CN103576159A - Runway pavement detection device and method based on laser scanning technology - Google Patents
Runway pavement detection device and method based on laser scanning technology Download PDFInfo
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- CN103576159A CN103576159A CN201310563357.6A CN201310563357A CN103576159A CN 103576159 A CN103576159 A CN 103576159A CN 201310563357 A CN201310563357 A CN 201310563357A CN 103576159 A CN103576159 A CN 103576159A
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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 invention relates to the technical field of invading foreign body detection and laser scanning, in particular to a runway pavement detection device and method based on a laser scanning technology, wherein the runway pavement detection device is erected on the edge of a runway. According to the problems existing in the prior art, the runway pavement detection device erected on the edge of the runway and the runway pavement detection method can be used for detecting invaders existing on the airfield runway and threatening aviation safety, and efficient and accuracy detection can be achieved. The runway pavement detection device comprises at least one laser scanner, at least one camera and a processor. The runway pavement detection device and method are applied to the field of detection of airfield runway planar invaders.
Description
Technical field
The present invention relates to invade that foreign matter detects and laser scanner technique field, especially relate to runway road surface checking device and the method for a kind of kind that is set up in runway edge based on laser scanner technique.
Background technology
In takeoff and landing process, the invasion foreign matter existing on runway (Foreign Object Debris, FOD) may cause great threat to the safety of flight.Potential harm gently damages fuselage, heavy cause airplane crash, fatal crass.Therefore, in order to ensure the safety of flight, invader must be found in time, identify, and makes corresponding processing according to its threat level.Threaten the runway invader of aviation safety to can be as small as 3cm diameter, on the long runway of upper km, use the mode of artificial investigation, inefficiency, and the uncared-for possibility of invader is higher.Therefore by a kind of automated system, find efficiently and accurately and get rid of runway invader, significant to the safe operation on airport.
The technology that existing FOD automatic checkout equipment uses is mainly image technique and Radar Technology.Image technique is stronger to the dependence of visible ray.Even if use infrared equipment, restricted factor, such as resolution, the automatic accuracy rate detecting etc., also many, be not therefore widely used.By contrast, comparatively widely used technology is detections of radar.The radar wave of detector transmitting different wave length, according to the existence of echoed signal judgement foreign matter.But radar echo signal itself is more complicated, intuitively spend poor.And be subject to the impacts such as clutter and secondary reflection, accuracy and precision are all restricted.
Scanning three-dimensional imaging laser technology is a kind of new technology rising gradually, and it uses a large amount of laser spots to detect shape and the reflection strength of body surface the three-dimensional point cloud image of product surface.Be applied in airfield runway environment, the point cloud chart picture that uses point to generate apart from the scanning that is less than 3cm, can record the FOD that runway road surface exists in nothing left lost territory.But the cloud data directly generating can not find that FOD(can not distinguish invader and road face automatically), therefore need a kind of method, can from a large amount of cloud datas, detect existence the location of FOD.
In airport takeoff and landing applied environment, the problem that mainly contains three aspects is had higher requirement to detection system.First, ideal system should be found invader in the very first time, and the time that invader stops is longer, and hurtful possibility is larger.Secondly, for the operation of airport steady ordered, the result of detection can not be omitted the invader existing on runway, can not overemphasize not omit and occur too much dangerous mistake that safety is judged by accident into.Finally, outdoor environment is different from laboratory ecotopia, and ground is not perfect plane, and the weather such as haze sleet may bring the problems such as On The Deterioration of Visibility Over, road environment variation must face in actual applications
.
Summary of the invention
Technical matters to be solved by this invention is: for the problem of above-mentioned existence, provide a kind of runway edge that is set up in, a kind of efficient, accurate runway road surface checking device and method based on laser scanner technique.Invader for detection of the threat aviation safety existing on airfield runway.The present invention uses laser and image for detecting and confirmation means, has designed complete invader pick-up unit and a method, and on invasion foreign matter test problems, uses laser line scanning technology first, has invented 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, surveys the object parameters occurring in runway plane; Laser scanner repeats to survey to its guarded region with time interval T, and the fan-shaped surface of emission of described laser scanner is parallel with ground, runway road surface, and apart from runway road surface ground distance, is less than the diameter of minimum invasion foreign matter.
At least one video camera, the same side position that to be erected at apart from runway road surface be D ', for the order of receiving processor, takes 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) detecting, whether judgment object is invader; When invader is when fixed position life period surpasses S, and in runway workspace, when 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, whether and to receive after the doubtful invader image information that video camera takes be true invader, and carry out true invader removing, and described r is the distance of object distance laser scanner, 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
, effective surface sweeping radius of laser scanner
for
, described in
, wherein
width for runway plane.
Distance between described adjacent two video cameras is
, wherein
for the useful effect radius of video camera,
distance for its near distance video camera one side runway edge.
The coordinate information process that described processor is processed laser scanner acquisition object comprises:
Step 1: the information by the laser scanner gathering, is transformed under runway conventional coordinates
,
, wherein
the installation site of corresponding laser scanner on runway, x axle represents runway plane length direction.Axle represents that runway plane width direction;
Step 2: when
or
time, be the out-of-plane ambient signal of runway; When
time, object is invader, processor triggers video camera and carries out invader image taking.
Described T scope be 0.1s to 0.5s, S scope is that 1s is to 3s.
Described laser scanner is linear laser scanner.
The runway road surface checking device of laser scanner technique also comprises a monitor terminal, described monitor terminal Telnet processor, reading images signal, the artificial final invader of confirming.
A kind of pavement detection method of going to based on laser scanner technique comprises:
Step 1: survey the object parameters occurring in runway plane by least one laser scanner; Laser scanner repeats to survey to its guarded region with time interval T, and the fan-shaped surface of emission of described laser scanner is parallel with ground, runway road surface, and apart from 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) detecting, whether judgment object is invader; When invader is when fixed position life period surpasses S, and in runway workspace, when 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, whether and to receive after the doubtful invader image information that video camera takes be true invader, and carry out true invader removing, and described r is the distance of object distance laser scanner, 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
, effective surface sweeping radius of laser scanner
for
, described in
, wherein
width for runway plane; Distance between described adjacent two video cameras is
, wherein
for the useful effect radius of video camera,
distance for its near distance video camera one side runway edge.
The coordinate information process that described processor is processed laser scanner acquisition object comprises:
Step 1: the information by the laser scanner gathering, is transformed under runway conventional coordinates
,
, wherein
the installation site of corresponding laser scanner on runway, x axle represents runway plane length direction.Axle represents that runway plane width direction;
Step 2: when
or
time, be the out-of-plane ambient signal of runway; When
and when time of occurrence surpasses S continuously, object is invader, processor triggers video camera and carries out invader image taking.
In sum, owing to having adopted technique scheme, the invention has the beneficial effects as follows:
1)designed a set of complete airfield runway plane invader pick-up unit, Integrated using laser and image technique, find invasion foreign matter in time automatically, and accurate and effective processing, ensures the safety of flight landing.
2)on invasion foreign matter test problems, use laser line scanning technology first, invented a kind of new invasion foreign matter detection mode.
3)in the performance detecting at invasion foreign matter, this device is than using the homogeneous system of other technology to have lot of superiority.Such as, in positioning precision, be the highest in existing product, far surpass 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.With radar equipment, contrast, using linear laser to survey can be only about half of cost.
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.The existing product in market of now take is example, provides native system at the technical parameter that uses these products to reach.
Minimum detection size: 2 centimetres
From invader, occur to image/video confirmation signal: <5s is provided
Single Laser Scanning Equipment sensing range: 343 meters (angular resolution is in 0.2 minute situation)
Weather adaptability: 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 scans schematic diagram while being this device 4 laser scanners of employing and two video cameras.
Embodiment
Disclosed all features 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.
Disclosed arbitrary feature in this instructions (comprising any accessory claim, summary and accompanying drawing), unless narration especially all can be replaced by other equivalences or the alternative features with similar object.That is,, unless narration especially, each feature is an example in a series of equivalences or similar characteristics.
Video camera refers to the device with pictures taken or video.Similar camera in addition etc.
Laser linear scanner is Emission Lasers according to the device of reflection range finding.Similar laser range finder in addition etc.
1, basic functional principle:
Laser ranging is by one laser of transmitting to testee surface, and then the mistiming of detection of reflected light and incident light or phase differential obtain the range information of object.Say exactly, 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 transmitting range finding laser, and take lasing light emitter as the center of circle, by fixed angles speed rotary laser direction, allow laser launch with fan-shaped (or circular), this working method is line range finding.What obtain is the distance of series of discrete point on sector display face and body surface intersection.Generally, in order to keep the stable of light source, laser beam is transmitted into and becomes miter angle tilt and take ray on the minute surface of turning axle High Rotation Speed with ray.
This device is by the working method of the linearity range finding scanning of linear laser scanner, and the invasion foreign matter of realizing the whole runway face of covering detects.This device has set up a plurality of linear laser scanners on the road surface of runway both sides of the edge.The fan-shaped surface of emission of each scanner is parallel with runway ground, and sector is traditionally arranged to be the radius of minimum foreign matter apart from the height on ground.Because single laser scanner can be found range from limited, use a plurality of laser scanners in conjunction with realizing the covering to whole runway.Under normal circumstances, scanner can be found range and any object should do not detected on interior scanning plane.Once invader drops on runway, laser scanner scans face just intersects with body surface.The distance obtaining according to reflection Laser Measuring and the direction of Laser emission just can calculate the position of invasion foreign matter, send early warning.Telephotograph/video camera auto-steering early warning foreign matter position that set up on limit, field, according to picture/vision signal, via artificial identification, determines and gives the alarm or cancel early warning.
2 workflows: laser scanner continues surveyed area emission detection laser, when nothing invasion foreign matter on runway, Laser Scanning Equipment only detects background object (as runway edge lights and thick grass etc.), by data processing, carries out filtering.When there being object to enter runway region, laser scanner can be received reflection laser signal, and according to the angle θ apart from r and Laser emission, determines the position of doubtful invader.The scan-data of laser scanner is uploaded to processor in real time, and the analysis of data and processing are all to complete in processor.Detect after doubtful invader, the camera points object space that processor selection is nearest, and photographic images/vision signal is for manual confirmation.If negate manually, remove doubtful alarm; If manual confirmation, carries out the artificial invasion foreign matter operation of removing, after removing, eliminate alarm.
Nearest camera or the camera points object space of processor selection wherein, specific practice is: the photo cover coordinate of storing each video camera in processor, when processor detects runway road surface and has object, according to the coordinate figure of object, search corresponding video camera or camera, and send trigger command, control corresponding video camera or camera subject image, and receive the image that video camera takes and carry out invader manual confirmation.
3, this installation 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, surveys the object parameters occurring in runway plane; Laser scanner repeats to survey to its guarded region with time interval T, and the fan-shaped surface of emission of described laser scanner is parallel with ground, runway road surface, and apart from 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
, effective surface sweeping radius of laser scanner
for
, described in
, wherein
width for runway plane.
Video camera, the same side position that to be erected at apart from runway road surface be D ', for the order of receiving processor, takes 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,
distance for its near distance video camera one side runway edge.
Processor, for receiving the signal of laser scanner, the object parameters (r, θ) detecting, whether judgment object is invader; When invader is when fixed position life period surpasses S, and in runway workspace, when 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, whether and to receive after the doubtful invader image information that video camera takes be true invader, and carry out true invader removing, and described r is the distance of object distance laser scanner, θ is the emission angle of scanner detecting light beam.The coordinate information process that described processor is processed laser scanner acquisition object comprises:
Step 1: the information by the laser scanner gathering, is transformed under runway conventional coordinates
,
, wherein
the installation site of corresponding laser scanner on runway, x axle represents runway plane length direction.Axle represents that runway plane width direction;
Step 2: when
or
time, be the out-of-plane ambient signal of runway; When
time, object is invader, processor triggers video camera and carries out invader image taking.
4, this device detection method comprises:
Step 1: survey the object parameters occurring in runway plane by least one laser scanner; Laser scanner repeats to survey to its guarded region with time interval T, and the fan-shaped surface of emission of described laser scanner is parallel with ground, runway road surface, and apart from 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) detecting, whether judgment object is invader; When invader is when fixed position life period surpasses S, and in runway workspace, when 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, whether and to receive after the doubtful invader image information that video camera takes be true invader, and carry out true invader removing, and described r is the distance of object distance laser scanner, θ is the emission angle of scanner detecting light beam.T scope be 0.1s to 0.5s, S scope is that 1s is 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
, effective surface sweeping radius of laser scanner
for
, described in
, wherein
width for runway plane; Distance between described adjacent two video cameras is
, wherein
for the useful effect radius of video camera,
distance for its near distance video camera one side runway edge.
Wherein the coordinate information process of processor processing laser scanner acquisition object comprises:
Step 1: the information by the laser scanner gathering, is transformed under runway conventional coordinates
,
, wherein
the installation site of corresponding laser scanner on runway, x axle represents runway plane length direction.Axle represents that runway plane width direction;
Step 2: when
or
time, be the out-of-plane ambient signal of runway; When
time, object is invader, 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, described monitor terminal Telnet processor, reading images signal, the artificial final invader of confirming.
The present invention is not limited to aforesaid embodiment.The present invention expands to any new feature or any new combination disclosing in this manual, and the arbitrary new method disclosing or step or any new combination of process.
Claims (10)
1. the runway road surface checking device based on laser scanner technique, is characterized in that comprising:
At least one laser scanner, surveys the object parameters occurring in runway plane; Laser scanner repeats to survey to its guarded region with time interval T, and the fan-shaped surface of emission of described laser scanner is parallel with ground, runway road surface, and apart from runway road surface ground distance, is less than the diameter of minimum invasion foreign matter;
At least one video camera, the same side position that to be erected at apart from runway road surface be D ', for the order of receiving processor, takes 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) detecting, whether judgment object is invader; When invader is when fixed position life period surpasses S, and in runway workspace, when 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, whether and to receive after the doubtful invader image information that video camera takes be true invader, and carry out true invader removing, and described r is the distance of object distance laser scanner, θ is the emission angle of scanner detecting light beam.
2. a kind of runway road surface checking device based on laser scanner technique according to claim 1, it is characterized in that described laser scanner is installed on the staggered arrangement of runway both sides of edges, 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
, effective surface sweeping radius of laser scanner
for
, described in
, wherein
width for runway plane.
3. a kind of runway road surface checking device based on laser scanner technique according to claim 1, is characterized in that the distance between described adjacent two video cameras is
, wherein
for the useful effect radius of video camera,
distance for its near distance video camera one side runway edge.
4. a kind of runway road surface checking device based on laser scanner technique according to claim 1, is characterized in that described processor processes the coordinate information process that laser scanner obtains object and comprise:
Step 1: the information by the laser scanner gathering, is transformed under runway conventional coordinates
,
, wherein
the installation site of corresponding laser scanner on runway, x axle represents runway plane length direction, y axle represents runway plane width direction;
Step 2: when
or
time, be the out-of-plane ambient signal of runway; When
and when time of occurrence surpasses S continuously, object is invader, processor triggers video camera and carries out invader image taking.
5. a kind of runway road surface checking device based on laser scanner technique according to claim 4, it is characterized in that described T scope be 0.1s to 0.5s, S scope is that 1s is to 3s.
6. a kind of runway road surface checking device based on laser scanner technique according to claim 5, is characterized in that described laser scanner is linear laser scanner.
7. according to a kind of runway road surface checking device based on laser scanner technique one of claim 1 to 6 Suo Shu, characterized by further comprising monitor terminal, described monitor terminal Telnet processor, reading images signal, the artificial final invader of confirming.
8. a kind of pavement detection method of going to based on laser scanner technique according to claim 1, is characterized in that comprising:
Step 1: survey the object parameters occurring in runway plane by least one laser scanner; Laser scanner repeats to survey to its guarded region with time interval T, and the fan-shaped surface of emission of described laser scanner is parallel with ground, runway road surface, and apart from 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) detecting, whether judgment object is invader; When invader is when fixed position life period surpasses S, and in runway workspace, when 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, whether and to receive after the doubtful invader image information that video camera takes be true invader, and carry out true invader removing, and described r is the distance of object distance laser scanner, θ is the emission angle of scanner detecting light beam.
9. a kind of pavement detection method of going to based on laser scanner technique according to claim 8, it is characterized in that described laser scanner is installed on the staggered arrangement of runway both sides of edges, 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
, effective surface sweeping radius of laser scanner
for
, described in
, wherein
width for runway plane; Distance between described adjacent two video cameras is
, wherein
for the useful effect radius of video camera,
distance for its near distance video camera one side runway edge.
10. a kind of pavement detection method of going to based on laser scanner technique according to claim 8, is characterized in that described processor processes the coordinate information process that laser scanner obtains object and comprise:
Step 1: the information by the laser scanner gathering, is transformed under runway conventional coordinates
,
, wherein
the installation site of corresponding laser scanner on runway, x axle represents runway plane length direction, y axle represents that runway plane width direction;
Step 2: when
or
time, be the out-of-plane ambient signal of runway; When
and when time of occurrence surpasses S continuously, object is invader, processor triggers video camera and carries out invader image taking.
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| CN103941305A (en) * | 2014-04-23 | 2014-07-23 | 中国科学院合肥物质科学研究院 | Method and device for detecting foreign object debris on high-speed movement plane |
| CN105157626A (en) * | 2015-09-29 | 2015-12-16 | 中国民用航空总局第二研究所 | Fixed road surface detection device and method using structured light |
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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 |
| CN112560707A (en) * | 2020-12-18 | 2021-03-26 | 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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| 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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