 A CN108876899 A CN 108876899A
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
A kind of airfield runway foreign object detection binocular solid system and detection method, including the binocular vision system being connected in central cavity, the binocular vision system includes centrally disposed cavity two sides, the identical left imaging system of structure and right imaging system；Left imaging system and right imaging system include optical detection channel and laser auxiliary lighting unit；Central cavity is arranged in mounting seat, by azimuth-drive motor by driving rotation.After detections of radar to the location information of exotic, it is sent to binocular vision system；The main control unit of binocular vision system is rotated by azimuth-drive motor control centre cavity along mounting seat, and the optical axis in the optical detection channel of left imaging system and right imaging system is made to be directed to the region where exotic；After the optical detection channel of left imaging system and right imaging system obtains the image information of exotic, the three-dimensional information of exotic is obtained by binocular stereo vision algorithm.The present invention biggish can improve exotic detection efficiency.
Description
Technical field
The present invention relates to a kind of vehicular airfield runway foreign objects to detect Binocular Stereo Vision System scheme, is used for millimeter wave
After radar detection exotic, complete the dual confirmation of suspicious exotic by two visual channels, at the same using Stereo matching and
Three-dimensional reconstruction calculates the spatial coordinate location of exotic, three-dimensional dimension etc., and is finally finally confirmed to exotic.
Background technique
With the rapid development of Civil Aviation Industry, the continuous dilatation of air transportation, hinge platform of the airport as air transportation, the people
The safe pressure of boat is increasing.On July 25th, 2000 Air France's Concorde aircraft airplane crash tragedy, accelerate various countries
Develop the paces of FOD detection system.Typical FOD target have metal device (screw, nut, washer, nail and fuse etc.),
Machine tool, flight article (personal effects, pen, pencil and button etc.), coagulation natural asphalt fragment, rubbery chip, plastics system
Product and animals and plants etc..Current domestic airport runway inspection relies primarily on face patrolman completion, will close when road face is patrolled
Runway, this substantially reduces the flight traffic capacity.It is main at present in terms of mobile airfield runway foreign object detection system research
Airfield runway is scanned by vehicle-mounted millimeter wave radar, target is confirmed by optical detecting channel realization, is fixed
Position, identification, record and processing, this monocular mode false alarm rate mesh that is higher, therefore obtaining that Traditional photovoltaic detection system uses
Logo image needs another way video to be analyzed again finally to judge whether there is exotic invasion on runway.Due to monocular Photoelectric Detection
System can not construct steric information, the i.e. depth information (outer dimension and range information) of loss target in the direction of the optical axis；And
It is only capable of obtaining coordinate of the target on video camera viewing plane, and this coordinate pair exotic judges that meaning is limited, it is likely that it makes
At false-alarm and false dismissal.Therefore it needs to research and develop a kind of vehicular airfield runway foreign object detection Binocular Stereo Vision System, further
Exotic relevant depth information is obtained to improve mobile exotic detection efficiency and robustness.
Summary of the invention
The present invention provides a kind of airfield runway foreign object detection binocular solid system and detection method, to solve the prior art
There are the problem of.
The present invention uses following technical scheme：
A kind of airfield runway foreign object detection binocular solid system, including the binocular vision system being connected in central cavity
System, the binocular vision system includes centrally disposed cavity two sides, the identical left imaging system of structure and right imaging system；
The left imaging system and right imaging system include shell, and installation is for taking pictures to exotic on shell
Optical detection channel and laser auxiliary lighting unit for carrying out light filling；
The central cavity is arranged in mounting seat, by azimuth-drive motor by driving rotation.
The left imaging system and right imaging system further include being arranged in optical detection channel and laser auxiliary lighting unit
The wiper of front shell, with the antifog heating sheet that optical detection channel and laser auxiliary lighting unit rear end is arranged in.
The left imaging system and right imaging system are driven by the height motor of centrally disposed inside cavity along center
Cavity slides up and down.
Further include ambient light sensor, the ambient light sensor and is arranged in inside mounting seat or central cavity
Main control unit connection.
The optical detection channel includes optical lens and the video camera after optical lens.
A kind of airfield runway foreign object detection method, including：
After detections of radar to the location information of exotic, it is sent to binocular vision system；
The main control unit of binocular vision system is rotated by azimuth-drive motor control centre cavity along mounting seat, and left imaging is made
The optical axis in the optical detection channel of system and right imaging system is directed to the region where exotic；
It is vertical by binocular after the optical detection channel of left imaging system and right imaging system obtains the image information of exotic
The three-dimensional information of body vision algorithm acquisition exotic.
It is described by binocular stereo vision algorithm obtain exotic three-dimensional information the step of include：
Camera calibration is carried out to the video camera of left imaging system and right imaging system optical detection channel；
Camera model is established to the video camera of left imaging system and right imaging system optical detection channel, and abnormal using camera lens
Become alignment technique and radially and tangentially distortion correction is carried out to the image that video camera obtains；
The external object image to left imaging system and the acquisition of right imaging system is matched and obtained by SURF algorithm
Match point coordinate seeks the three-dimensional coordinate information of exotic according to corresponding match point coordinate.
Ambient light sensor real-time monitoring environmental light brightness, when environmental light brightness is in preset unlatching laser auxiliary lighting
When in the luminance threshold of unit, laser auxiliary lighting unit is opened by main control unit, light filling is carried out to exotic.
The laser auxiliary lighting unit carries out light filling using aspherical Galilean type beam shaping.
Beneficial effects of the present invention：
(1) it is directed to airfield runway foreign object random distribution and radar vectoring feature, establishing vehicular, laterally convergence binocular is vertical
Body vision model, it is biggish to improve exotic detection efficiency；
(2) use demand detected for 24 hours for airfield runway foreign object, using the laser auxiliary lighting based on beam shaping
Technology improves signal noise ratio (snr) of image SNR so that transmitting light intensity spatial distribution meets flat-top distribution.
Detailed description of the invention
Fig. 1 is biocular systems structure principle chart of the invention.
Fig. 2 is the partial sectional view of Fig. 1.
Fig. 3 is vehicular laterally convergence binocular stereo vision model.
Fig. 4 is Galilean type beam shaping system.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description.
The characteristics of for airfield runway foreign object random distribution and radar vectoring, the present invention establish outside a kind of airfield runway
Carry out the detection binocular solid system of object, the exotic of different-diameter can be detected according to the precision of binocular solid system.
Such as it can be not less than the external analyte detection of 2cm × 2cm × 2cm size to runway.It is obtained by double sharp steros outer
The relevant depth information for carrying out object reduces external analyte detection false alarm rate, biggish raising exotic detection efficiency.
Airfield runway foreign object detection binocular solid system of the invention, which may be selected to be to be fixed on outside airfield runway, is
System, the system that vehicular also may be selected, preferably vehicle mounted system include vehicle-mounted mounting seat 1, mounting seat 1
Upper installation center cavity 4, central cavity 4 passes through the azimuth-drive motor drive being arranged in inside mounting seat can be around mounting seat 1
Rotation.
Binocular vision system is installed, binocular vision system is the binocular vision system laterally converged, packet in central cavity 4
Include the left imaging system and right imaging system for being symmetrically mounted on 4 two sides of central cavity, left imaging system and right imaging system structure
It is identical.
As depicted in figs. 1 and 2, left imaging system includes left shell 5, and left 6 He of optical detection channel is provided on left shell 5
Left laser auxiliary lighting unit 8, left optical detection channel 6 are used for after knowing the location information of exotic, pass through the center of turning
Cavity 4 obtains the image information of exotic, and left laser auxiliary lighting unit 8 is used for the cloudy day low at night or luminous intensity
Light filling is carried out to exotic, round-the-clock clearly external object image can be obtained.And it is examined for 24 hours for airfield runway foreign object
The use demand of survey, the present invention use the laser auxiliary lighting technology based on aspherical Galileo beam shaping, so that transmitting light
Strong spatial distribution meets flat-top distribution, improves signal noise ratio (snr) of image SNR.
Left windscreen wiper 7 is additionally provided on the left shell 5 of left imaging system, left windscreen wiper 7 passes through centrally disposed cavity or case
The motor of part women's dress chassis interior, which drives, to move up and down, to optical detection channel 6 and the leakage of left laser auxiliary lighting unit 8 on a left side
Mirror surface on shell 5 carries out blowing rain, solves the external analyte detection of runway of rainy weather.Meanwhile optical detection channel and laser are auxiliary
Help the antifog heating sheet at lighting unit rear portion, antifog heating sheet includes that the antifog heating sheet 15 in left optical detection channel, left laser are auxiliary
The antifog heating sheet 16 of illumination is helped, the optics member of optical detection channel and laser auxiliary lighting unit is arranged in the antifog heating sheet
Part inner surface side, the method being bonded by circular ring type, bonding location do not influence the biography of optical path not in effective clear aperature
Defeated, antifog heating sheet can be powered and be heated, and solving can not detection problem caused by the influence of rain, snow, fog lamp weather.It is antifog
Heating sheet carries out control heating by the way that the main control unit of mounting seat 1 is arranged in.System nominal power of the invention, volume, again
The parameters such as amount, floor light laser power, detection range are marked on the nameplate 13 in mounting seat, and azimuth motion range -85o~
85o, height and movement range 0o~-10o.
Right imaging system structure and function is identical as left imaging system, specifically includes right laser auxiliary lighting unit 9, right rain
It is antifog to scrape 10, right optical detection channel 11, right shell body 12, the antifog heating sheet 18 of right laser auxiliary lighting, right optical detection channel
Heating sheet 19 etc..
Above-mentioned optical detection channel includes optical lens and video camera, and laser auxiliary lighting unit may be selected to be set as
The lamps and lanterns of the headlamp of long drive or other similar functions.
Laser auxiliary lighting unit is for carrying out light filling when extraneous illumination is weak, therefore the present invention can also include that setting exists
Ambient light sensor on shell or central cavity 4 or mounting seat, ambient light sensor and setting in mounting seat 1 or
Main control unit connection inside person's central cavity 4, the luminance threshold of storage environment light simultaneously in the memory of main control unit, works as ring
When border light is lower than luminance threshold, laser auxiliary lighting unit can be opened and carry out light filling.
Height motor 17 is also set up inside central cavity 4, height motor 17 is able to drive left imaging system and right imaging system
System slides up and down or central cavity 4 selects telescopic tubular housing along central cavity 4, by height motor 17 drive into
The adjustment of row upper-lower height.
Connection external power supply is additionally provided in mounting seat 1 of the invention to there is being carried out with electric device for binocular vision system
The attaching plug 2 of power supply, and make the Signal plug 3 communicated inside external equipment and binocular vision system.Main control unit choosing
The equipment such as the processor of existing tape storage are selected as, Signal plug 3 and external device communication are passed through.
In use, mounting seat 1 is fixed with automobile, system is powered by attaching plug 2, when system receives
After the external object location of radar, azimuth-drive motor 14 and height motor 17 is driven to turn turntable by main control unit, by left optical detection
The optical axis in channel 6 and right optical detection channel 11 is turned to suspicious external object area, is calculated by laterally converging binocular stereo vision
Method constructs suspicious exotic stereo profile and dimension information, and is shown by the terminal that Signal plug 3 is sent to external equipment
Show.
The present invention also provides a kind of methods for carrying out airfield runway foreign object detection using above-mentioned system.
Include the following steps：
S101：After extraneous detections of radar to the location information of exotic, location information is sent to by communication system
Binocular vision system；
S102：After the main control unit of binocular vision system receives location information, according to location information control azimuth motor
14, make central cavity 4 along mounting seat 1 rotate, as necessary by height motor adjustment binocular vision system height, make it is left at
Region as where the optical axis of system and right imaging system optical detection channel is directed to exotic；
S103：After the optical detection channel of left imaging system and right imaging system obtains the image information of exotic, pass through
The three-dimensional information of binocular stereo vision algorithm acquisition exotic.
The present invention uses the principle of binocular parallax, and the multiple image shot from binocular camera obtains object dimensional geometry letter
The method of breath, the step such as acquisition, camera calibration, image preprocessing, corresponding point matching and three dimensional signal space including video image
Suddenly, two-dimensional image information is converted into exotic three-dimensional geometric information.The calibration of the step, correction, three-dimensional information acquisition process
Belong to the prior art.
Specific step is as follows：
S201：Linear camera model is established, compensation is corrected to camera image using lens distortion and alignment technique；
S202：The three-dimensional position of the relatively a certain earth coordinates of camera coordinates system is constructed by camera calibration method；
S103：Based on requirement of real-time, SIFT algorithm complexity is too high, finds airport exotic in conjunction with vehicle-carried mobile platform
Actual signal feature carries out Stereo matching using exotic is carried out based on SURF algorithm (SIFT innovatory algorithm), obtains match point
Coordinate solves exotic three-dimensional coordinate according to Corresponding matching point position in two external object images and completes Stereo matching；Finally
Its three-dimensional coordinate information is solved and recovered according to exotic image coordinate, calculates spatial coordinate location, the three-dimensional of exotic
Size etc. is sent to display terminal by RS232.
SURF algorithm of the present invention, which passes through to calculate Hessian matrix and find the extreme point of scale space, determines key point,
Its correlation matrix H (x, σ) can be indicated：
Wherein, Lxx(x, σ) indicates the convolution of Gaussian function second order local derviation and image function at pixel (x, y)The value of H (x, σ) determinant is expressed as follows：
Det (H)=Lxx(x,σ)·Lyy(x,σ)-Lxy(x,σ)2
Lxx(x,σ)、Lyy(x, σ) distribution indicates vertical and horizontal local edge, Lxy(x, σ) indicates diagonal edges characteristic.
Using the camera coordinates system of left imaging system as earth coordinates OWXWYWZWIf having any two in the image after correction
Match point p1=(u1,v1), p2=(u2,v2)；Then p1、p2The spatial point P that two o'clock determines is P=(X, Y, Z) in left camera coordinates,
It is then P=(X-a, Y, Z) in right camera coordinates system coordinate, L is two camera distances, is illustrated in figure 3 convergence type binocular vision system
System model.
Since the parallax d influence characteristic point Z axis coordinate and calibrated error and matching error, object of object matching point exist
The parallax that left and right camera generates in stereoscopic vision, which must satisfy 8pixels, can just be recognized accurately object.Due to object matching point
Parallax d influence characteristic point Z axis coordinate and calibrated error and matching error, object left and right camera in stereoscopic vision generates
Parallax must satisfy n >=8pixels could accurate recognition go out object.The invention is characterised in that baseline length a=0.5m, uses
2000000 pixel Sony progressively scan 1/1.8 〞 CCD, pixel dimension ρ=3.45 μm, observed range R be 30m, focal length 10~
100mm, bore 80mm.
When night and too low cloudy illumination, to improve target identification ability, using central wavelength 915nm near-infrared
Laser carries out floor light, considers that actual light beam center is most strong, the excessively weak problem of edge illumination, using the uniform irradiation of light source
Method improves signal noise ratio (snr) of image SNR, specific to use the optical emitting framework based on Galilean type Aspherical corrector, as shown in Figure 4.
Illumination region is projected through optical system by light intensity homogenisation, is conducive to obtain more target signature informations and local feature
Extraction.Specific features show optical emission system wave aberration less than 1/4 wavelength, and laser linewidth is not more than 20nm, power
No more than 1W, emergent pupil bore 25mm.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those skilled in the art,
Without depart from that overall concept of the invention, several changes and improvements can also be made, these also should be considered as of the invention
Protection scope.
Claims (9)
1. a kind of airfield runway foreign object detects binocular solid system, it is characterised in that：
Including being connected to central cavity（4）On binocular vision system, the binocular vision system includes centrally disposed cavity
（4）Two sides, the identical left imaging system of structure and right imaging system；
The left imaging system and right imaging system include shell, optics of the installation for taking pictures to exotic on shell
Detection channels and laser auxiliary lighting unit for carrying out light filling；
The central cavity（4）It is arranged in mounting seat（1）On, pass through azimuth-drive motor（14）It is rotated by driving.
2. system according to claim 1, it is characterised in that：
The left imaging system and right imaging system further include being arranged in optical detection channel and laser auxiliary lighting unit front
The wiper of shell, with the antifog heating sheet that optical detection channel and laser auxiliary lighting unit rear end is arranged in.
3. system according to claim 1, it is characterised in that：
The left imaging system and right imaging system pass through centrally disposed cavity（4）Internal height motor（17）It drives in
Chambers of the heart body（4）It slides up and down.
4. system according to claim 1, it is characterised in that：
It further include ambient light sensor, the ambient light sensor and setting are in mounting seat（1）Or central cavity（4）It is internal
Main control unit connection.
5. system according to claim 1, it is characterised in that：
The optical detection channel includes optical lens and the video camera after optical lens.
6. a kind of airfield runway foreign object detection method, which is characterized in that including：
After detections of radar to the location information of exotic, it is sent to binocular vision system；
The main control unit of binocular vision system passes through azimuth-drive motor（14）Control centre's cavity（4）Along mounting seat（1）Rotation, makes
The optical axis in the optical detection channel of left imaging system and right imaging system is directed to the region where exotic；
After the optical detection channel of left imaging system and right imaging system obtains the image information of exotic, pass through binocular tri-dimensional
Feel that algorithm obtains the three-dimensional information of exotic.
7. according to the method described in claim 6, it is characterized in that：
It is described by binocular stereo vision algorithm obtain exotic three-dimensional information the step of include：
Camera calibration is carried out to the video camera of left imaging system and right imaging system optical detection channel；
Camera model is established to the video camera of left imaging system and right imaging system optical detection channel, and uses lens distortion school
Positive technology carries out radially and tangentially distortion correction to the image that video camera obtains；
The external object image to left imaging system and the acquisition of right imaging system is matched by SURF algorithm and obtains matching
Point coordinate, the three-dimensional coordinate information of exotic is sought according to corresponding match point coordinate.
8. according to the method described in claim 7, it is characterized in that：
Ambient light sensor real-time monitoring environmental light brightness, when environmental light brightness is in preset unlatching laser auxiliary lighting unit
Luminance threshold in when, by main control unit open laser auxiliary lighting unit to exotic carry out light filling.
9. according to the method described in claim 6, it is characterized in that：
The laser auxiliary lighting unit carries out light filling using aspherical Galilean type beam shaping.
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Cited By (7)
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| CN110057301A (en) * | 2019-04-29 | 2019-07-26 | 慧眼自动化科技（广州）有限公司 | A kind of height detecting device and detection method based on binocular 3D parallax |
| CN110068874A (en) * | 2019-05-22 | 2019-07-30 | 成都航天凯特机电科技有限公司 | FOD optical detection apparatus |
| CN112802100A (en) * | 2021-01-21 | 2021-05-14 | 北京首都机场航空安保有限公司 | Intrusion detection method, device, equipment and computer readable storage medium |
| CN112800918A (en) * | 2021-01-21 | 2021-05-14 | 北京首都机场航空安保有限公司 | Identity recognition method and device for illegal moving target |
| CN112802058A (en) * | 2021-01-21 | 2021-05-14 | 北京首都机场航空安保有限公司 | Method and device for tracking illegal moving target |
| CN114277725A (en) * | 2021-12-20 | 2022-04-05 | 民航成都电子技术有限责任公司 | Airfield runway target foreign matter disposal equipment |
| CN114887996A (en) * | 2022-04-28 | 2022-08-12 | 郑州航空工业管理学院 | Decontamination equipment and method for airport runway surface based on mobile nanosecond pulse laser |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112800918A (en) * | 2021-01-21 | 2021-05-14 | 北京首都机场航空安保有限公司 | Identity recognition method and device for illegal moving target |
| CN112802058A (en) * | 2021-01-21 | 2021-05-14 | 北京首都机场航空安保有限公司 | Method and device for tracking illegal moving target |
| CN114277725A (en) * | 2021-12-20 | 2022-04-05 | 民航成都电子技术有限责任公司 | Airfield runway target foreign matter disposal equipment |
| CN114887996A (en) * | 2022-04-28 | 2022-08-12 | 郑州航空工业管理学院 | Decontamination equipment and method for airport runway surface based on mobile nanosecond pulse laser |
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