CN115601736A - Airport flight area foreign matter is detection device in coordination - Google Patents
Airport flight area foreign matter is detection device in coordination Download PDFInfo
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Abstract
The invention provides a device for cooperatively detecting foreign matters on a flight area surface of an airport, wherein a video image detection module comprises a plurality of high-speed cameras, and shooting areas of all the high-speed cameras are sequentially connected and used for shooting the flight area surface to obtain a first image; the structured light detection module comprises a plurality of structured light cameras, and shooting areas of all the structured light cameras are sequentially connected and used for shooting a flight area surface to obtain a second image; the laser scanning cloud image detection module is used for shooting a flight area surface to obtain point cloud data; the central computer: the laser scanning cloud image detection module is connected with the video image detection module, the structured light detection module and the laser scanning cloud image detection module; and the central computer is used for calculating the area where the suspected foreign matters are located in the first image and identifying the type of the area to obtain the foreign matters on the road surface when the suspected foreign matters are identified according to the second image or the point cloud data. The device is low in cost and can complete detection of complex environment of the apron area.
Description
Technical Field
The invention belongs to the technical field of airport precaution, and particularly relates to a cooperative detection device for foreign matters on a runway surface of an airport flight area.
Background
Foreign objects on the airport pavement may damage the aircraft in the form of punctured tires, sucked into the engine, etc., and in some cases may cause significant safety hazards. The manual detection method has low efficiency and low reliability, so that the automatic pavement foreign matter detection equipment is urgently needed.
The existing pavement foreign matter treatment system mainly adopts fixed detection, has high system cost, can only cover a runway area, and cannot detect a taxiway or a standing area. And a large amount of foreign matters on the road surface are not on the runway. Therefore, a low-cost mobile robot for detecting foreign matters on the pavement is urgently needed to realize full-coverage detection of the pavement (including runways, taxiways and aprons) in the flight area.
The existing detection technology system mainly adopts a radar detection technology. The radar detection technology system has the defects of large near-end blind area, requirement of keeping constant-speed running in the detection process, difficulty in classifying and identifying targets, high equipment cost and the like. It is particularly difficult to meet the requirements of complex environments in the apron area. In recent years, image detection technology has been rapidly developed, and has a good detection capability for foreign matter having an appearance different from that of a road surface, but has a poor detection capability for foreign matter having a similar appearance and a poor detection capability at night. The real-time processing capability of a large amount of video data is also a technical bottleneck in high-speed driving.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the cooperative detection device for the foreign matters on the flight area of the airport, which is low in cost and can complete the detection of the complex environment of the airport apron area.
The utility model provides an airport flight area foreign matter is detection device in coordination, includes:
the video image detection module: the system comprises a plurality of high-speed cameras, wherein shooting areas of all the high-speed cameras are connected in sequence; the video image detection module is used for shooting a flight area surface to obtain a first image;
a structured light detection module: the system comprises a plurality of structured light cameras, wherein shooting areas of all the structured light cameras are sequentially connected; the structure light detection module is used for shooting a flight area surface to obtain a second image;
laser scanning cloud image detection module: the system is used for shooting a flight area surface to obtain point cloud data;
the central computer: the laser scanning cloud image detection module is connected with the video image detection module, the structured light detection module and the laser scanning cloud image detection module; and the central computer is used for calculating the area where the suspected foreign matters are located in the first image and identifying the type of the area to obtain the foreign matters on the road surface when the suspected foreign matters are identified according to the second image or the point cloud data.
Further, the detection area of the video image detection module covers the detection area of the structured light detection module and the detection area of the laser scanning cloud image detection module.
Furthermore, the video image detection module also comprises a plurality of light supplementing light sources with white light spectrums;
the structured light camera comprises a linear structured light source and a high-speed linear array camera, wherein the spectrum of the linear structured light source is red light or green light;
the spectrum of the light source in the laser scanning cloud image detection module is infrared light.
Further, the central computer is specifically configured to:
the working mode of configuring the light supplementing light source and the linear structure light source is flashing;
configuring a video image detection module and a structured light detection module to work alternately;
and configuring the light-emitting time and the extinguishing time of the light-supplementing light source and the linear structure light source.
Further, the central computer is specifically configured to:
collecting a correction image;
dividing the received second image by the corrected image to obtain an identification image;
calculating an average brightness value of the identification image;
respectively calculating the difference value between each pixel in the identification image and the average brightness value, and marking the pixel with the difference value larger than a first detection threshold value as an abnormal pixel;
merging all abnormal pixels to obtain a suspected target;
and defining the suspected target with the length larger than the second detection threshold as the suspected foreign matter.
Further, the central computer is specifically configured to:
moving the sliding window on the scanning line of the point cloud data until the whole scanning line of the point cloud data is read; after the sliding window is moved every time, reading continuous data in the sliding window, comparing the continuous data with a linear regression model, and defining data, of which the distance from the continuous data to the linear regression model exceeds a third detection threshold value, as suspected foreign matters; combining the repeated and connected suspected foreign matters;
and/or calculating the distance between adjacent data in the point cloud data, and defining the data with the distance exceeding a third detection threshold as suspected foreign matters.
Further, the central computer is specifically configured to:
storing a first image of a frame obtained latest by a high-speed camera;
identifying an area where the suspected foreign matter is located in the latest first image;
when the type of the region does not belong to the road surface inherent structure, the suspected foreign matter is defined as a road surface foreign matter.
Further, the central computer is further configured to:
configuring the categories of all areas in the flight area, and configuring a track surface inherent structure list containing classification identification parameters for each category;
when an area where suspected foreign matters are located in the first image is obtained, reading a road surface inherent structure list corresponding to the area;
and when the suspected foreign matter is not in accordance with the classification identification parameters of the road surface inherent structure list, judging that the category of the area does not belong to the road surface inherent structure.
Further, the central computer is specifically configured to:
correcting the delay time of video image detection, structured light detection and laser scanning cloud image detection;
correcting the first image, the second image, the point cloud data and the coordinate system of the device;
reading the coordinates of the suspected foreign matters in the second image or the point cloud data;
converting the coordinates to coordinates of the suspected foreign object in the first image according to the following equation:
P’＝P+V(t1-t2)；
wherein, P is the coordinate of the suspected foreign object in the second image or the point cloud data, P' is the coordinate of the suspected foreign object in the first image, V is the motion velocity vector of the foreign object cleaning platform, t1 is the delay time of the video image detection, and t2 is the delay time of the structured light detection or the laser scanning cloud image detection.
Furthermore, the central computer comprises a central control module, a CPU computing group and a GPU computing group;
the CPU computing group is used for finishing the detection of the structured light or the laser scanning cloud image; the GPU calculation group is used for video image detection.
According to the technical scheme, the airport flight area pavement foreign matter cooperative detection device provided by the invention completes detection of the pavement foreign matter in a cooperative mode of video image detection, structured light detection and laser scanning point cloud image detection, light sources of the three are not interfered with each other, multi-channel detection equipment can improve the coverage capability of the airport flight area pavement, the cost is low, and detection of complex environment of an airport apron area can be completed.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings used in the detailed description or the prior art description will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a block diagram of a cooperative detection apparatus for foreign matter on a flight area of an airport according to this embodiment.
Fig. 2 is a flowchart of a structured light detection method provided in this embodiment.
Fig. 3 is a flowchart of a coordinate transformation method provided in this embodiment.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only used as examples, and the protection scope of the present invention is not limited thereby. It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Example (b):
a cooperative detection apparatus for foreign matter on airport flight area surface, referring to fig. 1, comprising:
video image detection module 1: the system comprises a plurality of high-speed cameras, wherein shooting areas of all the high-speed cameras are connected in sequence; the video image detection module 1 is used for shooting a flight area surface to obtain a first image;
structured light detection module 2: the system comprises a plurality of structured light cameras, wherein shooting areas of all the structured light cameras are sequentially connected; the structured light detection module 2 is used for shooting a flight area surface to obtain a second image;
laser scanning cloud image detection module 3: the system comprises a camera, a data acquisition module and a data processing module, wherein the camera is used for shooting a flight area surface to obtain point cloud data;
the center computer 4: the laser scanning cloud image detection module is connected with the video image detection module 1, the structured light detection module 2 and the laser scanning cloud image detection module 3; the central computer 4 is used for calculating the area where the suspected foreign matters are located in the first image and identifying the type of the area to obtain the foreign matters on the road surface when the suspected foreign matters are identified according to the second image or the point cloud data.
In this embodiment, the device for detecting the foreign matter on the airport flight area road surface cooperatively detects the foreign matter on the road surface cooperatively through the video image detection module, the structured light detection module and the laser scanning point cloud image detection module. The video image detection module 1 uses a plurality of high-speed cameras, the visual fields are connected in turn left and right in a panoramic stitching mode, wherein the high-speed camera near the middle can use a lens with a smaller focal length, and the high-speed cameras near the two ends can use a lens with a larger focal length, so that the same large target imaging pixels are basically as many. The structured light detection module 2 may be composed of a plurality of structured light cameras. The plurality of structured light cameras are arranged in sequence from left to right, so that the projection of the structured light on the ground is connected in sequence from left to right. The scanning area of the laser scanning point cloud image detection module is a line (or 2-4 lines, the total width is not more than 1-3 cm), the distance between scanning points is not more than 1cm, and the scanning frequency is higher than 6000Hz.
In this embodiment, after the central computer 4 obtains the suspected foreign object through structured light detection or laser scanning point cloud image detection, a region of the suspected foreign object in the first image is further obtained through coordinate conversion, the suspected foreign object in the region is classified and identified, and when the type of the region does not belong to the inherent structure of the road surface, the suspected foreign object is defined as the foreign object of the road surface.
The airport flight area pavement foreign matter cooperative detection device adopts a mode that video image detection, structured light detection and laser scanning point cloud image detection are cooperative to detect the pavement foreign matter, light sources of the three do not interfere with each other, multi-path detection equipment can improve the coverage capacity of the airport flight area pavement, the cost is low, and the detection of complex environments of airport flight areas can be completed.
Further, in some embodiments, referring to fig. 1, the central computer 4 includes a central control module 41, a CPU compute group 42, a GPU compute group 43;
the CPU computing group 42 is used for finishing the detection of the structured light or the laser scanning cloud image; the GPU computation group 43 is used for video image detection.
In this embodiment, the central computer group includes a central control module, a CPU computation group, and a GPU computation group. Wherein the CPU computing group 42 is used for completing the structural light detection or the laser scanning cloud image detection; the GPU computation group 43 is used for video image detection.
Further, in some embodiments, the detection area of the video image detection module 1 covers the detection area of the structured light detection module 2 and the detection area of the laser scanning cloud image detection module 3.
In this embodiment, the apparatus detects whether there is a suspected foreign object through the structured light detection module 2 and the laser scanning cloud image detection module 3, and if there is a foreign object that needs to be further determined through the video image detection module 1, the structured light detection module 2 is adjacent to but not overlapping with the detection area of the laser scanning cloud image detection module 3, and the detection areas of the two are both covered by the detection area of the video image detection module 1.
Further, in some embodiments, the video image detection module 1 further includes a plurality of light supplement light sources with white light spectrum;
the structured light camera comprises a linear structured light source and a high-speed linear array camera, wherein the spectrum of the linear structured light source is red light or green light;
the spectrum of the light source in the laser scanning cloud image detection module 3 is infrared light.
In this embodiment, the video image detection module 1 further configures a light supplement light source for each high-speed camera, where the light supplement light source mainly works when the ambient light is insufficient, and the spectrum of the light supplement light source is white light. Each structured light camera consists of a linear structured light source (emitting a thin line) and a high-speed linear array camera, wherein the interval between the linear structured light source and the high-speed linear array camera is not less than 20cm, and the irradiation area of the linear structured light source is the same as the shooting area of the high-speed linear array camera. The spectrum of the light source with the linear structure is red light or green light, and the spectrum of the light source in the laser scanning cloud image detection module 3 is infrared light, so that the detection of the laser scanning cloud image is not interfered by other light sources.
Further, in some embodiments, the central computer 4 is specifically configured to:
the working mode of configuring a light supplementing light source and a linear structure light source is flashing;
configuring a video image detection module 1 and a structured light detection module 2 to work alternately;
and configuring the light-emitting time and the extinguishing time of the light-supplementing light source and the linear structure light source.
In this embodiment, the operation modes of the fill-in light source and the linear structure light source may be configured to flash light. The central control module can control the video image detection module 1 and the structured light detection module 2 to alternately work, for example, during the work period of the video image detection module 1, all the high-speed cameras simultaneously shoot a frame of image, and the light supplement light source is turned on. Then, the light supplement light source is turned off, the linear structure light source is turned on, all the structure light detection modules 2 shoot a frame of image at the same time, and the light supplement light source and the linear structure light source work alternately. The central control module can also make the average power of the light supplementing light source and the linear structure light source the same by configuring the light emitting time and the extinguishing time of the light supplementing light source and the linear structure light source, for example, the proportion of the light emitting time and the extinguishing time in the light source is reduced, so that higher brightness can be realized at the moment of shooting, the motion blur of video images is reduced, and the covering radius of the structure light is improved.
Further, in some embodiments, referring to fig. 2, the central computer 4 is specifically configured to:
s1: collecting a correction image;
s2: dividing the received second image by the corrected image to obtain an identification image;
s3: calculating an average brightness value of the identification image;
s4: respectively calculating the difference value between each pixel in the identification image and the average brightness value, and marking the pixel with the difference value larger than a first detection threshold value as an abnormal pixel;
s5: merging all abnormal pixels to obtain a suspected target;
s6: and defining the suspected target with the length larger than the second detection threshold as the suspected foreign matter.
In this embodiment, when the device for detecting the foreign matter on the airport flight area pavement cooperatively performs structured light detection, a structured light camera can be used for shooting a datum line on a flat plane with consistent texture to obtain a corrected image, wherein the middle of the datum line is bright (close in distance) and the two ends of the datum line are dark (far in distance), so that the situations that pixel points are missing and the brightness is abnormally attenuated from the middle to the two ends of the obtained corrected image due to shooting on the flat plane with inconsistent texture are avoided. In the detection process, the high-speed linear array camera continuously pushes the shot second image to the CPU computing group, and a structured light image detection program in the CPU computing group is triggered. The structured light image detection program divides the received second image by the correction image to obtain an identification image with uniform brightness, and calculates an average brightness value of the identification image. And comparing each pixel of the identified image with the average brightness value, and when the difference value is greater than a first detection threshold value, indicating that the pixel point may have the situation of excessively dark or excessively bright brightness, and marking the pixel as an abnormal pixel at the moment. And combining the connected abnormal pixels into a suspected target, wherein when the length of the suspected target is greater than a second detection threshold, the suspected target is possibly a suspected foreign matter, and when the length of the suspected target is less than the second detection threshold, the suspected target is small in area and possibly identified by mistake. And finally, sending the identified suspected foreign matters to a central control module.
In this embodiment, the first detection threshold and the second detection threshold may be obtained according to a statistical value of the common foreign matters, the first detection threshold is used to identify a minimum value of a luminance difference between the common foreign matters and a normal road surface, and the second detection threshold is used to identify a minimum length value of the common foreign matters. The average luminance value of the recognition image can be calculated by: and randomly reading the brightness values of a plurality of pixel points in the identification image, and averaging all the brightness values to obtain the identification image. Or reading the brightness value of the pixel point in each area of the identification image and averaging all the brightness values to obtain the identification image.
Further, in some embodiments, the central computer 4 is specifically configured to:
moving the sliding window on the scanning line of the point cloud data until the whole scanning line of the point cloud data is read; after the sliding window is moved every time, reading continuous data in the sliding window, comparing the continuous data with a linear regression model, and defining data, of which the distance from the continuous data to the linear regression model exceeds a third detection threshold value, as suspected foreign matters; combining the repeated and connected suspected foreign matters;
and/or calculating the distance between adjacent data in the point cloud data, defining the data with the distance exceeding a third detection threshold value as suspected data, and combining all the suspected data to obtain suspected foreign matters.
In this embodiment, when the device for detecting the foreign matter on the airport flight area surface cooperatively performs laser scanning point cloud image detection, the point cloud data obtained by the laser scanning cloud image detection module 3 completing one line scanning each time can be sent to the CPU computing group to trigger the point cloud image detection program. After the point cloud image detection program is started, the point cloud data can be read by using a sliding window method, for example, a sliding window is used for reading a continuous section (with a length of 10-50 cm) of data on a scanning line of the point cloud data at a time, and the data in the sliding window is sequentially compared with a linear regression model (a straight line obtained by a fitting method). And after all the data in the sliding window are processed, moving the sliding window forward by half the length of the sliding window, continuously processing the data in the sliding window by adopting the method until the whole scanning line in the cloud data is processed, and finally combining repeated and connected suspected foreign matters.
In this embodiment, after the point cloud image detection program is started, the distance between adjacent data in the point cloud data may also be calculated, and if the data exceeds the third detection threshold, the data is considered as a suspected foreign object. And finally, sending the suspected foreign matters detected by the two modes to a central control module.
Further, in some embodiments, the central computer 4 is specifically configured to:
storing a first image of a frame obtained latest by a high-speed camera;
identifying an area where a suspected foreign matter is located in the latest first image;
when the type of the region does not belong to the road surface inherent structure, the suspected foreign matter is defined as a road surface foreign matter.
In this embodiment, when the airport flight area foreign matter cooperative detection device detects a suspected foreign matter through a structured light or laser scanning point cloud image, it further determines whether the suspected foreign matter is a real foreign matter on the road surface by using a video image. When the device detects video images, first images continuously shot by a high-speed camera are received, the first images are sent to a GPU (graphics processing unit) computing group, and the GPU computing group only stores the first images of one frame which are received newly. And after receiving the suspected foreign matter obtained by the structural optical detection or the laser scanning point cloud image detection, the central control module sends the coordinates of the suspected foreign matter in the second image or the point cloud data to the GPU computing group to trigger a video image detection program. And after the video image detection program is started, bringing the coordinates into a coordinate conversion subprogram to obtain a corresponding area of the suspected foreign matter in the first image. Keeping the central position of the area unchanged, expanding the area of the area by two times, and judging whether the expanded area image is a inherent structure of the road surface, wherein the inherent structure of the road surface can comprise an identification line, an embedded navigation aid lamp, a tire seal, a plate gap, a road surface groove and the like. If the suspected foreign matter is not the inherent structure of the road surface, the foreign matter is judged to be the road surface foreign matter, and the area image with the enlarged area is sent to the central control module. The central control module outputs the foreign bodies on the road surface and the corresponding coordinates.
Further, in some embodiments, the central computer 4 is also configured to:
configuring the category of each area in the flight area surface, and configuring a road surface inherent structure list containing classification identification parameters for each category;
when an area where suspected foreign matters are located in the first image is obtained, reading a road surface inherent structure list corresponding to the area;
and when the suspected foreign matter does not accord with the classification identification parameters of the inherent structure list of the road surface, judging that the category of the area does not belong to the inherent structure of the road surface.
In this embodiment, the central computer 4 may further configure the categories of the respective areas on the flight area according to the cleaning task, and configure a track surface inherent structure list for each category, where the track surface inherent structure list includes the classification identification parameters characterizing the plurality of track surface inherent structure features. And after the area where the suspected foreign matter is located is obtained, reading a road surface inherent structure list corresponding to the area, comparing the characteristics of the suspected foreign matter with the road surface inherent structure list, if the characteristics of the suspected foreign matter are consistent with the classification identification parameters, indicating that the suspected foreign matter is a road surface inherent structure and does not belong to the road surface foreign matter, otherwise, if the characteristics of the suspected foreign matter are not consistent with the classification identification parameters, indicating that the suspected foreign matter does not belong to the road surface inherent structure and belongs to the road surface foreign matter.
Further, in some embodiments, referring to fig. 3, the central computer 4 is specifically configured to:
s11: correcting the delay time of video image detection, structured light detection and laser scanning cloud image detection;
s12: correcting the first image, the second image, the point cloud data and the coordinate system of the device;
s13: reading the coordinates of suspected foreign matters in the second image or the point cloud data;
s14: converting the coordinates to coordinates of the suspected foreign object in the first image according to the following formula:
P’＝P+V(t1-t2)；
wherein, P is the coordinate of the suspected foreign object in the second image or the point cloud data, P' is the coordinate of the suspected foreign object in the first image, V is the motion velocity vector of the foreign object cleaning platform, t1 is the delay time of the video image detection, and t2 is the delay time of the structured light detection or the laser scanning cloud image detection.
In this embodiment, the central control module may periodically time-service the CPU computing group and the GPU computing group, and ensure time synchronization of all the detection modes. The central control module may also correct the delay time of all detection modes, for example, the central control module sends a probe command to the CPU computation group or the GPU computation group, and defines the delay time when the CPU computation group and the GPU computation group receive the probe command as the delay time. The central control module can also correct the coordinate systems of all detection modes and the overall coordinate system of the airport flight area foreign matter cooperative detection device, for example, correct conversion parameters between the coordinate systems.
In the present embodiment, the foreign matter cleaning platform moves to clean the foreign matter on the flight path surface in accordance with the motion velocity vector V. When the coordinate conversion of suspected foreign matters is carried out, the central control module carries out conversion in a mode of P' = P + V (t 1-t 2), and the position difference caused by the time difference of two delay times when the foreign matter cleaning platform moves is eliminated.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. The utility model provides an airport flight area foreign matter detection device in coordination which characterized in that includes:
the video image detection module: the system comprises a plurality of high-speed cameras, wherein shooting areas of all the high-speed cameras are connected in sequence; the video image detection module is used for shooting a flight area surface to obtain a first image;
a structured light detection module: the system comprises a plurality of structured light cameras, wherein shooting areas of all the structured light cameras are sequentially connected; the structured light detection module is used for shooting a flight area surface to obtain a second image;
laser scanning cloud image detection module: the system comprises a camera, a data acquisition module and a data processing module, wherein the camera is used for shooting a flight area surface to obtain point cloud data;
the central computer: the laser scanning cloud image detection module is connected with the video image detection module, the structured light detection module and the laser scanning cloud image detection module; and the central computer is used for calculating the area where the suspected foreign matters are located in the first image and identifying the type of the area to obtain the road surface foreign matters when the suspected foreign matters are identified according to the second image or the point cloud data.
2. The airport flying area foreign matter cooperative detection device according to claim 1,
the detection area of the video image detection module covers the detection area of the structured light detection module and the detection area of the laser scanning cloud image detection module.
3. The airport flying area foreign matter cooperative detection device according to claim 1,
the video image detection module also comprises a plurality of light supplementing light sources with white light spectrums;
the structured light camera comprises a linear structured light source and a high-speed linear array camera, wherein the spectrum of the linear structured light source is red light or green light;
the spectrum of the light source in the laser scanning cloud image detection module is infrared light.
4. The cooperative detection device for foreign matter on a flight level of an airport according to claim 3, wherein said central computer is specifically configured to:
configuring the working mode of the light supplementing light source and the linear structure light source to be flashing;
configuring the video image detection module and the structured light detection module to work alternately;
and configuring the light-emitting time and the extinguishing time of the light supplementing light source and the linear structure light source.
5. The airport flight area foreign object cooperative detection apparatus according to claim 1, wherein the central computer is specifically configured to:
collecting a correction image;
dividing the received second image by the corrected image to obtain an identified image;
calculating an average brightness value of the identification image;
respectively calculating the difference value between each pixel in the identification image and the average brightness value, and marking the pixel of which the difference value is greater than a first detection threshold value as an abnormal pixel;
merging all the abnormal pixels to obtain a suspected target;
and defining the suspected target with the length larger than a second detection threshold value as the suspected foreign matter.
6. The airport flight area foreign object cooperative detection apparatus according to claim 5, wherein the central computer is specifically configured to:
moving a sliding window on a scanning line of the point cloud data until the whole scanning line of the point cloud data is read; after the sliding window is moved every time, reading continuous data in the sliding window, comparing the continuous data with a linear regression model, and defining data, of the continuous data, of which the distance from the linear regression model exceeds a third detection threshold value, as the suspected foreign matter; combining the repeated and connected suspected foreign matter;
and/or calculating the distance between adjacent data in the point cloud data, and defining the data with the distance exceeding the third detection threshold as the suspected foreign matter.
7. The cooperative detection device for foreign matter on a flight level of an airport according to claim 6, wherein said central computer is specifically configured to:
storing a frame of the first image newly obtained by the high-speed camera;
identifying the area where the suspected foreign matter is located in the latest first image;
and when the type of the area does not belong to the inherent structure of the road surface, defining the suspected foreign matter as the foreign matter of the road surface.
8. The airport flying area foreign object cooperative detection device of claim 7, wherein said central computer is further configured to:
configuring the categories of all areas in the flight area, and configuring a track surface inherent structure list containing classification identification parameters for each category;
when the area where the suspected foreign matters are located in the first image is obtained, reading a road surface inherent structure list corresponding to the area;
and when the suspected foreign matter does not accord with the classification identification parameters of the inherent structure list of the road surface, judging that the category of the area does not belong to the inherent structure of the road surface.
9. The airport flight area foreign object cooperative detection apparatus according to claim 7, wherein the central computer is specifically configured to:
correcting the delay time of video image detection, structured light detection and laser scanning cloud image detection;
correcting the first image, the second image, the point cloud data, and the coordinate system of the device;
reading the coordinates of the suspected foreign matters in the second image or the point cloud data;
converting the coordinates to coordinates of the suspected foreign object in the first image according to the following formula:
P’＝P+V(t1-t2)；
and P is the coordinate of the suspected foreign matter in the second image or the point cloud data, P' is the coordinate of the suspected foreign matter in the first image, V is the motion velocity vector of the foreign matter cleaning platform, t1 is the delay time of video image detection, and t2 is the delay time of structured light detection or laser scanning cloud image detection.
10. The cooperative detection device for foreign matter on airport flight area surface according to claim 9,
the central computer comprises a central control module, a CPU computing group and a GPU computing group;
the CPU computing group is used for completing the detection of the structured light or the laser scanning cloud image; the GPU computation group is used for the video image detection.
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| CN117726670B (en) * | 2024-02-18 | 2024-05-07 | 中国民用航空总局第二研究所 | Airport runway pollutant coverage area assessment method and system and intelligent terminal |
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