CN115792896A - Track type airport runway FOD detection method and system - Google Patents
Track type airport runway FOD detection method and system Download PDFInfo
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Abstract
The invention discloses a FOD detection method and a FOD detection system for a track type airport runway, which comprise a background monitoring decision center, a detection radar, a detection camera and a middle base station, and comprise the following steps: starting a detection task; detecting radar scans and generating radar FOD event reports; detecting camera shooting identification and generating a camera FOD event report; the FOD event report is sent to a background monitoring decision center; determining an FOD processing mode; the invention relates to the technical field of target detection. According to the rail-mounted airport runway FOD detection method and system, detection radars and detection cameras are combined, so that each FOD is detected twice, the accuracy of a detection result can be improved, the possibility of idle running of subsequent cleaning equipment is reduced, in addition, the FOD risk level can be judged according to an FOD incident report, the FOD processing mode is decided according to the FOD risk level, different processing modes are adopted for different risk levels, and the intelligent degree is higher.
Description
Technical Field
The invention relates to the technical field of target detection, in particular to a track type airport runway FOD detection method and system.
Background
FOD is some foreign material, debris or object that can damage the aircraft, and the hazard presented by FOD is very serious, so it is necessary to patrol the airport pavement to eliminate the FOD hazard.
Because the manual inspection method has low efficiency, high cost and great weather influence and is difficult to meet the requirement of high-efficiency operation of an airport, along with the development of technologies such as radar, imaging, signal processing and the like, the automatic runway foreign matter detection is gradually replacing the manual inspection, the Chinese patent with the prior publication number of CN109507740A discloses a track-based airport runway foreign matter detection system and a detection method, a plurality of scanning devices are arranged on tracks at two sides of a runway, and the runway is scanned and detected by FOD, the number of the foreign matter scanning devices can be reduced by the scheme, and further the cost of runway foreign matter detection is saved, but the scheme only determines whether the FOD exists through single detection of the scanning devices, the accuracy of detection results is low, the subsequent cleaning equipment is easy to run empty, even the normal take-off and landing of an airplane is delayed, and unnecessary troubles are generated.
Disclosure of Invention
In view of the defects of the prior art, the invention provides a track type airport runway FOD detection method and system, which are used for solving the problems mentioned in the background technology.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the invention provides a track-based airport runway FOD detection method, which comprises the following steps:
s1, starting a detection task;
s2, detecting that the radar runs along the track, scanning the airport runway, and generating a radar FOD event report;
s3, the detection camera carries out photographing identification on the FOD one by one according to the radar FOD event report to generate a camera FOD event report;
s4, sending the radar FOD event report and the camera FOD event report to a background monitoring decision center through a middle base station;
s5, the background monitoring decision center displays and stores the data, and FOD risk levels are judged according to the radar FOD event report and the camera FOD event report, wherein the FOD risk levels comprise three levels, namely high-risk FOD, medium-risk FOD and low-risk FOD;
and S6, the background monitoring decision center decides the FOD processing mode according to the FOD risk level.
Further, the scanning of the airport runway by the detection radar specifically includes:
and judging whether the FOD is found, if so, generating a radar FOD event report, and if not, returning to the initial position after the scanning task is finished to prepare the next scanning task.
Further, the detection camera is shot and is discerned FOD one by one, specifically includes:
the detection camera runs to the position closest to the FOD along the track according to the radar FOD event report, and the FOD picture is shot and then recognized;
generating a camera FOD event report according to the recognition result;
and repeating the steps to identify the FOD at the next position until all FOD targets are identified, returning the detection camera and the detection radar to the initial position, and waiting for the next detection task.
Further, before identifying the FOD of the next location, the method further includes:
judging whether a radar FOD event report exists or not;
if yes, continuing the identification work;
if not, judging whether the detection radar finishes the scanning work, and if not, detecting that the camera waits for the next FOD event report at the current position.
Further, the background monitoring decision center decides an FOD processing mode according to the FOD risk level, and specifically includes:
when the FOD is judged to be in a high risk level, the background monitoring decision center sends out an alarm signal and a cleaning instruction, simultaneously sends out an instruction that the runway airplane stops taking off and landing, and displays a radar FOD event report and a camera FOD event report of the FOD in a display module;
when the FOD is judged to be in the risk level, the background monitoring decision center sends out an alarm signal and a cleaning instruction, and displays a radar FOD event report and a camera FOD event report of the FOD in a display module;
and when the FOD is judged to be in a low risk level, the background monitoring decision center marks the radar FOD event report and the camera FOD event report of the FOD at the place.
Further, the background monitoring decision center displays the radar FOD event report and the camera FOD event report through a display module, and stores the radar FOD event report and the camera FOD event report through a storage module.
In a second aspect, the present invention provides an orbital FOD detection system, comprising:
the background monitoring decision center is used for analyzing the FOD event report and deciding the FOD processing mode;
detecting a radar, and performing primary scanning on an airport runway to generate a radar FOD event report;
the detection camera is used for carrying out secondary identification on FOD scanned by the detection radar to generate a camera FOD event report;
and the middle base station is used for transmitting data or instructions between the background monitoring decision center and the detection cameras and the detection radars.
Further, the detecting the radar includes:
the scanning radar is used for carrying out preliminary scanning on the airport runway and acquiring the coordinate position, the approximate type and the size information of the FOD;
a radar report generation module for generating a radar FOD event report including FOD location, size, approximate type and discovery time information;
and the judging and controlling module is used for judging whether the detection radar finishes the scanning work of the detected section or not and sending a control signal to a driving mechanism on the detection radar according to the judging result.
Further, the detection camera includes:
the positioning module is used for positioning the detection position of the detection camera according to FOD coordinate information sent by the detection radar;
the identification camera is used for shooting an FOD image for identification, acquiring the size information of the FOD, and secondarily judging and confirming whether the FOD is the FOD or not;
the camera report generation module is used for generating a camera FOD event report comprising an FOD image and size information according to the recognition result;
and the planning module is used for planning the detection sequence of the detection cameras according to the radar FOD event report and controlling the start and stop of the detection cameras.
Furthermore, each detection camera and each detection radar are a group of detection devices, the detection devices are arranged on the tracks on two sides of the airport runway and can run along the tracks, at least one group of detection devices is arranged on each track, and the detection devices realize information transmission through the middle base station and the background monitoring decision center.
Furthermore, the track type airport runway FOD detection system further comprises a cleaning device, wherein the cleaning device is arranged at the side of the runway, and the cleaning device realizes information transmission through a middle base station and a background monitoring decision center.
Further, the track type airport runway FOD detection system further comprises a display module and a storage module.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, the detection radar and the detection camera are combined, the airport runway is firstly scanned for the first time to obtain the suspected FOD position coordinate information, then the suspected FOD is photographed and identified, whether the FOD is the FOD or not is determined for the second time, and each FOD is detected twice, so that the accuracy of a detection result can be improved, the idle running possibility of subsequent cleaning equipment is reduced, and the normal operation of the airport is facilitated.
According to the invention, the FOD risk level can be judged according to the radar FOD event report and the camera FOD event report, and then the FOD processing mode is decided by the background monitoring decision center according to the FOD risk level, different processing modes are adopted for different risk levels, and the intelligent degree is higher.
Compared with a fixed-point detection system, the fixed-point detection system has the advantages that the investment cost of equipment can be reduced, when the detection equipment needs to be overhauled or cleaned, the detection equipment is controlled to run to the same end of the track, the detection equipment can be overhauled or cleaned within a short distance, workers do not need to walk through the whole field to process the detection equipment one by one, and the working intensity of later-period maintenance personnel can be reduced.
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 schematic view of the structure of the present invention;
FIG. 2 is a schematic diagram of the process steps of the present invention;
FIG. 3 is a block diagram of the workflow of the present invention;
FIG. 4 is a schematic structural view of a support mechanism according to the present invention;
FIG. 5 is a schematic block diagram of a detection radar of the present invention;
FIG. 6 is a schematic block diagram of a detection camera according to the present invention.
In the figure: 1 detection radar, 2 detection cameras, 3 easy-to-break rods, 4 driving mechanisms and 5 rollers.
Detailed Description
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
Referring to fig. 2 and fig. 3, an embodiment of the present invention provides a method for detecting FOD on a track type airport runway, including the following steps:
s1, starting a detection task;
s2, detecting that the radar 1 runs along the track, scanning the airport runway, and generating a radar FOD event report, wherein the radar FOD event report comprises coordinates, types and scanning time information of FOD;
s3, the detection camera 2 photographs and identifies FOD one by one according to the radar FOD incident report to generate a camera FOD incident report, wherein the camera FOD incident report comprises an image, a size and an identification result (whether FOD is confirmed or not) of the FOD;
s4, sending the radar FOD event report and the camera FOD event report to a background monitoring decision center through a middle base station;
s5, the background monitoring decision center displays and stores the data, judges the FOD risk level according to the radar FOD event report and the camera FOD event report, displays the FOD event report through a display module, and stores the FOD event report through a storage module;
and S6, the background monitoring decision center decides the FOD processing mode according to the FOD risk level.
In this embodiment, the scanning of the airport runway by the detection radar 1 includes: judging whether FOD is found, if so, generating a radar FOD event report, wherein each time a detection radar 1 generates a radar FOD event report, the detection radar can be directly sent to a detection camera 2 in waiting, so that the detection camera 2 can timely perform subsequent FOD secondary identification, if not, returning to an initial position after the scanning task is finished, preparing for the next scanning task, specifically, the detection radar 1 finishes one-time scanning on the whole airport runway, and does not find suspected FOD in the scanning process, so the detection camera 2 is not required to perform subsequent secondary identification, and the detection radar 1 runs to the other end of the track from the initial position, so the detection radar 1 needs to return to the initial position before the next detection task.
In this embodiment, detection camera 2 is shot the identification to FOD one by one and is included: the detection camera 2 runs to the position closest to the FOD along the track according to the radar FOD event report, as shown in fig. 1, a virtual two-dimensional coordinate system can be established on the airport runway, a point on the central axis of the airport runway is taken as the origin of the coordinate system, the direction along the runway is taken as the X axis, the direction perpendicular to the runway is taken as the Y axis, and the FOD coordinate acquired by the detection radar 1 is (X axis) n ,Y n ) Therefore, the position of the detection camera 2 on the track, which is closest to the FOD, is the position which is in the same X-axis coordinate with the FOD, the FOD picture is shot and then is identified, and the size of the FOD in the image is identified by using a target identification algorithm; generating a camera FOD event report by using the shot image and the recognition result; repeating the steps to identify the FOD at the next position, and when the detection camera 2 does not receive the radar FOD event report transmitted by the detection radar 1, the detection camera 2 stops waiting at the current position until all FOD targets are identifiedOther, detecting camera 2 and detection radar 1 all return initial position, wait for next detection task, detecting camera 2 only just can move to corresponding position according to the FOD coordinate after receiving radar FOD incident report, carries out the secondary to the FOD, if detecting radar 1 scanning whole journey and not discovering the FOD, detecting camera 2 need not the operation to practice thrift the energy consumption.
In the embodiment of the present invention, before identifying the next position FOD, the method further includes: judging whether a radar FOD event report exists; if so, continuing to perform the identification work; if not, whether the detection radar 1 finishes scanning work or not is judged, if not, the detection camera 2 waits for the next FOD event report at the current position, and if the detection radar 1 does not generate a new radar FOD event report until the scanning work is finished, the situation that no suspected FOD appears subsequently is shown, so that the detection camera 2 has a clear target and can be identified as required, and the operation along a track is not needed when no suspected FOD exists, thereby saving resources.
In this embodiment, the FOD risk classes include three, which are high risk FOD, medium risk FOD, and low risk FOD, respectively.
In this embodiment, the background monitoring decision center decides an FOD processing mode according to the FOD risk level, specifically:
when the FOD is judged to be in a high risk level, the background monitoring decision center sends out an alarm signal and a cleaning instruction, and simultaneously sends out an instruction that the runway airplane stops taking off and landing, and a radar FOD event report and a camera FOD event report of the FOD are displayed in a display module;
when the FOD is judged to be in the risk level, the background monitoring decision center sends out an alarm signal and a cleaning instruction, and displays a radar FOD event report and a camera FOD event report of the FOD in a display module;
when the FOD is judged to be in a low risk level, the background monitoring decision center marks a radar FOD event report and a camera FOD event report of the FOD, and when the monitored runway is in the idle time without taking off and landing of an airplane, the background monitoring decision center can automatically control the cleaning equipment to clean the FOD.
The FOD risk level and the FOD treatment mode are planned to the administrative standard of FOD risk level according to different regional civil aviation, to the FOD of high risk level, need handle immediately, the FOD of medium risk level, can handle at the aircraft clearance of taking off and land, can handle at the airport runway idle time that does not have the aircraft to the FOD of low risk level, the different treatment modes that adopt of dangerous level, the FOD of medium and low risk can handle when not influencing the aircraft and normally taking off and land, intelligent degree is higher, treatment mode accessible cleaning equipment clears up, also the manual work clears up.
Example 2
Referring to fig. 1, an embodiment of the present invention provides a track-based airport runway FOD detection system, including:
the system comprises a background monitoring decision center, a background monitoring decision center and a control center, wherein the background monitoring decision center is arranged in an airport terminal building and can directly send a control signal to an airport tower, when the system detects high-risk FOD, a shutdown signal can be immediately sent out, so that an airplane on an airport runway where the FOD is located stops taking off and landing work, a cleaning signal is immediately sent out, after the FOD is cleaned, the normal operation of the airplane can be manually controlled and recovered, and in addition, the background monitoring decision center can acquire the taking off and landing information of the airport runway monitored by the system in real time;
the detection radar 1 is used for carrying out primary scanning on an airport runway to generate a radar FOD incident report, wherein the radar FOD incident report comprises FOD position, size, approximate type and discovery time information;
the detection camera 2 is used for carrying out secondary identification on FOD scanned by the detection radar 1 to generate a camera FOD event report, the camera FOD event report comprises FOD image information, information transmission is realized between the detection radar 1 and the detection camera 2 through wireless signals, and the detection camera 2 can timely receive the radar FOD event report transmitted by the detection radar 1 to make a subsequent reaction;
and the middle base station is used for transmitting data or instructions between the background monitoring decision center and the detection camera 2 and the detection radar 1.
The detection radar 1 is provided with a scanning radar for carrying out preliminary scanning on an airport runway and acquiring the coordinate position, approximate type and size information of the FOD; a radar report generation module for generating a radar FOD event report including FOD location, size, approximate type and discovery time information; and the judging and controlling module is used for judging whether the detection radar 1 finishes the scanning work of the detected section or not and sending a control signal to the driving mechanism 4 on the detection radar 1 according to the judging result.
The detection camera 2 is provided with a positioning module for positioning the detection position of the detection camera 2 according to the FOD coordinate information sent by the detection radar 1, and when the detection camera 2 receives a radar FOD event report, the positioning module positions a detection point to the position on the track with the same X-axis coordinate as the FOD according to the coordinate of the FOD; the identification camera is used for shooting an FOD image for identification, acquiring more accurate size information of the FOD, and secondarily judging and confirming whether the FOD is the FOD or not; the camera report generation module is used for generating a camera FOD event report comprising an FOD image and size information according to the recognition result; and the planning module is used for planning the detection sequence of the detection camera 2 according to the radar FOD event report, sending a control signal to the driving mechanism 4 on the detection camera 2 and controlling the start and stop of the detection camera 2.
Still include cleaning equipment, display module and storage module, storage module is used for storing radar FOD incident report, camera FOD incident report, and detect radar 1, detect camera 2, well basic station and backstage control decision center's log etc., cleaning equipment sets up on the runway limit, and cleaning equipment realizes information transmission through well basic station and backstage control decision center, cleaning equipment can be for cleaning vehicle or clearance unmanned aerial vehicle etc., cleaning equipment is out of work, stop in setting up the parking station on the runway limit, when receiving the clearance instruction, can automatic planning clearance route carry out the FOD clearance.
In this embodiment, each detection camera 2 and detection radar 1 is a set of detection devices, each set of detection devices is a detection period from the beginning of a detection task to the time when the detection camera 2 and the detection radar 1 return to initial positions, the detection devices are arranged on tracks on two sides of an airport runway and can run along the tracks, at least one set of detection devices is arranged on each track, when two or more sets of detection devices are arranged on the tracks, each set of detection devices detects different sections of the runway, the initial positions of the detection devices are arranged at one end of the detection length track where the detection devices are located, the number of the detection devices can be set according to actual requirements, the detection period can be shortened, and the detection devices realize information transmission through a middle base station and a background monitoring decision center.
Please refer to fig. 4, a supporting mechanism is arranged between the detection radar 1 and the detection camera 2 and the rail, the supporting mechanism comprises a driving mechanism 4, an easy-folding rod 3 and a roller 5 matched with the rail, the easy-folding rod 3 is arranged at the top of the driving mechanism 4, the detection camera 2 or the detection radar 1 is supported, the easy-folding rod 3 can be broken immediately when the airplane takes off and lands to touch the detection equipment, the influence of the detection equipment on the traveling safety of the airplane is reduced, and the roller 5 can drive the detection equipment to move along the rail under the action of the driving mechanism 4.
In this embodiment, all carry the battery in detection radar 1, detection camera 2 and the actuating mechanism 4, can set up the charging station by the runway limit, adopt wireless charging, the mode of point contact charging to charge for detection camera 2, detection radar 1 and actuating mechanism 4, the charging station passes through the wire with well basic station and is connected.
In the embodiment, the system further comprises a cleaning device, a storage module and a display module, wherein the cleaning device is arranged beside the runway, information transmission of the cleaning device and a background monitoring decision center is achieved through a middle base station, and the cleaning device directly reaches the FOD coordinate position to clean after receiving a cleaning task.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A FOD detection method for a track type airport runway is characterized by comprising the following steps: the method comprises the following steps:
starting a detection task;
detecting the running of a radar along a track, scanning an airport runway, and generating a radar FOD event report;
the detection camera carries out photographing identification on the FOD one by one according to the radar FOD event report to generate a camera FOD event report;
the radar FOD event report and the camera FOD event report are sent to a background monitoring decision center through a middle base station;
the background monitoring decision center displays and stores the data, and judges the FOD risk level according to the radar FOD event report and the camera FOD event report;
and the background monitoring decision center decides the FOD processing mode according to the FOD risk level.
2. The method of claim 1, wherein the FOD detection comprises: the detection radar scans the airport runway, and specifically comprises the following steps:
and judging whether the FOD is found, if so, generating a radar FOD event report, and if not, returning to the initial position after the scanning task is finished to prepare for the next scanning task.
3. The method of claim 1, wherein the FOD detection comprises: detection camera carries out the discernment of shooing to FOD one by one, specifically includes:
the detection camera runs to the position closest to the FOD along the track according to the radar FOD event report, and the FOD picture is shot and then is identified;
generating a camera FOD event report according to the recognition result;
and repeating the steps to identify the FOD at the next position until all FOD targets are identified, returning the detection camera and the detection radar to the initial position, and waiting for the next detection task.
4. The method of claim 3, wherein the FOD detection comprises: before identifying the FOD of the next position, the method further comprises the following steps:
judging whether a radar FOD event report exists or not;
if so, continuing to perform the identification work;
if not, judging whether the detection radar finishes the scanning work, and if not, detecting that the camera waits for the next FOD event report at the current position.
5. The method of claim 1, wherein the FOD detection comprises: the background monitoring decision center decides an FOD processing mode according to the FOD risk level, and specifically comprises the following steps:
when the FOD is judged to be in a high risk level, the background monitoring decision center sends out an alarm signal and a cleaning instruction, simultaneously sends out an instruction that the runway airplane stops taking off and landing, and displays a radar FOD event report and a camera FOD event report of the FOD in a display module;
when the FOD is judged to be in the risk level, the background monitoring decision center sends out an alarm signal and a cleaning instruction, and displays a radar FOD event report and a camera FOD event report of the FOD in a display module;
and when the FOD is judged to be in a low risk level, the background monitoring decision center marks the radar FOD event report and the camera FOD event report of the FOD at the place.
6. The method of claim 1, wherein the FOD detection comprises: and the background monitoring decision center displays the radar FOD event report and the camera FOD event report through the display module and stores the radar FOD event report and the camera FOD event report through the storage module.
7. A rail-mounted airport runway FOD detection system for implementing the rail-mounted airport runway FOD detection method of any of claims 1-6, characterized in that: the method comprises the following steps:
the background monitoring decision center is used for analyzing the FOD event report and deciding the FOD processing mode;
detecting a radar, and generating a radar FOD event report by primarily scanning the airport runway;
the detection camera is used for carrying out secondary identification on FOD scanned by the detection radar to generate a camera FOD event report;
and the middle base station is used for transmitting data or instructions between the background monitoring decision center and the detection cameras and the detection radars.
8. The system of claim 7, wherein the FOD detection system comprises: the detection radar includes:
the scanning radar is used for carrying out preliminary scanning on the airport runway and acquiring the coordinate position, the approximate type and the size information of the FOD;
a radar report generation module for generating a radar FOD event report including FOD location, size, approximate type and discovery time information;
and the judging and controlling module is used for judging whether the detection radar finishes the scanning work of the detected section or not and sending a control signal to a driving mechanism on the detection radar according to the judging result.
9. The system of claim 7, wherein the FOD detection system comprises: the detection camera includes:
the positioning module is used for positioning the detection position of the detection camera according to FOD coordinate information sent by the detection radar;
the identification camera is used for shooting an FOD image for identification, acquiring the size information of the FOD, and secondarily judging and confirming whether the FOD is the FOD or not;
the camera report generation module is used for generating a camera FOD event report comprising an FOD image and size information according to the recognition result;
and the planning module is used for planning the detection sequence of the detection cameras according to the radar FOD event report and controlling the start and stop of the detection cameras.
10. The system of claim 7, wherein the FOD detection system comprises: the system further comprises a cleaning device, the cleaning device is arranged beside the runway, and the background monitoring decision center realizes information transmission with the cleaning device through the middle base station.
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| CN117646402A (en) * | 2024-01-29 | 2024-03-05 | 民航成都电子技术有限责任公司 | Airport runway foreign matter cleaning method and device and cleaning equipment |
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