CN107728136A - A kind of airfield runway monitoring foreign bodies and removing guiding system and method - Google Patents
A kind of airfield runway monitoring foreign bodies and removing guiding system and method Download PDFInfo
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- CN107728136A CN107728136A CN201711227977.7A CN201711227977A CN107728136A CN 107728136 A CN107728136 A CN 107728136A CN 201711227977 A CN201711227977 A CN 201711227977A CN 107728136 A CN107728136 A CN 107728136A
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- detection unit
- master control
- airfield runway
- control center
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
Abstract
The invention provides a kind of airfield runway monitoring foreign bodies and guiding system and method is removed, belongs to civil aviaton's monitoring field.The airfield runway monitoring foreign bodies and removing guiding system include detection device, the network switch, Master Control Center server and Master Control Center display；In the side of airfield runway at least one detection device is disposed with according to the spacing of setting；Described detection device includes radar detection unit, optical detection unit and control cabinet；The radar detection unit, optical detection unit are connected with control cabinet, and the control cabinet is connected with the network switch；The network switch is connected with Master Control Center server；The Master Control Center display is connected with Master Control Center server.The radar detection unit and optical detection unit that the present invention uses are arranged in unified detection device, and monitor mode is unified, position safety, convenient for installation and maintenance.
Description
Technical field
The invention belongs to civil aviaton to monitor field, and in particular to a kind of airfield runway monitoring foreign bodies and removing guiding system and side
Method.
Background technology
Airfield runway foreign matter FOD (foreign object debris) be it is any be not belonging to airport but appear in airport fortune
Make region and airport may be caused damage or the hurtful foreign substances of aircraft.Airfield runway foreign matter gives flight safety band
Carry out major hidden danger, it is possible to cause flight delay, airborne vehicle damage or casualties.
The common detection technique to airfield runway foreign matter has optical detective technology and radar detection technique.Wherein, optics
Detection technique in runway using placement of images collecting device is surveyed to monitor airfield runway foreign matter, typically such as Singapore Scratech
The iFerret systems of company, this pure optical detection mode image processing data amount is big, and process is complicated, it is fatal the shortcomings that be can
See that light video camera is very big by illumination effect, in dense fog and detection efficiency is low under conditions of night.Radar detection technique mainly uses
Radiotechnics, foreign matter is detected by launching electromagnetic wave and receiving echo, system detection range is remote, by meteorological and flue dust shadow
Sound is smaller, but is easily influenceed by the clutter of the objects such as runway both sides grass.It can be seen that while examined using optical detective technology and radar
Survey technology carries out image co-registration detection and identification, is the research direction for improving runway foreign bodies detection accuracy.
Authorization Notice No. is that CN 204241708U utility model patent discloses a kind of airfield runway foreign bodies detection system
System.The system only arranges a control tower in an airfield runway, and only one radar equipment and picture pick-up device are provided with control tower, control
Connected between main frame and radar equipment and picture pick-up device processed by cable.Position is reported after radar discovery foreign matter and led to control
Machine, the image information of control main frame control picture pick-up device shooting foreign matter.The radar equipment used is 8mm wave bands and/or 3mm wave bands
Tower-type radar.General airport runway length is more than 3000 meters, according to FAA examination criteria, FOD detection system accuracy of detection
Minimum diameter 3.1cm height 3.8cm size cylindrical objects.Foreign matter to detect above-mentioned scale size, it is in image
In shared size at least need 4 × 4 pixels, and airfield runway typically has certain horizontal slope and longitudinal slope.The patent is declared only to use
One radar equipment and picture pick-up device can detect whole piece runway, its technical feasibility, measurement accuracy and detectable FOD minimum dimensions
Open defect be present.
Authorization Notice No. is that CN 203299402U utility model patent discloses a kind of foreign matter inspection for airfield runway
Examining system.The system arranges detection radar by airfield runway, and picture pick-up device is installed by runway edge lights or on cowl lamp, detects thunder
Airfield runway is scanned up to continual, obtains the position coordinates number of foreign matter, control tower control picture pick-up device carries out image
Shooting confirms FOD exact position.Picture pick-up device is arranged on by runway edge lights or on cowl lamp by the system, and setting height(from bottom) is by headroom
Protection limitation substantially cowl lamp can only highly align, therefore the shooting distance of picture pick-up device is shorter, and installation number is more, system cost
Height, installation wiring are difficult.
The application for a patent for invention that application notification number is CN 105403931A discloses a kind of hybrid scheme airfield runway foreign matter
Detection system, system include：Tower-type optical detecting gear, sidelight type photoelectricity mixing detection device, solid-state sidelight type detection dress
Put, data processing module, foreign bodies detection Fusion Module, display module, control module, Foreign bodies guiding module.Tower-type light
Detection device is pure optical device, and sidelight type photoelectricity mixing detection device is the first FOD detection radars and the first FOD optical modes
Block is combined detection, and solid-state sidelight type detection device is that the 2nd FOD detection radars and the 2nd FOD optical modules are combined detection.
The system equipment is numerous, complicated.
In the airfield runway foreign body monitoring system patent of existing announcement, also there are part Mobile detection system, this system
It can only be detected in the aperture time between front and rear two framves flight, detection time length, and artificial ginseng is needed without radical change
The pattern for adding FOD to detect, can not all weather operations, and be only so that detection scale removal process mechanization, and mobile unit is in itself
Also bring along the hidden danger for introducing new FOD objects.
The content of the invention
It is an object of the invention to solve problem present in above-mentioned prior art, there is provided a kind of airfield runway monitoring foreign bodies
System and method is guided with removing, quick detection and can guide and remove FOD targets, detection accuracy is high, precision is high, practicality
By force, simple in construction, point layout is few, position safety, construction is simple.
The present invention is achieved by the following technical solutions：
A kind of airfield runway monitoring foreign bodies and removing guiding system, including detection device, the network switch, Master Control Center clothes
Business device and Master Control Center display；
In the side of airfield runway at least one detection device is disposed with according to the spacing of setting；The detection device
Including radar detection unit, optical detection unit and control cabinet；
The radar detection unit, optical detection unit are connected with control cabinet, and the control cabinet is connected with the network switch；
The network switch is connected with Master Control Center server；
The Master Control Center display is connected with Master Control Center server.
The detection device further comprises optical indicating device, turntable and at least one pylon；
The radar detection unit, turntable, control cabinet are arranged on same or different pylon；
The optical detection unit is arranged on the turntable, can be rotated with turntable；The optical indicating device
On the optical detection unit；
The radar detection unit has setting height(from bottom) poor with optical detection unit, prevents horizontal direction from blocking mutually；It is preferred that
Ground, the optical detection unit are higher than the antenna house of the radar detection unit；
The optical indicating device can launch laser, for indicating the position of airfield runway foreign matter, and in ambient light
Light filling is carried out when illumination is inadequate.
The control cabinet includes power module, communication module and photoelectric controller；
The power module is converted to alternating current after direct current to the optical detection unit, radar detection unit, logical
Believe module, photoelectric controller, optical indicating device and turntable power supply；
The communication module is connected with optical detection unit, radar detection unit, the network switch respectively；
The communication module receives control and inquiry signal from Master Control Center server by the network switch, carries out
Optical detection unit, radar detection unit are sent to after data decoding；
The communication module receives the optical detection cell operation state that optical detection unit sends, image, radar and visited
Radar detection unit working condition, the positional information of airfield runway foreign matter that unit is sent are surveyed, encodes the data to unified lattice
Master Control Center server is sent to after formula；The positional information includes azimuth, the angle of site, distance；
The photoelectric controller includes illuminance sensor, can monitor current environment illuminance in real time, work as ambient lighting
When degree is not enough to obtain optimized image effect, automatically turns on optical indicating device and carry out light filling；
The airport coordinate system coordinate for the airfield runway foreign matter that the photoelectric controller sends Master Control Center server turns
The rotational angle of turntable, the luffing angle of optical detection unit, the focal length of optical detection unit are changed to, then controls turntable and light
Learn the motion of probe unit.
The Master Control Center server receives the positional information of the doubtful airfield runway foreign matter of radar detection unit transmission
Afterwards, photoelectric controller is sent to after the positional information of airfield runway foreign matter being transformed to unified airport coordinate system coordinate；
Airfield runway foreign matter is identified according to the image of optical detection unit photographs for the Master Control Center server
Include to recognition result, and by recognition result on Master Control Center display；
The coordinate of the recognition result including airfield runway foreign matter, size, material, title, danger classes and whether need
Clear up；
Preferably, the Master Control Center server can adjust optical detection unit in real time according to current weather information
Image photograph-ing mode, obtain optimized image imaging effect.
The system further comprises mobile terminal, is provided with airport map thereon, and it passes through in wireless network and master control
Central server is communicated；
The recognition result and the navigation in removing path that the mobile terminal display Master Control Center server is sent.
The system further comprises DVR, and it is connected with the network switch, and each photoelectric detection unit is sent out
The video come carries out automatic video recording deposit.
Preferably, the detection device is arranged on airfield runway side, and the distance with runway center line marking is high beyond 150 meters
Degree meets that obstacle free airspace protection requires；
Spacing between the two neighboring detection device is 400~600 meters；
Network connection between the detection device and the network switch uses hub-and-spoke network topology；The medium of network transmission
Using optical fiber or other transmission mediums.
Preferably, the radar detection unit uses millimetre-wave radar；
Described optical detection unit uses low-light (level) high zoom ability video camera, is in holding state after electricity thereon, no
Active shooting image；
The pylon is high using intensity and friable material is made.
The runway foreign body detecting and removing bootstrap technique realized using said system are as follows：
(1) start airfield runway monitoring foreign bodies and remove guiding system；
(2) radar detection unit scans runway incessantly automatically；
(3) if radar detection unit finds airfield runway foreign matter, the positional information of airfield runway foreign matter is sent to
Master Control Center server, then it is transferred to step (4)；If not finding airfield runway foreign matter, return to step (2)；
(4) positional information of the airfield runway foreign matter received is carried out coordinate transform and obtains airport by Master Control Center server
Coordinate system coordinate, and airport coordinate system coordinate is sent to photoelectric controller；
(5) rotational angle, video camera of the photoelectric controller by the airport coordinate system Coordinate Conversion received for turntable
Luffing angle, the focal length of video camera, then control the motion of turntable and optical detection unit, optical detection unit photographs image
Afterwards, Master Control Center server is sent an image to；
(6) attribute of airfield runway foreign matter is identified according to described image for Master Control Center server, the attribute bag
Include coordinate, size, material, title, danger classes；
(7) if identifying the attribute of airfield runway foreign matter, by the attribute display of airfield runway foreign matter in Master Control Center
On display, while the attribute of the airfield runway foreign matter is sent to mobile terminal；Then it is transferred to step (8)；Failing to know
Do not go out the attribute of airfield runway foreign matter, then prompt operating personnel to control turntable and optical detection manually on Master Control Center display
The action of unit, capture the image of final airfield runway foreign matter and be sent to Master Control Center server, be then back to step
(6)；
(8) Master Control Center server judges whether the danger classes of airfield runway foreign matter is less than the threshold value pre-set, such as
Fruit is then to be transferred to step (9), if it is not, then being transferred to step (10)；
(9) Master Control Center server sends information without removing to mobile terminal, while by the airfield runway foreign matter
Attribute is preserved to database, is then back to step (3)；
(10) Master Control Center server sends clear command to mobile terminal, the airport map real-time navigation on mobile terminal
The removing path of staff, while the optical indicating device in the detection device nearest from the airfield runway foreign matter is opened to this
Airfield runway foreign matter is irradiated, and guiding staff reaches target location；
(11) after staff removes airfield runway foreign matter, sent and removed to Master Control Center server by mobile terminal
Complete information；After Master Control Center server receives the information removed and finished, judge whether radar detection unit still detects
There is airfield runway foreign matter in the position, if it does not exist, then the information that transmission target has been removed simultaneously closes off light to mobile terminal
Instruction device is learned, step (12) is transferred to, if it does remain, then return to step (10)；
(12) details of the airfield runway foreign matter are reported to main control server by staff, will by main control server
The information is saved in database.
It is to use to have machine learning that airfield runway foreign matter is identified Master Control Center server in the step (6)
What the neural network algorithm of mechanism was realized.
The step (6) further comprises：
The Master Control Center server receives the positional information of the doubtful airfield runway foreign matter of radar detection unit transmission
Afterwards, the image of optical detection unit photographs airfield runway foreign matter is controlled, if picture quality is insufficient for identification and required, is divided
Turntable angle, focal length of camera, the image background interference information of the optical detection unit are analysed, controls the optical detection unit again
Neighbouring left side or/and the image of other one of right side or two optical detection unit photographs airfield runway foreign matter, then will
The image obtained twice carries out fusion recognition.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) radar detection unit and optical detection unit that the present invention uses are arranged in unified detection device, are monitored
Mode is unified, position safety, convenient for installation and maintenance.
(2) the height independence between each detection device, the failure of single detection device are not interfering with whole system just
Often work, system robustness are of a relatively high；
(3) detection device is arranged remote from runway, does not influence obstacle free airspace safety.
(4) optical indicating device can launch the position that laser accurately indicates FOD targets, match somebody with somebody with mobile terminal digital map navigation
Conjunction, which can be guided quickly, removes FOD targets, small on flight landing influence, practical.
Brief description of the drawings
Fig. 1 is that a kind of runway monitoring foreign bodies based on radar and picture signal of the invention show with the structure for removing guiding system
It is intended to；
Fig. 2 is a kind of runway monitoring foreign bodies based on radar and picture signal of the invention and removes detection dress in guiding system
The structural representation put.
Fig. 3 is a kind of runway monitoring foreign bodies based on radar and picture signal of the invention and removes control cabinet in guiding system
Structural representation.
Fig. 4 is the step block diagram of the inventive method.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
The present invention includes the spy of radar detection unit and optical detection unit in runway side according to constant spacing arrangement
Device is surveyed, radar detection unit completes the uninterrupted target detection of all standing formula to whole airfield runway；Optical detection unit is real
Now to the goal verification of radar detection unit testing result；And Master Control Center completes the real-time display of detections of radar target, optics
Probe unit confirm target high definition show, confirm discovery target after sound and visual alerts, radar and optical detection list
The status display of member, the operational control of radar and optical detection unit, the target information record of FOD monitoring systems and data pipe
Reason, FOD targets are removed eventually through mobile terminal and optical indicating device guiding staff.
Specifically, as shown in figure 1, runway monitoring foreign bodies and removing guiding system of the present invention based on radar and picture signal
System includes detection device 1, the network switch 2, DVR 3, Master Control Center server 4, Master Control Center display 5, movement
Terminal 6.
In the present embodiment, as shown in Fig. 2 described detection device 1 includes pylon 101, radar detection unit 102, light
Learn probe unit 103, control cabinet 104, optical indicating device 105, turntable 106.It is by radar detection unit 102, optics in Fig. 2
Probe unit 103, control cabinet 104, optical indicating device 105, turntable 106 are arranged on same pylon 101, actual use
When, multiple pylons can be arranged as required to, radar test unit 102 and optical detection unit 103 are arranged on different towers
On frame, such as radar detection unit 102 can be arranged on a pylon 101, by turntable 106, optical detection unit set,
Optical indicating device 105, control cabinet are arranged on another pylon 101, other combinations can also be used, as long as can
Meet the position relationship and their connection requests with control cabinet of radar detection unit 102, optical detection unit 103.
Preferably, the detection device 1 lays spacing with radar detection unit 102 and light each other away from 400~600 meters
The minimum detectable range for learning probe unit 103 is reference frame, and two detection devices retain certain proportion, and (ratio is needed as actual
Design, such as the detection that can be designed as 10%) overlaps scope.
Preferably, the pylon 101 uses intensity height and friable material is (such as：Anodized aluminum alloy, glass fiber reinforcement
Plastics), it is ensured that maximumlly reduce airborne vehicle when being hit by airborne vehicle and hit loss.The detection device is arranged on airport
Runway side, it is preferred that the detection device 1 is arranged on airfield runway side, the distance with runway center line marking 7 beyond 150 meters,
Highly meet that obstacle free airspace protection requires.
The radar detection unit 102 uses millimetre-wave radar, and detection range is remote, and its high-resolution detectivity can be with
The small foreign matter on runway pavement is accurately detected, prevents from failing to report police, the not wave frequency to radar and work of the invention
System is specifically limited, the radar that can be selected according to being actually needed with accuracy of detection using which kind of wave band and system.Radar is visited
The uninterrupted automatically scanning certain angle scope inner track of unit 102 is surveyed, exports the azimuths of doubtful FOD targets, the angle of site, distance
Etc. positional information to communication module 202.Meanwhile radar detection unit 102 can be responded from the various of Master Control Center server 4
State modulator order simultaneously regularly returns itself work state information.
Described optical detection unit 103 uses low-light (level) high zoom ability video camera, for confirming FOD targets, prevents
False alarm, it has certain setting height(from bottom) poor (as long as both have difference in height, preferably optics spy with radar detection unit 102
The height for surveying unit is higher than radar detection unit.), prevent horizontal direction from blocking mutually.It is on optical detection unit 103 after electricity
Holding state, not actively shooting image.
Described optical indicating device 105 is used for the target location for indicating FOD, while automatic when ambient light illumination is smaller
Give optical detection unit light filling.Instruction target location and light filling use laser, and the wavelength of laser can be adopted in 810nm or so
With laser lamp, such as the strong light light filling color-changing lamp of commercially available laser night vision.Daytime, video camera do not need light filling, optical indicating device
Only it is used to refer to FOD target locations.Night, light filling be in order to which night shooting image is apparent, once shot master control after picture
Central server confirms that this is a FOD target, then video camera just stops shooting, and does not continue to light filling, can use laser
To indicate the position of FOD targets.
As shown in figure 3, the control cabinet 104 includes power module 201, communication module 202, photoelectric controller 203.
The input power of the power module 201 can be 220V/50Hz civil powers or 380V/50Hz power electrics.Power supply mould
Inside block 201 by alternating current be converted to after direct current to the optical detection unit 103 in detection device, radar detection unit 102,
Communication module 202, optical indicating device 105 and turntable 106 are powered.
Described communication module 202 is as between optical detection unit 103, radar detection unit 102 and the network switch 2
Communication interface modular converter.The communication module 202 and optical detection unit 103, radar detection unit 102 and network exchange
Machine 2 connects, and receives the control from Master Control Center server 4 and inquiry signal, optical detection is sent to after carrying out data decoding
Unit 103 and radar detection unit 102.The communication module 202 receives optical detection unit 103 and radar detection unit 102
The letter such as the optical detection cell operation state of transmission, image, radar detection unit working condition, FOD azimuth of targets, distance
Breath, Master Control Center server 4 is sent to after being encoded into unified form.
The photoelectric controller 203 has been internally integrated illuminance sensor, can monitor current environment illuminance in real time, work as ring
When border illuminance is not enough to obtain optimized image effect, automatically turns on optical indicating device 105 and carry out light filling.
Network connection between the detection device 1 and interchanger 2 uses hub-and-spoke network topology.The medium root of network transmission
According to detection device 1 and the distance of approach tower control centre, optical fiber or other transmission mediums are used.
After Master Control Center server 4 receives the doubtful FOD positional informations of the transmission of radar detection unit 102, by FOD mesh
Target coordinate is exported to photoelectric controller 203 after being transformed to unified airport coordinate system coordinate, by photoelectric controller 203 by the machine
Field coordinate system coordinate transformation is left-right rotation angle, the luffing angle of video camera, the focusing information of video camera that turntable rotates, so
Turntable rotation is controlled afterwards, and picture pick-up device specified location shooting image is simultaneously sent to communication module 202, finally returns to Master Control Center
Server.
Described Master Control Center server, (existing calculation is utilized comprising the neural network algorithm with mechanism of Machine Learning
Method, such as：Image recognition algorithm design based on convolutional neural networks is with realizing [J] Wang Zhen, Gao Mao front yards modern computings
Machine (professional version) .2015 (20)；Deep learning algorithm and the prosperous Zhejiang work of the old elder generations of application study [D] based on convolutional neural networks
Business university .2013 etc.).Recognizer is trained using FOD target sample images, can also be by during actual detection
The FOD targets of appearance are learnt again to grader, the final identification accuracy for improving system.
Described Master Control Center server 4, includes optimal combination algorithm.When receive certain radar send it is doubtful
During FOD information, can automatic decision need to control certain 1 or more optical detection units 103 shoot FOD target images.It is specific next
Say, optimal combination algorithm is as follows：After Master Control Center server 4 receives the FOD target position informations of radar detection unit, control
Certain optical detection unit photographs FOD target image is made, if picture quality is insufficient for FOD Target attribute recognition requirements,
The turntable angle of the optical detection unit, focal length of camera are then analyzed, image background interference (is blocked, runway as run ruderal
Cowl lamp blocks) etc. information, control the neighbouring left side of the optical detection unit or/and the right side (to be so that image taking is unobstructed again
Premise) other one or two video cameras shooting FOD target images, the image obtained twice is subjected to fusion recognition, improved
The detection discrimination of FOD targets.
Whether the Master Control Center server 4 is made decision according to the image of shooting needs to clear up FOD targets：Master Control Center
Server by utilizing FOD recognizers (the i.e. above-mentioned neural network algorithm with mechanism of Machine Learning) provide identification knot automatically
Fruit, it is shown on Master Control Center display, while is sent to mobile terminal, recognition result includes but is not limited to the seat of FOD targets
Mark, size, material, title, danger classes, cleaning, do not clear up, for example, a certain moment main control server identifies the FOD mesh
A screw is designated as, big damage can be caused to airborne vehicle landing, then prompting needs to clear up, if identifying that the FOD targets are
One bird, danger classes is relatively low, then prompting without cleaning or wouldn't clear up, if a curassow, danger classes is higher, then
Prompting needs to clear up.Turntable rotational angle and video camera the focusing letter that optical detection unit 103 provides according to photoelectric controller 203
Breath may not be sometimes optimal, cause the fogging image photographed, and unsharp image can cause Master Control Center to take
Business device can not correctly identify the attributive character of FOD targets, now just need to prompt operator on Master Control Center display
Manually operated radar and optical detection unit confirm that then operator passes through the hand on Master Control Center display to FOD targets
Dynamic operation button, is rotated, video camera is up and down by the turntable of Master Control Center server controls radar and optical detection unit
Action (left and right action is horizontally oriented, and up and down action is luffing angle) and focusing, realize manual manipulation radar and optics
Camera carries out manual verification to target with confirming.
The Master Control Center server also comprising weather backoff algorithm (utilize existing algorithm, such as：Airfield runway
Foreign bodies detection recognizer and Research on Design [D] Li Yu Shanghai Communications University .2012.3.3.2.2 saves Gaussian Background
Model), the image that can adjust optical detection unit 103 in real time according to current meteorology (fine, rain, snow, haze etc.) information is clapped
Pattern is taken the photograph, obtains optimized image imaging effect.
The DVR 3 is connected with the network switch 2, completes the automatic video recording deposit of each photoelectric detection unit video
Work.
The Master Control Center display 5 is connected with Master Control Center server 4, for showing and preserving (display exhibits
It is the software interface of FOD detection systems, there is the button for automatically saving and preserving manually on software interface) each optical detection unit
Video, FOD target property informations, the image information of FOD targets, FOD targets warning message, the communication information with mobile terminal
Deng.
Described mobile terminal 6 is held by cleaning work personnel, for Master Control Center server communication, show FOD mesh
Mark information and removing path of navigating.Airport map software is installed on described mobile terminal 6, Master Control Center server can be shown
The 4 FOD target informations sent, danger classes.Staff is carried out according to the FOD target informations and navigation information shown on map
FOD target clear operations.
After Master Control Center server 4 confirms FOD target informations, control optical indicating device 105 sends specific wavelength
Laser irradiates FOD target location, and guiding staff quickly removes FOD targets.Meanwhile Master Control Center server 4 is by FOD mesh
Mark information, danger classes etc. is sent to mobile terminal 6, airport map software is installed on mobile terminal 6, staff is according to ground
The FOD target informations and navigation information shown on figure carries out FOD target clear operations.
After FOD removes staff's removing FOD targets, it can be clicked on software and report removing result to give Master Control Center service
Device 4.Master Control Center server 4 judges that FOD targets provide clear confirmation information after having removed on the software of mobile terminal 6.If
FOD targets are not removed yet, then further show FOD target informations and indicate to remove path.
As shown in figure 4, the runway foreign body detecting and removing bootstrap technique realized using present system are as follows：
1) system starts to start；
2) radar detection unit uninterruptedly scans runway automatically.
3) after radar finds FOD, export the positional information such as FOD azimuth of targets and distance and give Master Control Center server；Such as
Fruit does not find FOD targets, then continues automatically scanning runway；
4) Master Control Center software exports airport coordinate system coordinate to photoelectric controller after radar fix is carried out into coordinate transform；
5) airport coordinate system Coordinate Conversion is the rotational angle of turntable, the luffing angle of video camera, taken the photograph by photoelectric controller
The information such as the focusing multiple of camera, turntable and camera motion, shooting image is controlled to pass Master Control Center server back；
6) FOD objective attribute target attributes are identified Master Control Center server, including the coordinate of FOD targets, size, material, name
Title, danger classes etc.；
If 7) successfully identify the attribute information of FOD targets, FOD target property informations are included showing in Master Control Center
Show on device, while the FOD target property informations are sent to mobile terminal；
8) failing to successfully identifying the attribute information of FOD targets, then operator is prompted on Master Control Center display
Member controls turntable and camera motion manually, captures final FOD images and passes Master Control Center server back；
9) Master Control Center server is assessed FOD danger classes, and whether decision-making needs to be purged operation, by FOD
Target information be shown on Master Control Center display, and send this information to mobile terminal；
If 10) FOD targets danger classes is less than the threshold value that pre-sets, Master Control Center server prompts mobile terminal without
Need to remove, while the target information of the FOD is preserved to database；
11) remove if desired, Master Control Center server transmission clear command to mobile terminal, the airport on mobile terminal
Map software real-time navigation FOD targets and the removing path for removing staff, while the detection device nearest from the FOD targets
On optical indicating device automatically turn on laser irradiation FOD target location, guiding staff is accurate to target position up to FOD
Put.
12) after removing the target that staff removes FOD, still whether Master Control Center server judge radar detection unit
Detect the position and FOD targets be present, if radar detection unit detects the position and FOD targets are not present, prompt movement
The terminal FOD targets have been removed, and are simultaneously closed off optical indicating device, are transferred to step 13), if it does remain, then return to step
11)；
13) the FOD target details are reported to main control server by staff, are protected the information by main control server
Deposit to FOD databases.
Above-mentioned technical proposal is one embodiment of the present invention, for those skilled in the art, at this
On the basis of disclosure of the invention application process and principle, it is easy to make various types of improvement or deformation, be not limited solely to this
Invent the method described by above-mentioned embodiment, therefore previously described mode is simply preferable, and and without limitation
The meaning of property.
Claims (10)
1. a kind of airfield runway monitoring foreign bodies and removing guiding system, it is characterised in that：The system includes detection device, network
Interchanger, Master Control Center server and Master Control Center display；
In the side of airfield runway at least one detection device is disposed with according to the spacing of setting；The detection device includes
Radar detection unit, optical detection unit and control cabinet；
The radar detection unit, optical detection unit are connected with control cabinet, and the control cabinet is connected with the network switch；It is described
The network switch is connected with Master Control Center server；
The Master Control Center display is connected with Master Control Center server.
2. airfield runway monitoring foreign bodies according to claim 1 and removing guiding system, it is characterised in that：The detection dress
Put and further comprise optical indicating device, turntable and at least one pylon；
The radar detection unit, turntable, control cabinet are arranged on same or different pylon；
The optical detection unit is arranged on the turntable, can be rotated with turntable；The optical indicating device installation
On the optical detection unit；
The radar detection unit has setting height(from bottom) poor with optical detection unit；Preferably, the optical detection unit is higher than institute
State the antenna house of radar detection unit；
The optical indicating device can launch laser.
3. airfield runway monitoring foreign bodies according to claim 2 and removing guiding system, it is characterised in that：The control cabinet
Including power module, communication module and photoelectric controller；
The power module is converted to alternating current after direct current to the optical detection unit, radar detection unit, communication mould
Block, photoelectric controller, optical indicating device and turntable power supply；
The communication module is connected with optical detection unit, radar detection unit, the network switch respectively；
The communication module receives control and inquiry signal from Master Control Center server by the network switch, carries out data
Optical detection unit, radar detection unit are sent to after decoding；
The communication module receives the optical detection cell operation state that optical detection unit sends, image, radar detection list
Radar detection unit working condition that member is sent, the positional information of airfield runway foreign matter, after encoding the data to unified form
It is sent to Master Control Center server；The positional information includes azimuth, the angle of site, distance；
The photoelectric controller includes illuminance sensor, when ambient light illumination is not enough to obtain optimized image effect, automatically
Open optical indicating device and carry out light filling；
The airport coordinate system Coordinate Conversion for the airfield runway foreign matter that Master Control Center server is sent is by the photoelectric controller
The rotational angle of turntable, the luffing angle of optical detection unit, the focal length of optical detection unit, turntable and optics is then controlled to visit
Survey the motion of unit.
4. airfield runway monitoring foreign bodies according to claim 3 and removing guiding system, it is characterised in that：In the master control
After central server receives the positional information of the doubtful airfield runway foreign matter of radar detection unit transmission, by airfield runway foreign matter
Positional information is sent to photoelectric controller after being transformed to unified airport coordinate system coordinate；
Airfield runway foreign matter, which is identified, according to the image of optical detection unit photographs for the Master Control Center server is known
Other result, and recognition result is included on Master Control Center display；
The coordinate of the recognition result including airfield runway foreign matter, size, material, title, danger classes and whether need clear
Reason；
Preferably, the Master Control Center server can adjust the image of optical detection unit in real time according to current weather information
Screening-mode, obtain optimized image imaging effect.
5. airfield runway monitoring foreign bodies according to claim 4 and removing guiding system, it is characterised in that：The system is entered
One step includes mobile terminal, is provided with airport map thereon, and it is communicated by wireless network and Master Control Center server；
The recognition result and the navigation in removing path that the mobile terminal display Master Control Center server is sent.
6. airfield runway monitoring foreign bodies according to claim 5 and removing guiding system, it is characterised in that：The system is entered
One step includes DVR, and it is connected with the network switch, and the video that each photoelectric detection unit is sent is recorded automatically
As deposit.
7. airfield runway monitoring foreign bodies according to claim 6 and removing guiding system, it is characterised in that：The detection dress
Put and be arranged on airfield runway side, the distance with runway center line marking highly meets that obstacle free airspace protection requires beyond 150 meters；
Spacing between the two neighboring detection device is 400~600 meters；
Network connection between the detection device and the network switch uses hub-and-spoke network topology；The medium of network transmission uses
Optical fiber or other transmission mediums；
The radar detection unit uses millimetre-wave radar；
Described optical detection unit uses low-light (level) high zoom ability video camera, is in holding state after electricity thereon, not actively
Shooting image；
The pylon is high using intensity and friable material is made.
8. visited using any described airfield runway monitoring foreign bodies of claim 1-7 and the runway foreign matter for removing the realization of guiding system
Survey and remove bootstrap technique, it is characterised in that：Methods described includes：
(1) start airfield runway monitoring foreign bodies and remove guiding system；
(2) radar detection unit scans runway incessantly automatically；
(3) if radar detection unit finds airfield runway foreign matter, the positional information of airfield runway foreign matter is sent to master control
Central server, then it is transferred to step (4)；If not finding airfield runway foreign matter, return to step (2)；
(4) positional information of the airfield runway foreign matter received is carried out coordinate transform and obtains airport coordinate by Master Control Center server
It is coordinate, and airport coordinate system coordinate is sent to photoelectric controller；
(5) the airport coordinate system Coordinate Conversion received is the rotational angle of turntable by the photoelectric controller, video camera bows
The focal length of elevation angle degree, video camera, then controls the motion of turntable and optical detection unit, after optical detection unit photographs image,
Send an image to Master Control Center server；
(6) attribute of airfield runway foreign matter is identified according to described image for Master Control Center server, and the attribute includes sitting
Mark, size, material, title, danger classes；
(7) if identifying the attribute of airfield runway foreign matter, the attribute display of airfield runway foreign matter is shown in Master Control Center
On device, while the attribute of the airfield runway foreign matter is sent to mobile terminal；Then it is transferred to step (8)；Failing to identify
The attribute of airfield runway foreign matter, then operating personnel are prompted to control turntable and optical detection unit manually on Master Control Center display
Action, capture the image of final airfield runway foreign matter and be sent to Master Control Center server, be then back to step (6)；
(8) Master Control Center server judges whether the danger classes of airfield runway foreign matter is less than the threshold value pre-set, if it is,
Step (9) is then transferred to, if it is not, then being transferred to step (10)；
(9) Master Control Center server sends information without removing to mobile terminal, while by the attribute of the airfield runway foreign matter
Preserve to database, be then back to step (3)；
(10) Master Control Center server sends clear command to mobile terminal, the airport map real-time navigation work on mobile terminal
The removing path of personnel, while the optical indicating device in the detection device nearest from the airfield runway foreign matter is opened to the airport
Runway foreign matter is irradiated, and guiding staff reaches target location；
(11) after staff removes airfield runway foreign matter, sent by mobile terminal to Master Control Center server and remove what is finished
Information；After Master Control Center server receives the information removed and finished, judge whether radar detection unit still detects the position
Put and airfield runway foreign matter be present, if it does not exist, then the information that transmission target has been removed simultaneously closes off optics and referred to mobile terminal
Showing device, step (12) is transferred to, if it does remain, then return to step (10)；
(12) details of the airfield runway foreign matter are reported to Master Control Center server by staff, by Master Control Center service
Device saves this information into database.
9. airfield runway monitoring foreign bodies according to claim 8 and removing bootstrap technique, it is characterised in that：The step
(6) it is to use the neutral net with mechanism of Machine Learning to calculate that airfield runway foreign matter is identified the Master Control Center server in
What method was realized.
10. airfield runway monitoring foreign bodies according to claim 9 and removing bootstrap technique, it is characterised in that：The step
(6) further comprise：
After the Master Control Center server receives the positional information of the doubtful airfield runway foreign matter of radar detection unit transmission, control
The image of optical detection unit photographs airfield runway foreign matter processed, if picture quality is insufficient for identification and required, analysis should
Turntable angle, focal length of camera, the image background interference information of optical detection unit, control the optical detection unit neighbouring again
Left side or/and right side other one or two optical detection unit photographs airfield runway foreign matter image, then will twice
The image of acquisition carries out fusion recognition.
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