CN113219454A - System and method for preventing vehicles and personnel from invading runway based on millimeter wave radar - Google Patents
System and method for preventing vehicles and personnel from invading runway based on millimeter wave radar Download PDFInfo
- Publication number
- CN113219454A CN113219454A CN202110437030.9A CN202110437030A CN113219454A CN 113219454 A CN113219454 A CN 113219454A CN 202110437030 A CN202110437030 A CN 202110437030A CN 113219454 A CN113219454 A CN 113219454A
- Authority
- CN
- China
- Prior art keywords
- target
- data
- runway
- millimeter wave
- wave radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a system and a method for preventing vehicles and personnel from invading a runway based on a millimeter wave radar, wherein a front-end equipment layer of the system collects original monitoring data through front-end equipment; the front-end data processing layer is used for carrying out front-end data processing on original monitoring data acquired from front-end equipment and generating intrusion target position and motion track information on the data subjected to the front-end data processing; the data comprehensive processing layer is used for carrying out comprehensive data processing based on the information of the position and the motion trail of the intrusion target; and the comprehensive display and control layer provides a global situation perception interface comprising global target motion and alarm information based on the result of comprehensive data processing. The invention mainly uses millimeter wave radar monitoring, integrates video monitoring and an ADS-B system, and has complementary advantages through the organic combination of a plurality of sensors, thereby realizing the comprehensive coverage monitoring of the track attention area, effectively and accurately monitoring the track potential safety hazard in time and effectively avoiding the occurrence of track invasion events.
Description
The technical field is as follows:
the invention relates to the technical field of airport environment monitoring, in particular to a system and a method for preventing vehicles and personnel from invading a runway based on a millimeter wave radar.
Background art:
in recent years, various technical means and systems for preventing runway invasion have appeared, which mainly include two routes: firstly, visual equipment such as runway state lamps, warning boards and the like are used for prompting pilots and drivers; and secondly, the high-precision positioning and tracking of aircrafts and vehicles are carried out by using scene monitoring technologies such as a scene monitoring radar, multipoint positioning, ADS-B, video image recognition and the like, a data source is provided for a runway intrusion prevention system, and runway intrusion alarm is realized.
A runway intrusion monitoring and early warning method (CN 110070759A): the runway monitoring system has the advantages that the visual monitoring units are adopted to monitor two ends and a plurality of crossings of the runway respectively, the data processing unit is adopted to collect and judge the total number of targets in the runway in real time, continuously track and accurately position the moving targets, and assist a scheduling or management person to finish the confirmation of the state of the runway and the cleaning work of the runway, so that the occurrence of runway invasion events is effectively prevented.
A foreign object detection system (CN 203299402U) for airport runways: the foreign matters on the airfield runway are detected by detecting the cross application of the radar and the camera equipment. The method comprises the steps of scanning the airport runway uninterruptedly by detecting a radar to obtain the initial position of the foreign matter, feeding the initial position of the foreign matter back to a control tower, starting and controlling camera equipment on the edge of the airport runway near position data by the control tower to determine the accurate position of the foreign matter, and prompting by an alarm device.
Runway anti-intrusion monitoring system (CN 208208040U): by combining the thermal infrared imager and the visible light, the runway invader is monitored all the weather, and the invasion position is determined at the same time. The following figure is a schematic structural diagram of a runway anti-intrusion monitoring system, wherein the infrared monitoring module comprises a plurality of thermal infrared imagers which are arranged around a runway and cover a monitored area. The visible light module comprises a plurality of visible light cameras, is placed at the top of the controllable holder and is arranged around the runway.
However, the airport environment monitoring method in the above document has the following disadvantages:
1. in airports with multiple runways and cross-running runways, the release is implemented only by stopping the light arrangement under manual control, the requirement on controllers is too high, and runway invasion caused by human errors cannot be avoided;
2. the air traffic control bureau of civil aviation issues technical measures and implementation routes for preventing runway intrusion in 2019, determines ADS-B as one of relevant mature technologies for preventing runway intrusion, and suggests that airports below class A have ADS-B monitoring capability, and the taking-off and landing times of some airports do not reach the standard of recommending and using relevant equipment in the industry, so that the problems of positioning accuracy, stability, partial model non-support and the like exist in the monitoring system based on ADS-B;
3. the conventional runway monitoring system using a high-definition camera cannot effectively position an intruding target, and has high false alarm rate and low efficiency;
4. when the video monitoring equipment has poor light and image monitoring effect, particularly when security personnel simultaneously monitor hundreds of video windows, the target is difficult to find at the first time; secondly, the video monitoring is independently used, so that more blind areas exist, and the monitoring capability is limited;
5. the detection range, detection speed, detection precision, resolution and other performances of general radars and cameras have certain limitations, and when the airfield runway is monitored, a plurality of devices need to be arranged, so that the cost is high, and the construction and maintenance are difficult.
The invention content is as follows:
the invention aims to provide a system and a method for preventing vehicles and people from invading a runway based on a millimeter wave radar, so as to solve the defects of the prior art.
The invention is implemented by the following technical scheme: the invention provides a system for preventing vehicles and people from invading a runway based on a millimeter wave radar, which comprises a front-end equipment layer, a front-end data processing layer, a data comprehensive processing layer and a comprehensive display and control layer, wherein:
the front-end equipment layer collects original monitoring data through front-end equipment, and the front-end equipment comprises a millimeter wave radar, a double-optical pan-tilt camera and a vehicle-mounted ADS-B transmitter;
the front-end data processing layer is used for converting multi-source heterogeneous data of video data acquired by the pan-tilt camera and multi-source heterogeneous data of personnel position data in a flight area and position data of vehicles in the flight area positioned by the vehicle-mounted ADS-B transmitter, detected by the millimeter wave radar, into the same format and then storing the same, and generating intrusion target position information from the processed and stored data; the data comprehensive processing layer is used for carrying out comprehensive data processing based on the position and the motion trail information of the intrusion target;
and the comprehensive display and control layer provides a global situation perception interface comprising global target motion and alarm information based on the result of comprehensive data processing.
Preferably, the acquiring of the raw monitoring data by the front-end device includes:
detecting an airport runway invasion target within a detection range by 360-degree omnibearing scanning of a millimeter wave radar;
the method comprises the following steps of (1) assisting a millimeter wave radar in carrying out target identification, target monitoring and target evidence obtaining through visible light and infrared detection of a double-optical pan-tilt camera, and automatically tracking and shooting a target when an airport runway invades the target and runs in;
the vehicle intruding into the runway of the airport is identified and positioned through the ADS-B signal transmitted by the vehicle-mounted ADS-B transmitter, and the information of the position and the speed of the vehicle object intruding into the runway of the airport can be identified by combining the data identified by the millimeter wave radar.
Preferably, the data comprehensive processing layer comprises: camera management system, server, integrated alarm system and data management system, wherein:
the camera management system presets functions of not limited to position management, area management, grouping management and camera and radar linkage;
the server is used for storing multi-source heterogeneous data and processing comprehensive data;
the comprehensive alarm system is used for setting an electronic fence to divide a safety area and an alarm area according to an actual runway scene;
the data management system records and manages all data of the data comprehensive processing layer.
Preferably, the integrated display and control layer comprises: radar shows accuse platform, camera and shows accuse platform, alarm information platform and comprehensive situation platform, wherein:
the radar display and control platform is used for displaying monitoring data of the millimeter wave radar;
the camera display control platform is used for displaying the monitoring data of the double-optical pan-tilt camera;
the alarm information platform is used for displaying the airport runway target invasion alarm information;
and the comprehensive situation platform is used for providing global target motion and alarm information.
The invention provides a method for preventing vehicles and people from invading a runway based on a millimeter wave radar, which comprises the following steps:
s1: connecting and debugging front-end equipment according to an airport environment, and switching on a power supply and connecting a network, wherein the front-end equipment comprises but is not limited to a millimeter wave radar, a double-optical pan-tilt camera and a vehicle-mounted ADS-B transmitter;
s2: the millimeter wave radar carries out large-scale rapid scanning detection on the airport runway, and if an intruding target is found, the information that the target is not limited to the position, the speed, the moving direction and the size is obtained;
s3, positioning the vehicles invading into the runway through the ADS-B signal transmitted by the vehicle-mounted ADS-B transmitter, and identifying the information of the position and speed of the vehicle invaded into the runway by combining the data identified by the millimeter wave radar;
s4: original monitoring data acquired by the front-end equipment is transmitted to a server through a special network to carry out comprehensive data processing;
s5: after an intruding target is found, the server sends an instruction to the double-optical pan-tilt camera, the double-optical pan-tilt camera receives the position of the intruding target and alarm information, the angle and the focal length are automatically adjusted according to the position information of the intruding target, the intruding target is tracked and shot to obtain video image information of the intruding target, the intruding target is identified through an intelligent identification algorithm, and an alarm is sent;
s6: and finally, displaying the global operation situation of the airport flight area in the form of a plurality of graphical interfaces, integrating the identification of an intelligent identification algorithm on the invaded target through a transmitting and positioning module of the vehicle-mounted ADS-B transmitter and the detection function of the millimeter wave radar, obtaining the accurate position and picture information of the invaded target, and giving an alarm if the invaded target on the runway is identified.
Preferably, the identifying the intrusion target by the intelligent identification algorithm specifically includes:
s41, after the intrusion target video image is received, extracting the sample characteristic of the intrusion target video image within a range;
s42, capturing the vehicle and the personnel from the video frame of the intrusion target video image, simultaneously capturing the vehicle and the personnel, adding labels, and storing the labels in a vehicle library and a personnel library;
and S43, extracting effective features from the intrusion target video image data, and comparing the effective features with the samples of the vehicle library and the personnel library to finish the intelligent recognition function of the vehicle and the personnel.
A third aspect of the present invention provides a terminal device, comprising a memory, a processor and a computer program stored in the memory and operable on the processor, the processor implementing the steps of the method for preventing vehicle and people from invading a runway based on millimeter wave radar as described above when executing the computer program.
A fourth aspect of the invention provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of the above-described millimeter-wave radar-based method of protecting a runway from vehicle and human intrusion.
The invention has the advantages that: the invention mainly uses millimeter wave radar monitoring, integrates video monitoring and an ADS-B system, and realizes comprehensive coverage of the track attention area and all-weather track monitoring through the organic combination of a plurality of sensors and complementary advantages; the target is identified through an intelligent algorithm, the position of the invading target is determined, the safety hidden danger of the runway is monitored timely, effectively and accurately, and the happening of the runway invading event is effectively avoided; the alarm area is divided by the electronic fence, so that the false alarm rate can be reduced; wherein:
1. the millimeter wave radar has strong environmental adaptability, is not influenced by meteorological conditions such as night, thunderstorm, haze and strong illumination, and can normally work under various meteorological conditions;
2. the millimeter wave radar has high resolution, the angular resolution reaches about 20cm, the angular resolution reaches about 1 degree, and the accurate positioning of an intruding target can be realized, so that a camera is guided to automatically track and recognize;
3. the millimeter wave radar can rapidly detect in a large range, can achieve the scanning speed of one circle per second, can carry out 360-degree all-dimensional scanning, and improves the monitoring efficiency;
4. the millimeter wave radar is combined with the photoelectric imaging, and the target is further distinguished through image intelligent algorithm identification, so that the defect of a cooperative monitoring mode can be overcome.
Description of the drawings:
in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a diagram of a system for preventing vehicles and persons from invading a runway according to the present invention;
FIG. 2 is a flow chart of the work flow of the invention for preventing vehicles and people from invading the runway based on the millimeter wave radar;
FIG. 3 is a block diagram of the system components of a millimeter wave radar of the present invention;
FIG. 4 is a flow chart of vehicle and person identification library building for the intelligent recognition algorithm of the present invention;
FIG. 5 is a flow chart of vehicle and person identification for the intelligent identification algorithm of the present invention.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
This embodiment provides a system for preventing vehicle and personnel from invading runway based on millimeter wave radar, including front end equipment layer, front end data processing layer, data integrated processing layer and comprehensive demonstration accuse layer, wherein:
the system comprises a front-end equipment layer, a data acquisition layer and a data acquisition layer, wherein the front-end equipment layer is used for acquiring original monitoring data through the front-end equipment, the front-end equipment comprises but is not limited to a millimeter wave radar, a double-optical pan-tilt camera and an ADS-B system, and the front-end equipment can provide accurate original data for target detection through the millimeter wave radar, the double-optical pan-tilt camera and a vehicle-mounted ADS-B transmitter; the method comprises the following steps that a vehicle-mounted ADS-B transmitter is additionally arranged on a vehicle in an airport flying area, the vehicle-mounted ADS-B transmitter supplies power through a cigarette lighter, equipment automatically acquires current position and state information of the vehicle, and broadcasts the information through 1090MHz signals;
the front-end data processing layer is used for carrying out front-end data processing on original monitoring data acquired from front-end equipment, generating intrusion target position and motion track information on the data subjected to the front-end data processing, and providing reliable basis for comprehensive data processing judgment; specifically, the millimeter wave radar can send out original data such as compressed video, trace point report, tracking report, state information and the like; the camera performs follow-up and local amplification monitoring on vehicles and personnel in a video monitoring coverage area to acquire video image data, and mainly solves video monitoring at night and under low visibility by adopting double-light combination; and the ADS-B receiver receives the ADS-B signals transmitted by the vehicle provided with the ADS-B responder equipment, analyzes and acquires the position and state information of the vehicle, and fuses with the millimeter wave radar data.
And the data comprehensive processing layer is used for carrying out comprehensive data processing based on the information of the position and the motion trail of the intrusion target and is positioned in a system background to realize a complex interaction function. Specifically, the early warning and alarming areas are designed according to the actual scene, different alarming rules are set according to different areas, for example, alarming is carried out by time intervals, and the camera is matched with the millimeter wave radar to achieve linkage evidence obtaining of the target.
All data are managed and distributed through a server, the server is a central center for comprehensively processing sensor data and can control the on-off of a data management system, a comprehensive alarm system and a camera management system; the system can receive the data of the comprehensive sensor and distribute the data to the comprehensive alarm system for judging whether the condition of triggering the alarm is met; the data management system can control the functions of data storage, data deletion, data playback and the like of the data management system; the camera can be controlled to realize the functions of photoelectric linkage of the radar and the camera and the like.
And the comprehensive display and control layer provides a global situation perception interface comprising global target motion and alarm information based on the result of comprehensive data processing. On the comprehensive situation platform, visual and clear global target motion and alarm information are provided for a user, and all camera display, radar display, target information and the like are displayed on other display platforms respectively. When alarm information appears, the comprehensive situation platform prompts in a striking mode.
In this embodiment, the original monitoring data acquisition is performed through the front-end device, including:
detecting an airport runway invasion target within a detection range by 360-degree omnibearing scanning of a millimeter wave radar; as shown in fig. 3, it is a block diagram of the system of the millimeter wave radar;
through the visible light and infrared detection of the double-optical pan-tilt camera, the millimeter wave radar is assisted to perform target identification, target monitoring and target evidence obtaining, when an airport runway invades a target and rushes into the airport runway, manual operation is not needed, and the system can guide the camera to automatically track and shoot the target. Specifically, the system is composed of front-end camera video acquisition and back-end server processing. The double-optical pan-tilt camera has the performances of more than 200 ten thousand pixels, more than 40 times of optical zooming, semi-automatic/manual/electric focusing (optional: automatic focusing), an infrared semiconductor laser, the irradiation distance of which is more than 2000 meters and the like, and can automatically scan 360 degrees by a heavy-load pan-tilt and also can set a scanning range; after the front-end camera collects the video images, the information of vehicles and personnel can be captured by using an intelligent video analysis means.
The ADS-B receiver receives the ADS-B signals transmitted by the vehicles with the ADS-B transponder devices, identifies and positions the vehicles invading the runway in the airport, and combines the data identified by the millimeter wave radar to identify the information of the position and speed of the vehicle invaded by the runway in the airport, thereby further improving the reliability of the data. Specifically, the server side performs corresponding processing, storage and fusion on target data received by the ADS-B, and pushes the analyzed target data according to a certain fixed format.
As can be seen from fig. 2, the radio frequency module of the millimeter wave radar scans the airport runway by transmitting radar waves through the transmitting antenna, when the transmitted radar waves encounter an intruding target, the reflected radar waves are received to the radio frequency module through the receiving antenna by reflection of the intruding target, the radio frequency module transmits target signals to the acquisition module, on one hand, the target signals are stored through the data storage module, on the other hand, the detected target signals are processed through the signal processing module and transmitted to the server, after the server finds the intruding target, an instruction is sent to the control unit of the dual-optical pan-tilt camera, the control unit of the dual-optical pan-tilt camera receives the position and alarm information of the intruding target, the angle and the focal length are automatically adjusted through the servo platform according to the position information of the intruding target, the intruding target is tracked and shot, video image information of the intruding target is obtained, and the intruding target is identified through the intelligent identification algorithm, and sending an alarm, and finally, acquiring the position and the picture of the invading target by the server, and displaying and alarming through the comprehensive display and control layer. Meanwhile, the vehicle intruding into the runway of the airport is identified and positioned through the ADS-B signal transmitted by the vehicle-mounted ADS-B transmitter, and the information that the vehicle target intruding into the runway is not limited to the position and the speed can be identified by combining the data identified by the millimeter wave radar, so that the reliability of the data is further improved.
In this embodiment, the data comprehensive processing layer includes: camera management system, server, integrated alarm system and data management system, wherein:
the camera management system presets functions of not limited to bit management, area management, grouping management and camera and radar linkage. Specifically, the camera is to runway safety protection area division control, and camera itself does not possess rotation function, need to realize all-round control with the cloud platform combination, and the cloud platform can set up to 200 preset positions, can carry out the target simultaneously with the radar linkage and prove. For example, when an invasion target appears, the radar scans and detects rapidly, obtains target distance and angle information, reports to the PC end, learns that the target is located 30 degrees and 200 meters, then according to the set position table, judges that the target is located the preset position of the camera cloud deck, starts the preset position, aims at the target identification, realizes the linkage.
Furthermore, the 0-degree position of the camera holder and the 0-degree position of the radar rotary table are arranged in the same direction, and a preset position corresponding table is established, so that the monitoring areas are the same, and the positions of the standard points in the monitoring space are the same.
The server is used for carrying out front-end data processing and comprehensive data processing;
the comprehensive alarm system is used for setting safety areas and alarm areas according to actual runway scenes, and functions of runway intrusion alarm, radar camera linkage, automatic alarm information recording and the like can be realized through the comprehensive alarm system.
Specifically, a protection area virtual coil is preset in a camera view field, a safety area and an alarm area are divided, a background model is established, and a video analysis algorithm based on images is utilized to identify and track targets in a monitoring area. Firstly, extracting and storing a video image in a safety area under a normal state, and triggering the extraction of a video stream key frame to acquire image information when an invading target enters a virtual coil. Whether the object invades is judged by using the difference between the gray values of the two image information and a preset different threshold value.
And the data management system records and manages all data of the data comprehensive processing layer.
In this embodiment, the integrated display and control layer includes: radar shows accuse platform, camera and shows accuse platform, alarm information platform and comprehensive situation platform, wherein:
the radar display and control platform is used for displaying monitoring data of the millimeter-wave radar;
the camera display control platform is used for displaying the monitoring data of the double-optical pan-tilt camera;
the alarm information platform is used for displaying the airport runway target invasion alarm information;
and the comprehensive situation platform is used for providing global target motion and alarm information.
Example 2
The embodiment provides a method for preventing vehicles and people from invading a runway based on a millimeter wave radar, which comprises the following steps:
s1: connecting and debugging front-end equipment according to an airport environment, switching on a power supply and connecting a network, wherein the front-end equipment comprises but is not limited to a millimeter wave radar, a double-optical pan-tilt camera and a vehicle-mounted ADS-B transmitter;
s2: the millimeter wave radar carries out large-scale rapid scanning detection on the airport runway, and if an intruding target is found, the information that the target is not limited to the position, the speed, the moving direction and the size is obtained;
s3, positioning the vehicles invading into the runway through the ADS-B signals transmitted by the vehicle-mounted ADS-B transmitter, and identifying the information of the vehicle targets invading into the runway, which are not limited to the position and the speed, by combining the data identified by the millimeter wave radar;
s4: after an intruding target is found, the server sends an instruction to the double-optical pan-tilt camera, the double-optical pan-tilt camera receives the position of the intruding target and alarm information, the angle and the focal length are automatically adjusted according to the position information of the intruding target, the intruding target is tracked and shot to obtain video image information of the intruding target, the intruding target is identified through an intelligent identification algorithm, and an alarm is sent;
s5: original monitoring data acquired by the front-end equipment are transmitted to a server through the server to carry out comprehensive data processing;
s6: and finally, displaying the global operation situation of the airport flight area in the form of a plurality of graphical interfaces, integrating the identification of an intelligent identification algorithm on the invaded target through a transmitting and positioning module of the vehicle-mounted ADS-B transmitter and the detection function of the millimeter wave radar, obtaining the accurate position and picture information of the invaded target, and giving an alarm if the invaded target on the runway is identified.
As shown in fig. 4 and 5, the intelligent recognition algorithm includes the following processes: the first part is a vehicle and person detection part, and after receiving video input, vehicle and person detection preprocessing is started to extract the extraction range of the sample characteristics of the vehicle and the person; the second part is a vehicle and personnel library, and the vehicle and personnel are captured from the video frame through the video and vehicle and personnel detection functions, and are simultaneously captured, labeled and stored in the vehicle library and the personnel library. The third part is a vehicle and personnel identification part, and effective characteristics are extracted from the video data and compared with samples of a vehicle library and a personnel library to finish the intelligent identification function of the vehicle and the personnel.
The target detection, identification and tracking based on the image has the following functions:
1) the system can detect moving targets (the imaging area is more than 20 multiplied by 20 pixels) of the runway scene, and the success rate of detection (IOU is more than 0.5) is more than 80 percent;
2) the system can identify the types of scene vehicle and personnel targets on the basis of detection, the identification accuracy of a single target is more than 90%, and the total time of single-frame detection and identification is less than 0.5 second;
3) aiming at a single specific target, the system can realize the durable robust tracking of the target, the one-time tracking success rate (the single frame IOU is more than 0.5) is more than 80 percent, and the tracking speed is more than 10 frames/second;
4) the system can realize manual selection of detection identification objects;
5) the system may enable manual selection of a tracked object.
Example 3
The embodiment provides a terminal device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the method for preventing vehicles and people from invading a runway based on the millimeter wave radar.
The present embodiment also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the method for preventing vehicles and people from invading a runway based on millimeter wave radar are realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. Prevent system of vehicle and personnel invasion runway based on millimeter wave radar, its characterized in that, including front end equipment layer, front end data processing layer, data integrated processing layer and synthesize and show the accuse layer, wherein:
the front-end equipment layer collects original monitoring data through front-end equipment, and the front-end equipment comprises a millimeter wave radar, a double-optical pan-tilt camera and a vehicle-mounted ADS-B transmitter;
the front-end data processing layer is used for converting multi-source heterogeneous data of video data acquired by the pan-tilt camera and multi-source heterogeneous data of personnel position data in a flight area and position data of vehicles in the flight area positioned by the vehicle-mounted ADS-B transmitter, detected by the millimeter wave radar, into the same format and then storing the same, and generating intrusion target position information from the processed and stored data;
the data comprehensive processing layer is used for carrying out comprehensive data processing based on the position and the motion trail information of the intrusion target;
and the comprehensive display and control layer provides a global situation perception interface comprising global target motion and alarm information based on the result of comprehensive data processing.
2. The millimeter wave radar-based system for preventing intrusion of vehicles and people into a runway according to claim 1, wherein the raw monitoring data collection by the front-end equipment comprises:
detecting an airport runway invasion target within a detection range by 360-degree omnibearing scanning of a millimeter wave radar;
the method comprises the following steps of (1) assisting a millimeter wave radar in carrying out target identification, target monitoring and target evidence obtaining through visible light and infrared detection of a double-optical pan-tilt camera, and automatically tracking and shooting a target when an airport runway invades the target and runs in;
the method comprises the steps of identifying and positioning vehicles invading into a runway in an airport through ADS-B signals transmitted by a vehicle-mounted ADS-B transmitter, and identifying information of target positions and speeds of the vehicles invading into the runway in combination with data identified by a millimeter wave radar.
3. A millimeter wave radar-based system for preventing intrusion of vehicles and people into a runway according to claim 1, wherein the data integration processing layer comprises: camera management system, server, integrated alarm system and data management system, wherein:
the camera management system has the functions of preset position management, area management, grouping management and camera and radar linkage;
the server is used for multi-source heterogeneous data storage and comprehensive data processing;
the comprehensive alarm system is used for setting an electronic fence to divide a safety area and an alarm area according to an actual runway scene;
the data management system records and manages all data of the data comprehensive processing layer.
4. A millimeter wave radar-based system for preventing intrusion of vehicles and people into a runway according to claim 1, wherein the integrated display layer comprises: radar shows accuse platform, camera and shows accuse platform, alarm information platform and comprehensive situation platform, wherein:
the radar display and control platform is used for displaying monitoring data of the millimeter wave radar;
the camera display control platform is used for displaying the monitoring data of the double-optical pan-tilt camera;
the alarm information platform is used for displaying the airport runway target invasion alarm information;
and the comprehensive situation platform is used for providing global target motion and alarm information.
5. The method for preventing vehicles and people from invading the runway based on the millimeter wave radar is characterized by comprising the following steps:
s1: connecting and debugging front-end equipment according to an airport environment, and switching on a power supply and connecting a network, wherein the front-end equipment comprises a millimeter wave radar, a double-optical pan-tilt camera and a vehicle-mounted ADS-B transmitter;
s2: the millimeter wave radar carries out large-scale rapid scanning detection on the airport runway, and when an intruding target is found, the information of the position, the speed, the movement direction and the size of the target is obtained;
s3, positioning the vehicles invading into the runway through the ADS-B signals transmitted by the vehicle-mounted ADS-B transmitter, and identifying the position and speed information of the vehicle invading into the runway by combining the data identified by the millimeter wave radar;
s4: original monitoring data acquired by the front-end equipment is transmitted to a server through a special network to carry out comprehensive data processing;
s5: when an intruding target is found, the server sends an instruction to the double-optical pan-tilt camera, the double-optical pan-tilt camera receives the position of the intruding target and alarm information, automatically adjusts the angle and the focal length according to the position information of the intruding target, tracks and shoots the intruding target to obtain video image information of the intruding target, identifies the intruding target through an intelligent identification algorithm, and sends an alarm;
s6: the method comprises the steps of displaying the global operation situation of an airport flight area in the form of a plurality of graphical interfaces, integrating the identification of an intelligent identification algorithm on an invaded target through a transmitting and positioning module of a vehicle-mounted ADS-B transmitter and the detection function of a millimeter wave radar, obtaining the accurate position and picture information of the invaded target, and giving an alarm when the invaded target on the runway is identified.
6. The millimeter wave radar-based method for preventing vehicles and people from invading a runway according to claim 5, wherein the identification of invading targets through an intelligent identification algorithm specifically comprises:
s41, after the intrusion target video image is received, extracting the sample characteristic of the intrusion target video image within a range;
s42, capturing the vehicle and the personnel from the video frame of the intrusion target video image, simultaneously capturing the vehicle and the personnel, adding labels, and storing the labels in a vehicle library and a personnel library;
and S43, extracting effective features from the intrusion target video image data, and comparing the effective features with the samples of the vehicle library and the personnel library to finish the intelligent recognition function of the vehicle and the personnel.
7. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program performs the steps of the millimeter wave radar-based method of protecting a runway from vehicle and human intrusion according to claim 5.
8. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, performs the steps of the millimeter wave radar-based method for protecting a runway from vehicle and personnel according to claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110437030.9A CN113219454A (en) | 2021-04-22 | 2021-04-22 | System and method for preventing vehicles and personnel from invading runway based on millimeter wave radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110437030.9A CN113219454A (en) | 2021-04-22 | 2021-04-22 | System and method for preventing vehicles and personnel from invading runway based on millimeter wave radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113219454A true CN113219454A (en) | 2021-08-06 |
Family
ID=77088602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110437030.9A Pending CN113219454A (en) | 2021-04-22 | 2021-04-22 | System and method for preventing vehicles and personnel from invading runway based on millimeter wave radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113219454A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114137634A (en) * | 2021-12-07 | 2022-03-04 | 中兴飞流信息科技有限公司 | Platform end intrusion detection method and system based on radar video fusion |
| CN115294738A (en) * | 2022-08-18 | 2022-11-04 | 无锡市政设计研究院有限公司 | Ultrahigh-prevention early warning system and method for high-altitude construction operation |
| CN115482679A (en) * | 2022-09-15 | 2022-12-16 | 深圳海星智驾科技有限公司 | Automatic driving blind area early warning method and device and message server |
| CN116824458A (en) * | 2023-08-28 | 2023-09-29 | 中国民用航空飞行学院 | Airport runway intrusion prevention method and system |
| CN118172548A (en) * | 2024-05-16 | 2024-06-11 | 南昌工程学院 | Target detection tracking identification method and system based on multi-data fusion |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102332214A (en) * | 2011-08-04 | 2012-01-25 | 南京航空航天大学 | Enhanced airport scene monitoring system |
| CN103630949A (en) * | 2013-12-04 | 2014-03-12 | 中国电子科技集团公司第五十研究所 | Vehicular airfield runway foreign object detection system and method |
| CN107888879A (en) * | 2017-11-20 | 2018-04-06 | 福建无线电设备有限公司 | Coastline monitors and unattended cloud system and application method |
| CN108491832A (en) * | 2018-05-21 | 2018-09-04 | 广西师范大学 | A kind of embedded human face identification follow-up mechanism and method |
| CN109188416A (en) * | 2018-08-10 | 2019-01-11 | 中国民用航空总局第二研究所 | The runway foreign matter detection system and method for radar and optics complex probe |
| CN109246444A (en) * | 2018-11-28 | 2019-01-18 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Operation monitoring system, method, apparatus and the readable storage medium storing program for executing of mission payload |
| CN109598983A (en) * | 2018-12-12 | 2019-04-09 | 中国民用航空飞行学院 | A kind of airdrome scene optoelectronic monitoring warning system and method |
| CN208798093U (en) * | 2018-09-21 | 2019-04-26 | 湖北蔚蓝国际航空学校股份有限公司 | A kind of low altitude airspace aircraft monitors device |
| CN109709589A (en) * | 2019-01-09 | 2019-05-03 | 深圳市芯鹏智能信息有限公司 | A kind of air-sea region solid perceives prevention and control system |
| CN111559383A (en) * | 2019-02-13 | 2020-08-21 | 通用汽车环球科技运作有限责任公司 | Method and system for determining Autonomous Vehicle (AV) motion based on vehicle and edge sensor data |
-
2021
- 2021-04-22 CN CN202110437030.9A patent/CN113219454A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102332214A (en) * | 2011-08-04 | 2012-01-25 | 南京航空航天大学 | Enhanced airport scene monitoring system |
| CN103630949A (en) * | 2013-12-04 | 2014-03-12 | 中国电子科技集团公司第五十研究所 | Vehicular airfield runway foreign object detection system and method |
| CN107888879A (en) * | 2017-11-20 | 2018-04-06 | 福建无线电设备有限公司 | Coastline monitors and unattended cloud system and application method |
| CN108491832A (en) * | 2018-05-21 | 2018-09-04 | 广西师范大学 | A kind of embedded human face identification follow-up mechanism and method |
| CN109188416A (en) * | 2018-08-10 | 2019-01-11 | 中国民用航空总局第二研究所 | The runway foreign matter detection system and method for radar and optics complex probe |
| CN208798093U (en) * | 2018-09-21 | 2019-04-26 | 湖北蔚蓝国际航空学校股份有限公司 | A kind of low altitude airspace aircraft monitors device |
| CN109246444A (en) * | 2018-11-28 | 2019-01-18 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Operation monitoring system, method, apparatus and the readable storage medium storing program for executing of mission payload |
| CN109598983A (en) * | 2018-12-12 | 2019-04-09 | 中国民用航空飞行学院 | A kind of airdrome scene optoelectronic monitoring warning system and method |
| CN109709589A (en) * | 2019-01-09 | 2019-05-03 | 深圳市芯鹏智能信息有限公司 | A kind of air-sea region solid perceives prevention and control system |
| CN111559383A (en) * | 2019-02-13 | 2020-08-21 | 通用汽车环球科技运作有限责任公司 | Method and system for determining Autonomous Vehicle (AV) motion based on vehicle and edge sensor data |
Non-Patent Citations (2)
| Title |
|---|
| 中国税务杂志社中国计算机用户协会: "《走进"金税"工程—税务信息化论文集.技术与应用》", 31 March 2011 * |
| 颜志国等: "《多摄像机协同关注目标检测跟踪技术》", 30 June 2017 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114137634A (en) * | 2021-12-07 | 2022-03-04 | 中兴飞流信息科技有限公司 | Platform end intrusion detection method and system based on radar video fusion |
| CN115294738A (en) * | 2022-08-18 | 2022-11-04 | 无锡市政设计研究院有限公司 | Ultrahigh-prevention early warning system and method for high-altitude construction operation |
| CN115482679A (en) * | 2022-09-15 | 2022-12-16 | 深圳海星智驾科技有限公司 | Automatic driving blind area early warning method and device and message server |
| CN115482679B (en) * | 2022-09-15 | 2024-04-26 | 深圳海星智驾科技有限公司 | Automatic driving blind area early warning method and device and message server |
| CN116824458A (en) * | 2023-08-28 | 2023-09-29 | 中国民用航空飞行学院 | Airport runway intrusion prevention method and system |
| CN116824458B (en) * | 2023-08-28 | 2023-11-24 | 中国民用航空飞行学院 | Airport runway intrusion prevention method and system |
| CN118172548A (en) * | 2024-05-16 | 2024-06-11 | 南昌工程学院 | Target detection tracking identification method and system based on multi-data fusion |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113219454A (en) | System and method for preventing vehicles and personnel from invading runway based on millimeter wave radar | |
| CN111770266B (en) | Intelligent visual perception system | |
| Semertzidis et al. | Video sensor network for real-time traffic monitoring and surveillance | |
| EP2678835B1 (en) | A surveillance system and a method for detecting a foreign object, debris, or damage in an airfield | |
| CN110133573A (en) | A kind of autonomous low latitude unmanned plane system of defense based on the fusion of multielement bar information | |
| CN105389921B (en) | A kind of monitoring system and method for airfield runway foreign matter | |
| CN106657921A (en) | Portable radar perimeter security and protection system | |
| CN111562576A (en) | Airport runway foreign matter detection system and method | |
| CN113985400B (en) | Monitoring and alarming system and method for foreign matters outside airport runway | |
| KR20170101519A (en) | Apparatus and method for disaster monitoring using unmanned aerial vehicle | |
| CN111696390B (en) | Intelligent airport runway FOD device and working process thereof | |
| WO2022071893A1 (en) | A system for optimising runway capacity on an airport runway and a method thereof | |
| CN116520275A (en) | Radar photoelectric integrated method and system for detecting and tracking low-speed small target | |
| CN111681399A (en) | Multi-dimensional three-dimensional safety prevention and control method, device and system | |
| CN114973564A (en) | Remote personnel intrusion detection method and device under non-illumination condition | |
| CN109708659B (en) | Distributed intelligent photoelectric low-altitude protection system | |
| CN114998846A (en) | Method and system for realizing intelligent system of offshore drilling platform and related components | |
| CN112198499B (en) | Airport runway foreign matter monitoring system based on thing networking | |
| CN103630949A (en) | Vehicular airfield runway foreign object detection system and method | |
| RU2542873C1 (en) | System for technical surveillance of protected area | |
| Dimitropoulos et al. | Aircraft detection and tracking using intelligent cameras | |
| CN116935551A (en) | Perimeter intrusion detection method, system, equipment and storage medium | |
| CN205263980U (en) | Monitoring system of airport runway foreign matter | |
| KR102440169B1 (en) | Smart guard system for improving the accuracy of effective detection through multi-sensor signal fusion and AI image analysis | |
| KR102703340B1 (en) | Boundary area intelligent automatic detection system using a single complex sensors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210806 |