CN113466960A - Method, system and equipment for detecting foreign matters on airport road - Google Patents
Method, system and equipment for detecting foreign matters on airport road Download PDFInfo
- Publication number
- CN113466960A CN113466960A CN202110555367.XA CN202110555367A CN113466960A CN 113466960 A CN113466960 A CN 113466960A CN 202110555367 A CN202110555367 A CN 202110555367A CN 113466960 A CN113466960 A CN 113466960A
- Authority
- CN
- China
- Prior art keywords
- airport road
- airport
- line
- laser line
- road
- 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
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 56
- 238000012545 processing Methods 0.000 claims description 22
- 239000000523 sample Substances 0.000 claims description 14
- 238000005286 illumination Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
The application discloses a method, a system and equipment for detecting foreign matters on an airport road, wherein before the airport road detection is started, a control line laser source is used for shooting a continuous laser line to the airport road; controlling a camera axis of a scanning camera to be perpendicular to the airport road, and enabling the intersection point of the camera axis and the laser line to be the landing point of the laser line; controlling the detection vehicle to run along the airport road, and judging the deviation if the deviation occurs at the landing point of the laser line; and if the deviation of the landing point of the laser line is caused by the airport road foreign matter, determining the position of the airport foreign matter. The laser line is a bright line when being irradiated on the airport road, and the landing brightness of the laser line is the strongest. When a foreign object is present, the laser line is blocked and the laser line is located off the camera axis of the line scan camera. And further, the detection accuracy of the foreign matters on the airport road can be improved without being influenced by field external factors.
Description
Technical Field
The application relates to the technical field of airport road foreign matter detection, in particular to an airport road foreign matter detection method, system and equipment.
Background
Airport road foreign objects generally refer to foreign objects that do not belong to an airport but are within the confines of an airport road and may pose a threat to aircraft operation. Airport road foreign objects have always been a major threat to flight safety, and may cause serious injury to airport aviation workers and airplanes.
The airport road foreign matter detection is very difficult due to the great differences in shape, size, color, material and the like. In the prior art, some airport road foreign matter detection systems collect image data based on millimeter wave broken radar, a camera or the combination of the millimeter wave broken radar and the camera, and make detection results according to later-stage image data processing.
But because of airport road background signal, noise is complicated, and weather conditions and lighting conditions have great influence. The method has a common problem no matter whether the millimeter wave broken radar or the road image acquisition or the combination of the millimeter wave broken radar and the road image acquisition is adopted, and the accuracy of detecting the foreign matters on the airport road is low.
Disclosure of Invention
In order to solve the technical problems, the following technical scheme is provided:
in a first aspect, an embodiment of the present application provides an airport road foreign object detection method, where the method includes: before airport road detection is started, a control line laser source sends a continuous laser line to the airport road; controlling a camera axis of a scanning camera to be perpendicular to the airport road, and enabling the intersection point of the camera axis and the laser line to be the landing point of the laser line; controlling the detection vehicle to run along the airport road, and judging the deviation if the deviation occurs at the landing point of the laser line; and if the deviation of the landing point of the laser line is caused by the airport road foreign matter, determining the position of the airport foreign matter.
By adopting the implementation mode, the laser line is a bright line when being irradiated on the airport road, and the landing brightness of the laser line is strongest. When a foreign object is present, the laser line is blocked and the laser line is located off the camera axis of the line scan camera. And further, the detection accuracy of the foreign matters on the airport road can be improved without being influenced by field external factors.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the method for controlling a line scanning camera to make a camera axis of the line scanning camera perpendicular to the airport road and make an intersection of the camera axis and the laser line be a landing point of the laser line includes: determining the light intensity distribution of the laser line in the lens range of the line scanning camera; determining a first irradiation position with highest light intensity according to the light intensity distribution of the laser line, wherein the first irradiation position is an intersection point of the laser line and an airport road; the line scan camera lens is centered on the first illumination position.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the controlling the probe vehicle to travel along an airport road, and if a deviation occurs at a landing point of the laser line, determining the deviation includes: keeping the position of the lens of the line scanning camera unchanged, and determining the offset direction of the first irradiation position; determining a deviation reason according to the deviation direction of the first irradiation position, wherein the deviation reason comprises the existence of pits in the airport road or the existence of foreign matters in the road.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the determining a cause of the shift according to the shift direction of the first irradiation position includes: determining that a pit exists in the airport road if the first irradiation position deviates in a direction opposite to the traveling direction of the probe vehicle; alternatively, if the first irradiation position is shifted in the same direction as the traveling direction of the probe vehicle, it is determined that a foreign object is present on the airport road.
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, if the deviation of the laser line landing point is caused by an airport road foreign object, determining a position of the airport foreign object includes: acquiring an image of an airport road in a current detection area; processing the image to obtain the position of the airport road foreign matter; and marking the position of the airport road foreign matter for later foreign matter removal.
In a second aspect, an embodiment of the present application provides an airport road foreign object detection system, which includes: the first control module is used for controlling the laser source to shoot a continuous laser line to the airport road before the airport road detection is started; the second control module is used for controlling the camera axis of the line scanning camera to be vertical to the airport road, and enabling the intersection point of the camera axis and the laser line to be the landing point of the laser line; the judging module is used for controlling the detection vehicle to run along the airport road, and judging the deviation if the deviation occurs at the laser line landing point; and the processing module is used for determining the position of the airport foreign matter if the deviation of the laser line is caused by the airport road foreign matter.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the second control module includes: a first determination unit for determining the light intensity distribution of the laser line within the lens range of the line scanning camera; the second determining unit is used for determining a first irradiation position with highest light intensity according to the light intensity distribution of the laser line, and the first irradiation position is an intersection point of the laser line and an airport road; and the control unit is used for aligning the center of the lens of the line scanning camera to the first irradiation position.
With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the determining module includes: a third determination unit configured to determine a shift direction of the first irradiation position while keeping a lens position of the line scan camera unchanged; and the judging unit is used for determining a deviation reason according to the deviation direction of the first irradiation position, wherein the deviation reason comprises the existence of pits or foreign matters on the airport road.
With reference to the second possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, the determining unit includes: a first determining subunit, configured to determine that a pit exists in the airport road if the first irradiation position is shifted in a direction opposite to a traveling direction of the probe vehicle; and a second determining subunit, configured to determine that a foreign object is present on the airport road if the first irradiation position is offset in the same direction as the traveling direction of the probe vehicle.
In a third aspect, an embodiment of the present application provides an airport foreign object detection apparatus, including: the vehicle carrying system comprises a vehicle carrying system, a data processing unit and a data processing unit, wherein the vehicle carrying system is internally provided with the data processing unit; the fixed bracket is arranged on the vehicle carrier; a line laser source and a line scanning camera fixed on the fixed bracket; the data processing unit executes the method for detecting airport road foreign matter according to the first aspect or any possible implementation manner of the first aspect, and controls the line laser source and the line scanning camera to detect the airport road foreign matter.
Drawings
Fig. 1 is a schematic flow chart of a method for detecting foreign matter in an airport road according to an embodiment of the present disclosure;
fig. 2 is a schematic layout diagram of a line scanning camera and a line laser source provided in the embodiment of the present application;
FIG. 3 is a schematic diagram of the positions of laser lines and camera axes of a flat airport road provided by an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating positions of laser lines and camera axes when pits appear on an airport road according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram illustrating positions of laser lines and camera axes when a foreign object appears on an airport road according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of laser line profile changes for various airport road conditions provided by an embodiment of the present application;
fig. 7 is a schematic diagram of a foreign object placed in a field test provided in the embodiment of the present application;
fig. 8 is a foreign object detection result actually measured in a field test provided in an embodiment of the present application;
fig. 9 is a schematic view of an airport road foreign object detection system provided in an embodiment of the present application;
fig. 10 is a schematic structural diagram of an airport road foreign object detection apparatus provided in an embodiment of the present application.
Detailed Description
The present invention will be described with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic flow chart of a method for detecting airport road foreign matter according to an embodiment of the present application, and referring to fig. 1, the method for detecting airport road foreign matter according to the embodiment includes:
and S101, before airport road detection is started, controlling a laser source to emit a continuous laser line to the airport road.
In the embodiment, the airport road foreign matter detection is realized by using a vehicle to advance on the airport road, before the detection, a line laser source and a line scanning camera are fixed on the vehicle through a bracket, and the line laser source is controlled to incline according to a preset angle so as to realize that finally-printed laser lines form a straight line on the airport road. The lens of the line scan camera does not need to capture an excessive range, and can capture the laser line landing point on the airport road.
S102, controlling a camera axis of a scanning camera to be perpendicular to the airport road, and enabling the intersection point of the camera axis and the laser line to be the landing point of the laser line.
The lens of the line scan camera a is perpendicular to the airport road as shown in fig. 2, and the landing point of the laser line emitted by the line laser source B is located on the camera axis. The laser line is hit on the ground with the highest illumination intensity at its landing position, and the landing position of the laser line is determined by scanning the camera based thereon.
Therefore, in this embodiment, the light intensity distribution of the laser line within the lens of the line scan camera is preferably determined. Under a line scan camera, the laser line will be distributed longitudinally and in a "low-high-low" pattern. As shown in fig. 3, the line scan camera in fig. 3 is a line scan camera with 15 lines, and the intensity of the laser line is changed from weak to strong and then weak from left to right within the range of the lens of the line scan camera, similar to a normal distribution. As can be seen in fig. 3, the laser line intensity profile is in a low-high-low mode.
After the light intensity distribution of the laser lines is determined, a first irradiation position with the highest light intensity is determined according to the light intensity distribution of the laser lines, and the first irradiation position is the intersection point of the laser lines and the airport road. From the above, the light intensity curve of the laser line in fig. 3 is changed from low to high to low, so that the middle position of the curve can be determined as the strongest position of the laser line, that is, the landing position of the laser line. The laser line landing point is taken as a first irradiation position, and the center of a lens of a control line scanning camera is aligned with the first irradiation position.
S103, controlling the detection vehicle to run along the airport road, and judging the deviation if the deviation occurs at the landing point of the laser line.
After the positions of the line scanning camera and the line laser source are determined, the detection equipment is started to detect the airport foreign matters on the airport road in a mode of carrying vehicles. In the whole detection process, the line scanning camera and the line laser source are fixed on the vehicle carrier, so that the fixed positions of the line scanning camera and the line laser source are not changed. However, if a foreign object is present on the airport road or a pit is present in the airport road, it will affect the laser line landing and deviate from the camera axis.
Therefore, if the landing point of the laser line is shifted during the detection, the shift direction of the first irradiation position is determined. Determining a deviation reason according to the deviation direction of the first irradiation position, wherein the deviation reason comprises the existence of pits in the airport road or the existence of foreign matters in the road.
Taking fig. 3 as an example, the vehicle is driven to the left side, and the left side is defined as the driving direction of the vehicle. If the laser line is displaced in a direction opposite to the direction of travel of the probe vehicle, the corresponding peak in fig. 3 is displaced backward as shown in fig. 4, meaning that the laser line is far from the camera, and it is determined that it is a pit. Since the pits are a defect problem in the airport road and not a foreign object in the airport road, the situation can be directly ignored for further detection.
Conversely, if the laser line is displaced in the same direction as the probe vehicle is traveling, the forward displacement corresponding to the peak in FIG. 3 is as shown in FIG. 5, meaning that there is an object above the road surface, possibly a foreign object.
The more stable the line scan camera is kept at a fixed distance from the airport road surface, the higher the detection accuracy. But the flatness of airport roads in the range of several meters allows errors of several millimeters. And the bumping and shaking of the vehicle carrier in motion can not keep the perfect distance between the line scanning camera and the ground. Therefore, the influence of the factors must be eliminated, and the misjudgment and the missed judgment are reduced. The determination can be made by comparing the profiles of the laser lines.
As shown in fig. 6, the laser lines within the scanning range of the line scan camera are laid out on the top plan view for explanation. Ideally, the laser line is a straight line on the ground parallel to the camera pixel array as shown in fig. 6 (a). But disturbances will pull the contours away from the ideal, but they will not change the overall smoothness anyway. For example, as shown in fig. 6(b), uneven ground causes the contour to twist in an arc. The local inversion of the contour of the laser line on the ground, which is classified as front inversion and rear inversion, indicates a problem. As shown in fig. 6(c), the pits or small ditches may cause the contour to locally turn backwards, but the pits or small ditches belong to local defects of airport roads, do not belong to airport foreign objects, and are not in the detection range. However, if the contour is partially turned forward as shown in fig. 6(d), it means that the laser line does not reach the airport road surface along the predetermined route, and is blocked by an object protruding from the surface, and it is determined as an airport foreign object.
From the above analysis, it can be seen that if the peak forward displacement in fig. 3 corresponds to a local forward reversal of the laser line profile on the ground in fig. 6(d), the presence of a foreign object is determined.
And S104, if the deviation of the laser line is caused by the airport road foreign matter, determining the position of the airport foreign matter.
If it is determined in S103 that the airport road foreign matter is present, an image of the airport road in the current detection area is acquired by the high-definition camera. If the night or the sight is not good, the lighting device is adopted for assistance. And after the image is obtained, processing the image to obtain the position of the airport road foreign matter, and marking the position of the airport road foreign matter for later foreign matter removal.
Fig. 7 shows various foreign matters manually placed during field test, wherein the sizes of different foreign matters are different. After the probing process of S101-104, the actual measurement scanning result is shown in FIG. 8. By comparing the foreign bodies marked in fig. 8 with the actual foreign bodies in fig. 7, only two pins having a diameter of less than 0.5mm are missed. Therefore, the airport road foreign matter detection method provided by the embodiment has higher accuracy for detecting foreign matters.
Corresponding to the method for detecting foreign matters on the airport road provided by the embodiment, the application also provides an embodiment of the system for detecting foreign matters on the airport road. Referring to fig. 9, the airport road foreign matter detection system 20 includes: a first control module 201, a second control module 202, a judgment module 203 and a processing module 204.
The first control module 201 is configured to control the line laser source to emit a continuous laser line to the airport road before the airport road detection is started. The second control module 202 is configured to control a camera axis of the line scanning camera to be perpendicular to the airport road, and make an intersection of the camera axis and the laser line be a location of the laser line. The judging module 203 is configured to control the probe vehicle to travel along the airport road, and if the laser line is deviated at the landing point, judge the deviation. The processing module 204 is configured to determine a location of an airport foreign object if the deviation of the laser line landing point is caused by the airport road foreign object.
Further, the second control module 202 includes: the device comprises a first determination unit, a second determination unit and a control unit.
A first determining unit for determining the light intensity distribution of the laser line within the lens range of the line scan camera. And the second determining unit is used for determining a first irradiation position with the highest light intensity according to the light intensity distribution of the laser line, wherein the first irradiation position is an intersection point of the laser line and the airport road. And the control unit is used for aligning the center of the lens of the line scanning camera to the first irradiation position.
The determining module 203 includes: a third determining unit and a judging unit. And a third determining unit configured to determine a shift direction of the first irradiation position while keeping the lens position of the line scan camera unchanged. And the judging unit is used for determining a deviation reason according to the deviation direction of the first irradiation position, wherein the deviation reason comprises the existence of pits or foreign matters on the airport road.
Further, the judging unit includes: a first determining subunit and a second determining subunit. A first determining subunit, configured to determine that a pit exists in the airport road if the first irradiation position is shifted in a direction opposite to a traveling direction of the probe vehicle. And a second determining subunit, configured to determine that a foreign object is present on the airport road if the first irradiation position is offset in the same direction as the traveling direction of the probe vehicle.
The application also provides airport road foreign matter detection equipment, refer to fig. 10, and airport road foreign matter detection equipment that this embodiment provided includes: the vehicle comprises a vehicle 1, wherein a data processing unit 2 is arranged in the vehicle 1. The car is provided with a fixed support 3, and the fixed support 3 is a telescopic support. The fixed support is provided with a wired laser source 4 and a line scanning camera 5.
The data processing unit 2 is used for controlling the overall functions of the road foreign matter detection device, for example, the detection device is started, and a control line laser source is used for emitting a continuous laser line to an airport road before the airport road detection is started after the detection device is started; controlling a camera axis of a scanning camera to be perpendicular to the airport road, and enabling the intersection point of the camera axis and the laser line to be the landing point of the laser line; controlling the detection vehicle to run along the airport road, and judging the deviation if the deviation occurs at the landing point of the laser line; and if the deviation of the landing point of the laser line is caused by the airport road foreign matter, determining the position of the airport foreign matter.
The data processing unit 2 is provided with a processor, which may be a general-purpose processor, such as a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP. The processor may also be a Microprocessor (MCU). The processor may also include a hardware chip. The hardware chips may be Application Specific Integrated Circuits (ASICs), Programmable Logic Devices (PLDs), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), or the like.
Airport road foreign matter detection equipment in this embodiment still includes operation panel 6, power 7, displacement sensor 8 and big dipper positioning sensor 9, and operation panel 6 sets up in carrying car 1, and personnel are controlled each equipment when making things convenient for the foreign matter to survey. The operation table 6 is provided with a communication interface for communicating with the data processing unit 2, the line laser light source 4, the line scanning camera 5 and. The communication interface includes a wired communication interface and may also include a wireless communication interface. The wired communication interface comprises a USB interface, a Micro USB interface and an Ethernet interface. The wireless communication interface may be a WLAN interface, a cellular network communication interface, a combination thereof, or the like.
The power supply 7 supplies power to each power-using component in the detection equipment. The power components may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the terminal 30. The displacement sensor 8 is arranged at the wheel of the vehicle, and acquires the motion state of the vehicle when the vehicle advances. The Beidou positioning sensor 9 is arranged on the roof of the vehicle and used for positioning the position of the vehicle. And the displacement sensor 8 and the Beidou positioning sensor 9 are electrically connected with the data processing unit 2.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Of course, the above description is not limited to the above examples, and technical features that are not described in this application may be implemented by or using the prior art, and are not described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present application and not for limiting the present application, and the present application is only described in detail with reference to the preferred embodiments instead, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present application may be made by those skilled in the art without departing from the spirit of the present application, and the scope of the claims of the present application should also be covered.
Claims (10)
1. A method of detecting foreign matter on an airport road, the method comprising:
before airport road detection is started, a control line laser source sends a continuous laser line to the airport road;
controlling a camera axis of a scanning camera to be perpendicular to the airport road, and enabling the intersection point of the camera axis and the laser line to be the landing point of the laser line;
controlling the detection vehicle to run along the airport road, and judging the deviation if the deviation occurs at the landing point of the laser line;
and if the deviation of the landing point of the laser line is caused by the airport road foreign matter, determining the position of the airport foreign matter.
2. The airport road foreign object detection method of claim 1, wherein said control line scanning camera having a camera axis perpendicular to said airport road and having said camera axis intersecting said laser line as a landing point of said laser line comprises:
determining the light intensity distribution of the laser line in the lens range of the line scanning camera;
determining a first irradiation position with highest light intensity according to the light intensity distribution of the laser line, wherein the first irradiation position is an intersection point of the laser line and an airport road;
the line scan camera lens is centered on the first illumination position.
3. The method of claim 2, wherein the controlling the probe vehicle to travel along the airport road and determining if the laser line has a deviation in its location comprises:
keeping the position of the lens of the line scanning camera unchanged, and determining the offset direction of the first irradiation position;
determining a deviation reason according to the deviation direction of the first irradiation position, wherein the deviation reason comprises the existence of pits in the airport road or the existence of foreign matters in the road.
4. The method of detecting airport road foreign matter of claim 3, wherein said determining a cause of deviation from a direction of deviation of said first illumination position comprises:
determining that a pit exists in the airport road if the first irradiation position deviates in a direction opposite to the traveling direction of the probe vehicle; alternatively, the first and second electrodes may be,
and if the first irradiation position deviates to the same direction as the driving direction of the detection vehicle, determining that the foreign matter exists on the airport road.
5. The method of claim 1, wherein determining the location of the airport foreign object if the deviation in the laser line's location is due to an airport road foreign object comprises:
acquiring an image of an airport road in a current detection area;
processing the image to obtain the position of the airport road foreign matter;
and marking the position of the airport road foreign matter for later foreign matter removal.
6. An airport road foreign object detection system, comprising:
the first control module is used for controlling the laser source to shoot a continuous laser line to the airport road before the airport road detection is started;
the second control module is used for controlling the camera axis of the line scanning camera to be vertical to the airport road, and enabling the intersection point of the camera axis and the laser line to be the landing point of the laser line;
the judging module is used for controlling the detection vehicle to run along the airport road, and judging the deviation if the deviation occurs at the laser line landing point;
and the processing module is used for determining the position of the airport foreign matter if the deviation of the laser line is caused by the airport road foreign matter.
7. The airport road foreign object detection system of claim 6, wherein said second control module comprises:
a first determination unit for determining the light intensity distribution of the laser line within the lens range of the line scanning camera;
the second determining unit is used for determining a first irradiation position with highest light intensity according to the light intensity distribution of the laser line, and the first irradiation position is an intersection point of the laser line and an airport road;
and the control unit is used for aligning the center of the lens of the line scanning camera to the first irradiation position.
8. The airport road foreign object detection system of claim 7, wherein said determination module comprises:
a third determination unit configured to determine a shift direction of the first irradiation position while keeping a lens position of the line scan camera unchanged;
and the judging unit is used for determining a deviation reason according to the deviation direction of the first irradiation position, wherein the deviation reason comprises the existence of pits or foreign matters on the airport road.
9. The airport road foreign object detection system of claim 8, wherein said determining unit comprises:
a first determining subunit, configured to determine that a pit exists in the airport road if the first irradiation position is shifted in a direction opposite to a traveling direction of the probe vehicle;
and a second determining subunit, configured to determine that a foreign object is present on the airport road if the first irradiation position is offset in the same direction as the traveling direction of the probe vehicle.
10. An airport foreign object detection apparatus, comprising:
the vehicle carrying system comprises a vehicle carrying system, a data processing unit and a data processing unit, wherein the vehicle carrying system is internally provided with the data processing unit;
the fixed bracket is arranged on the vehicle carrier;
a line laser source and a line scanning camera fixed on the fixed bracket;
the data processing unit executes the airport road foreign matter detection method of any one of claims 1-5, controls the line laser source and the line scan camera to detect airport road foreign matter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110555367.XA CN113466960A (en) | 2021-05-21 | 2021-05-21 | Method, system and equipment for detecting foreign matters on airport road |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110555367.XA CN113466960A (en) | 2021-05-21 | 2021-05-21 | Method, system and equipment for detecting foreign matters on airport road |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113466960A true CN113466960A (en) | 2021-10-01 |
Family
ID=77871061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110555367.XA Pending CN113466960A (en) | 2021-05-21 | 2021-05-21 | Method, system and equipment for detecting foreign matters on airport road |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113466960A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116704446A (en) * | 2023-08-04 | 2023-09-05 | 武汉工程大学 | Real-time detection method and system for foreign matters on airport runway pavement |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005055318A (en) * | 2003-08-05 | 2005-03-03 | Sunway:Kk | Road surface photographing device |
| JP2005300395A (en) * | 2004-04-14 | 2005-10-27 | Toppan Printing Co Ltd | Foreign matter and flaw inspecting device |
| CN1696672A (en) * | 2004-05-10 | 2005-11-16 | 富士通株式会社 | Surface inspecting apparatus and surface inspecting method |
| JP2008070273A (en) * | 2006-09-15 | 2008-03-27 | Ricoh Co Ltd | Apparatus and method for detecting surface defect |
| CN101466997A (en) * | 2006-06-12 | 2009-06-24 | 夏普株式会社 | Undulation inspecting device, undulation inspecting method, control program of undulation inspecting device, and recording medium |
| CN101470080A (en) * | 2007-12-26 | 2009-07-01 | 南京理工大学 | Surface shape image detection system based on structured light projection |
| JP2009287980A (en) * | 2008-05-27 | 2009-12-10 | Panasonic Electric Works Co Ltd | Visual inspection device |
| US20170261313A1 (en) * | 2016-03-09 | 2017-09-14 | Ubiqd, Llc | Fluorescent liquid penetrants and methods of nondestructive testing |
| CN107941170A (en) * | 2017-12-15 | 2018-04-20 | 武汉夕睿光电技术有限公司 | Road detection apparatus and system |
| CN111664830A (en) * | 2020-06-01 | 2020-09-15 | 中公诚科(吉林)工程检测有限公司 | Road longitudinal section elevation and flatness measuring method based on three-dimensional laser scanning |
| CN212432999U (en) * | 2020-06-15 | 2021-01-29 | 成都伯航科技有限公司 | Airport runway foreign matter detection device |
-
2021
- 2021-05-21 CN CN202110555367.XA patent/CN113466960A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005055318A (en) * | 2003-08-05 | 2005-03-03 | Sunway:Kk | Road surface photographing device |
| JP2005300395A (en) * | 2004-04-14 | 2005-10-27 | Toppan Printing Co Ltd | Foreign matter and flaw inspecting device |
| CN1696672A (en) * | 2004-05-10 | 2005-11-16 | 富士通株式会社 | Surface inspecting apparatus and surface inspecting method |
| CN101466997A (en) * | 2006-06-12 | 2009-06-24 | 夏普株式会社 | Undulation inspecting device, undulation inspecting method, control program of undulation inspecting device, and recording medium |
| JP2008070273A (en) * | 2006-09-15 | 2008-03-27 | Ricoh Co Ltd | Apparatus and method for detecting surface defect |
| CN101470080A (en) * | 2007-12-26 | 2009-07-01 | 南京理工大学 | Surface shape image detection system based on structured light projection |
| JP2009287980A (en) * | 2008-05-27 | 2009-12-10 | Panasonic Electric Works Co Ltd | Visual inspection device |
| US20170261313A1 (en) * | 2016-03-09 | 2017-09-14 | Ubiqd, Llc | Fluorescent liquid penetrants and methods of nondestructive testing |
| CN107941170A (en) * | 2017-12-15 | 2018-04-20 | 武汉夕睿光电技术有限公司 | Road detection apparatus and system |
| CN111664830A (en) * | 2020-06-01 | 2020-09-15 | 中公诚科(吉林)工程检测有限公司 | Road longitudinal section elevation and flatness measuring method based on three-dimensional laser scanning |
| CN212432999U (en) * | 2020-06-15 | 2021-01-29 | 成都伯航科技有限公司 | Airport runway foreign matter detection device |
Non-Patent Citations (3)
| Title |
|---|
| 何泳;孙灿飞: "一种混合式机场跑道异物监测系统的研究与实现", 《测控技术》, vol. 35, no. 03, 31 March 2016 (2016-03-31), pages 32 - 35 * |
| 李世念;刘力强;卓燕群;汲云涛: "反射式光纤位移传感器现场应用快速定标", 《仪表技术与传感器》, no. 12, 31 December 2016 (2016-12-31), pages 26 - 30 * |
| 李煜;肖刚: "机场跑道异物检测系统设计与研究", 《激光与红外》, vol. 41, no. 08, 20 August 2011 (2011-08-20), pages 909 - 915 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116704446A (en) * | 2023-08-04 | 2023-09-05 | 武汉工程大学 | Real-time detection method and system for foreign matters on airport runway pavement |
| CN116704446B (en) * | 2023-08-04 | 2023-10-24 | 武汉工程大学 | Real-time detection method and system for foreign matters on airport runway pavement |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11145084B2 (en) | Method and apparatus for guiding placement of ADAS fixtures during vehicle inspection and service | |
| US7697727B2 (en) | Automated surface distress measurement system | |
| US9170101B2 (en) | Method and apparatus for positioning a vehicle service device relative to a vehicle thrust line | |
| EP1812810B1 (en) | Method for the determination of the orientation of an orientationindicator | |
| CN105302135B (en) | The navigation of navigational lighting aid light-intensity test car and alignment system based on binocular vision | |
| KR101030211B1 (en) | System and method for detecting road and object | |
| EP1857773A1 (en) | Perspective distortion inspecting equipment and method of translucent panel | |
| CN103438823A (en) | Tunnel section outline measuring method and device based on vision measurement | |
| CN113466960A (en) | Method, system and equipment for detecting foreign matters on airport road | |
| CN105164697A (en) | Device and method for recognising inscriptions on vehicle tyres | |
| US20230386080A1 (en) | System and Method For Utilization of Displacement Sensor During Placement of Vehicle Service Fixture | |
| CN109863382A (en) | Test equipment, testing station and headlamp setting device and test method is arranged in headlamp | |
| CN112925334A (en) | Intelligent inspection unmanned aerial vehicle landing system and method | |
| EP3597545B1 (en) | Taxi strike alert system | |
| CN205003546U (en) | Airport aid to navigation light detecting light intensity car navigation and positioner based on binocular vision | |
| CN205879492U (en) | Car lights testing platform | |
| JP2004219214A (en) | Method and apparatus for inspecting road surface | |
| JP2022547497A (en) | Assembly to detect flaws in automotive body structure | |
| JP2017187322A (en) | Infrastructure inspection device, infrastructure inspection method, and infrastructure inspection system | |
| JP3666200B2 (en) | Mobile photometer | |
| CN214251481U (en) | Whole car light measurement system | |
| JP3482571B2 (en) | Mobile photometer | |
| KR102164222B1 (en) | Railroad structure inspection method using dron | |
| JP2019070254A (en) | Road surface property investigation device and road surface property investigation system | |
| JP3186802B2 (en) | Lighting measurement method and photometric vehicle |
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 |