CN205003546U - Airport aid to navigation light detecting light intensity car navigation and positioner based on binocular vision - Google Patents
Airport aid to navigation light detecting light intensity car navigation and positioner based on binocular vision Download PDFInfo
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- CN205003546U CN205003546U CN201520722775.XU CN201520722775U CN205003546U CN 205003546 U CN205003546 U CN 205003546U CN 201520722775 U CN201520722775 U CN 201520722775U CN 205003546 U CN205003546 U CN 205003546U
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Abstract
The utility model mainly discloses an airport aid to navigation light detecting light intensity car navigation and positioner based on binocular vision, a serial communication port, including detect the car, be located examine the car on support frame, binocular vision measurement system, light intensity sensing area, a central processing unit, driver's cabin monitored control system, the vehicle at top travel directional control system and doppler range radar, doppler's velocity radar is located detect the lower part of car, a central processing unit with the vehicle traveles the directional control system and is located detect the inside rear of car, the driver's cabin monitored control system be located detect inside the place ahead of car, binocular vision measurement system install in the automobile body top on the support frame to through frock location messenger its coordinate system no. 1 to automobile body the place ahead under the coordinate system of light intensity sensing area.
Description
Technical field
The utility model relates to automobile navigation and positioning field, particularly relates to a kind of airfield aid light light-intensity test car navigation and localization device based on binocular vision.
Background technology
Aid-to-navigation light on airfield runway be guarantee to take off, the critical facility of landing phases flight safety, can under night and the poor weather condition of visibility, as the important boot flag of airfield runway and taxiway, the route taking off for pilot marks, land and slide.The working condition of aid-to-navigation light, reliability and aircraft takeoffs and landings have safely relation nearly, its performance can go wrong along with the factor such as surrounding environment influence and its shelf-life, will impact the safe operation on airport like this, therefore very important to navigational lighting aid light-intensity test.
Navigational lighting aid light-intensity test car is the effective means realizing aid-to-navigation light automatic detecting, the light intensity sensor band detection navigational lighting aid light intensity that inspection vehicle is installed by front, but due to driver's reason, inspection vehicle may depart from the situation at aid-to-navigation light center in the process of moving, according to luminous intensity measurement principle, illuminance transducer horizontal scanning light beam, and the brightness value on each position of real time record light beam tangent plane, so depart from aid-to-navigation light center line within the specific limits, very little on luminance detection impact itself, namely illuminance transducer still can obtain the Illumination Distribution information of lamp source exactly.If deviation value increases, the measurement result of mistake will be produced, may show that device is installed in the corner or the wrong conclusion such as lamp damage, therefore need the generation taked corresponding measure to avoid or eliminate this type of situation, and light-intensity test needs the distance accurately recorded between illuminance transducer and aid-to-navigation light, just can obtain the isocandela distribution plan of light, as effective judgment basis of aid-to-navigation light duty, meanwhile, for avoiding vehicle head lamp on the impact of navigational lighting aid luminous intensity measurement, measure headlamp in driving process not allow to open, cannot see that vehicle travels object of reference, vehicle travels rectilinearity to be difficult to ensure, vehicle drive surveyor directly observes measured runway center line light, runway edge lights (5000 candela-10000 candela), cause vision strongly tired, cannot directly all require to make navigation and localization exactly to the driving trace of inspection vehicle with reference to these as navigation, based on above-mentioned 3 reasons, need certain assistant equipments on board to complete to locate with guiding the self-navigation of inspection vehicle.
Traditional inspection vehicle position & navigation depends on video sensor and doppler ranging radar.Wherein video sensor is installed on the light intensity sensing zone of vehicle front, by gathering the wigwag matching aid-to-navigation light center that front aid-to-navigation light sends, thus guide inspection vehicle travel direction not depart from center line direction, the wigwag of two lamps in the general collection vehicle front of video sensor, from similar triangle theory, the larger center line in front departs to be reflected on video sensor and only has less skew, therefore positioning precision is poor, and according to image objects rule, the navigational lighting aid at different distance place will form the picture of different size in video end, present near big and far smaller light image, driver is made to be difficult to judge the position of aid-to-navigation light center line, increase the difficulty that video guides, and doppler ranging radar is by FSP frequency shift pulse counting mode measuring vehicle operating range, in long range measurements process, easy generation cumulative errors, need to coordinate light positioning system to utilize fixing aid-to-navigation light to do the regular reset count pulse of object of reference, eliminate cumulative errors, and tested distance is subject to vehicle non-rectilinear travels the impact produced, there is the problem of measuring accuracy difference equally.
Utility model content
The utility model provides a kind of airfield aid light light-intensity test car navigation and localization device based on binocular vision, the measurement of lateral runout to inspection vehicle and longitudinal register can be realized simultaneously, effectively improve positioning precision, form a kind of full automatic inspection vehicle DAS (Driver Assistant System).
For solving the problems of the technologies described above, the utility model, by the coordinate of aid-to-navigation light under vehicle axis system on binocular vision system detection inspection vehicle road surface ahead, carries out precision navigation and location for object of reference to inspection vehicle pose with it.
A kind of airfield aid light light-intensity test car navigation and localization device based on binocular vision, comprise: inspection vehicle 1, be positioned at the bracing frame 2 of inspection car upper top, two CCD camera measure system 3, light intensity sensing zone 4, CPU (central processing unit) 5, pilothouse supervisory system 6, vehicle heading control system 7 and doppler ranging radar 8, described Doppler speed radar 8 is positioned at the bottom of described inspection vehicle 1, described CPU (central processing unit) 5 and described vehicle heading control system 7 are positioned at the rear of described inspection vehicle 1 inside, described pilothouse supervisory system 6 is positioned at the front, inside of described inspection vehicle 1, described two CCD camera measure system 3 is installed on the support frame as described above 2 above described inspection vehicle 1, and make its coordinate system unification under described light intensity sensing zone 4 coordinate system in inspection vehicle front by tool locating, when described inspection vehicle 1 moves forward, described two CCD camera measure system 3 detects the coordinate of aid-to-navigation light under described inspection vehicle 1 coordinate system on inspection vehicle road surface ahead, be sent to described CPU (central processing unit) 5 to merge with the data of described doppler ranging radar 8, accurately location and measurement are carried out to inspection vehicle pose, inspection vehicle is guided to complete automatic Pilot by described vehicle heading control system 7, it is made to travel along aid-to-navigation light center line, can compensate the lateral excursion of described inspection vehicle 1 simultaneously, and accurately can measure the described light intensity sensing zone 4 of described inspection vehicle 1 and the distance of front aid-to-navigation light.
The mode that support frame as described above 2 is processed by frock with the position relationship of the light intensity sensing zone 4 being positioned at inspection vehicle 1 front is determined, described two CCD camera measure system 3 coordinate system can be unified to light intensity sensing zone coordinate system.
Use described two CCD camera measure system to detect the coordinate of aid-to-navigation light under vehicle axis system on inspection vehicle 1 road surface ahead, for object of reference, precision navigation and location are carried out to inspection vehicle pose with it.
Accompanying drawing explanation
Fig. 1 is measuring process schematic diagram of the present utility model.
In figure; 1-inspection vehicle, 2-bracing frame, 3-two CCD camera measure system, 4-light intensity sensing zone, 5-CPU (central processing unit), 6-pilothouse supervisory system, 7-vehicle heading control system, 8-doppler ranging radar.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail, to make advantage of the present utility model and feature can be easier to be readily appreciated by one skilled in the art, thus more explicit defining is made to protection domain of the present utility model.
A kind of airfield aid light light-intensity test car navigation and localization device based on binocular vision, comprise: inspection vehicle 1, be positioned at the bracing frame 2 of inspection car upper top, two CCD camera measure system 3, light intensity sensing zone 4, CPU (central processing unit) 5, pilothouse supervisory system 6, vehicle heading control system 7 and doppler ranging radar 8, described Doppler speed radar 8 is positioned at the bottom of described inspection vehicle 1, described CPU (central processing unit) 5 and described vehicle heading control system 7 are positioned at the rear of described inspection vehicle 1 inside, described pilothouse supervisory system 6 is positioned at the front, inside of described inspection vehicle 1, described two CCD camera measure system 3 is installed on the support frame as described above 2 above described inspection vehicle 1, and make its coordinate system unification under described light intensity sensing zone 4 coordinate system in inspection vehicle front by tool locating, when described inspection vehicle 1 moves forward, described two CCD camera measure system 3 detects the coordinate of aid-to-navigation light under described inspection vehicle 1 coordinate system on inspection vehicle road surface ahead, be sent to described CPU (central processing unit) 5 to merge with the data of described doppler ranging radar 8, accurately location and measurement are carried out to inspection vehicle pose, inspection vehicle is guided to complete automatic Pilot by described vehicle heading control system 7, it is made to travel along aid-to-navigation light center line, can compensate the lateral excursion of described inspection vehicle 1 simultaneously, and accurately can measure the described light intensity sensing zone 4 of described inspection vehicle 1 and the distance of front aid-to-navigation light.
The mode that support frame as described above 2 is processed by frock with the position relationship of the light intensity sensing zone 4 being positioned at inspection vehicle 1 front is determined, described two CCD camera measure system 3 coordinate system can be unified to light intensity sensing zone coordinate system.
Use described two CCD camera measure system to detect the coordinate of aid-to-navigation light under vehicle axis system on inspection vehicle 1 road surface ahead, for object of reference, precision navigation and location are carried out to inspection vehicle pose with it.
The foregoing is only embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every utilize the utility model instructions and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (3)
1. the airfield aid light light-intensity test car navigation and localization device based on binocular vision, it is characterized in that, comprise inspection vehicle, be positioned at the bracing frame of inspection car upper top, two CCD camera measure system, light intensity sensing zone, CPU (central processing unit), pilothouse supervisory system, vehicle heading control system and doppler ranging radar, described Doppler speed radar is positioned at the bottom of described inspection vehicle, described CPU (central processing unit) and described vehicle heading control system are positioned at the rear of described inspection vehicle inside, described pilothouse supervisory system is positioned at the front, inside of described inspection vehicle, described two CCD camera measure system is installed on the support frame as described above above described inspection vehicle, and make its coordinate system unification under the described light intensity sensing zone coordinate system in inspection vehicle front by tool locating, when described inspection vehicle moves forward, the coordinate of aid-to-navigation light under described inspection vehicle coordinate system on described two CCD camera measure system detection inspection vehicle road surface ahead, the data being sent to described CPU (central processing unit) and described doppler ranging radar merge, accurately location and measurement are carried out to inspection vehicle pose, inspection vehicle is guided to complete automatic Pilot by described vehicle heading control system, it is made to travel along aid-to-navigation light center line, can compensate the lateral excursion of described inspection vehicle simultaneously, and accurately can measure the described light intensity sensing zone of described inspection vehicle and the distance of front aid-to-navigation light.
2. a kind of airfield aid light light-intensity test car navigation and localization device based on binocular vision according to claim 1, it is characterized in that, use described two CCD camera measure system to detect the coordinate of aid-to-navigation light under vehicle axis system on inspection vehicle road surface ahead, for object of reference, precision navigation and location are carried out to inspection vehicle pose with it.
3. a kind of airfield aid light light-intensity test car navigation and localization device based on binocular vision according to claim 2, it is characterized in that, the mode that support frame as described above is processed by frock with the position relationship of the light intensity sensing zone being positioned at inspection vehicle front is determined, described two CCD camera measure system coordinate system can be unified to light intensity sensing zone coordinate system.
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| CN201520722775.XU CN205003546U (en) | 2015-09-18 | 2015-09-18 | Airport aid to navigation light detecting light intensity car navigation and positioner based on binocular vision |
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| CN201520722775.XU CN205003546U (en) | 2015-09-18 | 2015-09-18 | Airport aid to navigation light detecting light intensity car navigation and positioner based on binocular vision |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107478215A (en) * | 2017-07-26 | 2017-12-15 | 中国人民解放军空军勤务学院 | Based on the azimuthal airfield aid luminosity Characteristics Detection instrument localization method of runway |
| WO2018116032A1 (en) * | 2016-12-19 | 2018-06-28 | Airport Authority | Automated airfield ground lighting inspection system |
| CN110549254A (en) * | 2019-09-27 | 2019-12-10 | 北京爱德空港设备工程有限公司 | Integrated navigation aid lamp cleaning and detecting vehicle |
| CN114486188A (en) * | 2022-01-04 | 2022-05-13 | 北京华创空港工程有限公司 | Light intensity detection system for airfield lights |
-
2015
- 2015-09-18 CN CN201520722775.XU patent/CN205003546U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018116032A1 (en) * | 2016-12-19 | 2018-06-28 | Airport Authority | Automated airfield ground lighting inspection system |
| US10891727B2 (en) | 2016-12-19 | 2021-01-12 | Airport Authority | Automated airfield ground lighting inspection system |
| CN107478215A (en) * | 2017-07-26 | 2017-12-15 | 中国人民解放军空军勤务学院 | Based on the azimuthal airfield aid luminosity Characteristics Detection instrument localization method of runway |
| CN107478215B (en) * | 2017-07-26 | 2020-11-06 | 中国人民解放军空军勤务学院 | Runway azimuth angle-based positioning method for photometric characteristic detector of airport navigation aid lamp |
| CN110549254A (en) * | 2019-09-27 | 2019-12-10 | 北京爱德空港设备工程有限公司 | Integrated navigation aid lamp cleaning and detecting vehicle |
| CN114486188A (en) * | 2022-01-04 | 2022-05-13 | 北京华创空港工程有限公司 | Light intensity detection system for airfield lights |
| CN114486188B (en) * | 2022-01-04 | 2024-04-09 | 北京华创空港工程有限公司 | Airport light intensity detection system |
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