CN205263980U - Monitoring system of airport runway foreign matter - Google Patents
Monitoring system of airport runway foreign matter Download PDFInfo
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- CN205263980U CN205263980U CN201521018793.6U CN201521018793U CN205263980U CN 205263980 U CN205263980 U CN 205263980U CN 201521018793 U CN201521018793 U CN 201521018793U CN 205263980 U CN205263980 U CN 205263980U
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Abstract
The utility model relates to a monitoring system of airport runway foreign matter, this system include that FOD dedicated network and a plurality of FOD monitoring points, wireless access point, data center, control center, airport private network be connected, wireless access point and hand held mobile terminal connection obtain repayment, visit and foreign matter information and send the clearance foreign matter and indicate, the FOD dedicated network obtains flight plan, foreign matter affirmation, monitoring point control, database operation and monitoring point control command, data fusion result, video concatenation signal, obtain monitoring point passback, foreign matter, repayment, access control center state information, data center obtains the control of FOD monitoring point and database operating instruction, passback, repayment visit, control center and wireless access point state information, control center obtains flight plan, data fusion result, video concatenation signal, the FOD monitoring point obtains foreign matter affirmation instruction and confirms foreign matter information. The utility model discloses effectively reduce the false -alarm, improve system reliability.
Description
Technical field
The utility model belongs to object detection and the recognition technology field in field of image recognition, relates to particularly useIn monitoring system and the method for airfield runway foreign matter.
Background technology
For airport security operation, realize extremely important to the complete supervision of runway. In busy airport, byIn aircraft and the frequent duty runway of other vehicles, cause runway constantly to sustain damage, produce and be similar to hollow like thisDamage. Under cas fortuit, on runway, also there will be because takeoff and landing, wake flow and other reasons causeForeign matter. These foreign matters can cause the economic loss of airplane crash, casualties and airline.
For the problems referred to above of airfield runway, industry adopts diverse ways monitoring runway: such as tradition relies on workThe runway pavement that the regular soft strip of the personnel that do is walked about by certain rule is manually investigated. But, rely on people's naked eyes to enterRow investigation is poor efficiency and utmost point consumption manpower. In addition, affected by runway environment, artificial investigation is insecure.
Some airports are used radar system automatically to monitor the danger that runway damage, foreign matter and intersection may occurSituation. Its concrete grammar is by runway launched microwave signal, and the mode that receives reflected signal is examinedSurvey and analyze. Because microwave signal is pulse or structure, therefore can by calculate signal arrive receiver timeBetween obtain the distance between foreign matter and radar. Because the wavelength of radar sensor is shorter, and pulse overlap frequencyHeight, therefore, utilizing radar sensor is can realize high range resolution ratio and reduce ground clutter impact.But, use radar system to monitor there is its limitation for runway: radar has high inspection for metal objectSurvey effect, but insensitive for the non-metallic objectsit is not a metal object of rubber and so on; Adopt radar system cannot avoid thunder completelyReach blind area and some other obstacle or fixation means (such as) impact that testing result is caused; For someThe foreign matter false-alarm that the strong signal of minute metallic object reflection causes is also difficult to get rid of.
Other airport utilizes infrared or thermal imaging system detection foreign matter, avoids potential conflict, but, infraredOr the infrared ray that thermal imaging system can only be launched by sense object realizes detection, for temperature and the ring of objectTemperature approaching situation in border is helpless. With respect to environmental background temperature, the heat of wisp is less, infraredOr thermal imaging system is difficult to detect. Particularly under some extreme abnormal weather conditions (such as: cold day orHot day), infrared or thermal imaging system is subject to has the greatest impact. In addition infrared or picture that thermal imaging system becomes,Lose the information such as edge, color of object, be unfavorable for confirmation and the resolution of foreign matter.
Also have some airports to utilize video camera, return picture signal by video camera and process and send outNow, with identification foreign matter, but also there are some problems in this method of utilizing video camera: to complicated and changeableAirfield runway environment do not possess adaptability widely, can produce a large amount of false-alarms.
Four known class detection systems have at present:
The Fodetect of Xsight company system appearance, the Fodetect system of Xsight company of Israel, it adoptsMillimetre-wave radar and near-infrared optical sensor, be arranged on runway edge lights or side, millimetre-wave radar operating waveSection is 76～77GH, sensor node One's name is legion, and lower deployment cost is high, because being placed in runway side, sensingDevice is subject to stained, later maintenance maintenance difficulty. Referring to: USPatent20090243881 (USPC classification number340905)。
The iFerret of Stratech company system appearance, the iFerret system of Strech company of Singapore, it adoptsPure optical system is optical pickocff, and optical pickocff is arranged on above turntable, turntable be arranged on above pylon orTop, but optical system is not so good as radar sensor to airport complex environment adaptability (illuminance abrupt variation, rain, mist),Cause detecting performance limited; USPatent20110063445.
The Tarsier system appearance of Qinetiq company, the Tarsier system of Qinetiq company, it adopts millimeterRipple detections of radar, video monitoring equipment is confirmed, millimetre-wave radar service band 94.5GHz. Radar sensor andVideo monitoring equipment is installed on pylon simultaneously, and pylon is positioned at runway ends. System works distance is longer, coversScope is wider, therefore small size foreign matter is detected to poor effect; Be furnished with in addition the optical camera for confirming purposes,Radar antenna is arranged on above pylon, and optical camera is arranged on radome side, confirms one for foreign matterBar runway only need to respectively be disposed at runway two 1 cover tower-type hybrid sensor. With reference to European utility model EP1869496B1。
The Fodfinder system appearance of Trex company, the vehicle-mounted Fodfinder of TrexEnterprises company isSystem, has two kinds of styles: first item: FodfinderXM series, and adopt millimetre-wave radar to detect, be furnished with in additionConfirm purposes optical camera, radar antenna and optical camera are arranged on vehicle roof; Millimetre-wave radar working frequency range77～81GHz, vehicular duration of work need be closed runway, and soft strip detects, occupy the runway, therefore alsoDo not improve runway utilization rate. FodfinderXF series, millimetre-wave radar sensor and optical pickocff are installed onPylon top, millimetre-wave radar working frequency range 77～81GHz, millimetre-wave radar for detection of with find foreign matter,Optical pickocff is for confirming. Referring to US7782251B2.
Utility model content
The problem existing for prior art, the purpose of this utility model is to provide one can be in conjunction with radar and opticsThe advantage of sensor, is deployed in radar and optical pickocff near runway jointly, and by the side of information fusionFormula judges sensor result, thereby effectively reduces false-alarm, the airfield runway of raising system reliabilityThe monitoring system of foreign matter and method.
The utility model provides a kind of monitoring system of airfield runway foreign matter, and this system comprises: with multiple FODThe FOD dedicated network that monitoring point, WAP, data center, control centre, airport private network connect;The hand-held mobile terminal being connected with WAP;
Described hand-held mobile terminal, obtains WAP and forwards the foreign matter information that FOD dedicated network transmits,And transmission cleaning foreign matter instruction; Hand-held mobile terminal sends it back feedforward information, visit information to WAP;
Described FOD dedicated network, obtains the monitoring point back information that send each FOD monitoring point; Acquisition machineThe flight plan that field private network sends; Obtain foreign matter that control centre sends confirm instruction, monitoring point control instruction,Foreign matter information, control centre's status information, database operating instruction; Obtain the data fusion that data center sendsResult, video-splicing signal, monitoring point control instruction; Obtain feedback information, hand-held the moving of hand-held mobile terminalThe visit information of moving terminal, the status information of WAP;
Described data center, obtains monitoring point back information, the control of FOD monitoring point of the transmission of FOD dedicated networkInstruction processed, hand-held mobile terminal feedback information, hand-held mobile terminal visit information, control centre's status information,Database operating instruction, wireless access three-point state information;
Described control centre, the flight plan, the data fusion that obtain FOD dedicated network transmission airport private network are tiedReally, video-splicing signal;
Described each FOD monitoring point, the foreign matter that obtains the transmission of FOD dedicated network is confirmed instruction, for to differentThing information is confirmed.
Useful technique effect:
The technical problem of the solution of the utility model system and advantage: system can be used for monitoring, finding and localization machineField runway foreign matter, runway pavement state (road facial cleft line, accumulated snow, ponding, visibility), auxiliary or alternative biographySystem manual inspection, the runway of having avoided manual inspection to bring takies and patrols and examines integrity problem, improves airport and runsThe road rate of passing through, has ensured flight safety.
The foreign matter precise position information obtaining by handheld terminal, the airport electronic chart carrying in conjunction with handheld terminalCan guide foreign matter cleaning work personnel accurately and timely to arrive foreign matter spot, carry out foreign matter cleaning work; DifferentIn thing scale removal process, also can find foreign matter be encoded, register, be taken pictures by handheld terminal and by theseFeedback information is beamed back; The visit information sending by handheld terminal, foreign matter cleaning work personnel can pass through wireless interfaceEnter a remote access data storehouse, carry out Data Update, user profile change operation. Hand-held mobile terminal hasAbove-mentioned functions makes foreign matter cleaning work personnel's work more efficient and convenient.
FOD monitoring system is the important equipment that affects Airport Operation safety, therefore, and independently FOD private networkNetwork has ensured enough communication bandwidths and stable transfer of data on the one hand, also makes on the other hand operational system can notAirport existing communication network is caused and disturbed and impact. FOD dedicated network is born the data between each subsystemTransmission, instead of carry out data between subsystem and direct transfer, the benefit of doing is like this: reduced network systemComplexity and coupling, between subsystem, interactional possibility reduces. Make system have good simultaneouslyAutgmentability, can successfully manage the system variation causing because of airfield runway reorganization and expansion.
On hardware, because being limited by the space of terminal and other buildings, above-mentioned information is generally by being positioned at same machineData center in room focuses on, and is so also convenient to follow-up operation guarantee simultaneously; In software and system layerFace, divides function, by separately independent deployment of data center, client terminal and control centre, is conducive to like thisThe upgrade maintenance of system each several part, also meets airport user's demand: airport user can not be concerned about.
Control centre can judge whether foreign matter according to data fusion result; Control centre also can be according to flight planFormulate FOD monitoring point scanning strategy, foreign matter cleaning plan, inform how long foreign matter cleaning work personnel haveBe used for clearing up foreign matter. Video-splicing signal can intuitively be presented on control by the monitoring picture of runway pavement and runway stateIn face of central task personnel processed, for carrying out decision-making, control centre provides foundation. These have all effectively improved in controlThe acquisition capability of the heart to runway foreign matter information, is conducive to control centre and grasps runway state and improve decision-making capability.
Confirm by foreign matter, can further prevent the generation of FOD monitoring system false-alarm, avoided because of falseness differentThing alarm affects the generation of airport normal operation.
The utility model is compared with above-mentioned prior art, and the utility model is in system architecture design and data processing sideFace has its originality, is also embodied in:
(1) be different from other pylon type systematics, the optical pickocff in the utility model FOD monitoring point has twoClass, a class is specifically designed to detection, makes up radar sensor to the insensitive shortcoming of non-metallic material foreign matter;
(2) be different from cowl lamp class and Vehicle-carrying type steel system, adopt tower-type system deployment way.
(3) be different from the pure optical system of pylon class, by the optical pickocff in the utility model FOD monitoring pointThe optical pickocff and the technical scheme of confirming that purposes optical pickocff function separates that adopt detection applications, detect and useWay optical pickocff adopts and focuses fixed test pattern, can effectively avoid like this two problems:
A. the optical pickocff detecting and confirm one is after confirming, transmission device cannot accurately be returned to originalPosition, causes empty Jiao, and impact detects effect;
B. detect and confirm that the optical pickocff of one adopts presetting bit mode of operation in the course of the work, of long durationAfter, mechanical device can wear and tear to some extent, causes return precise decreasing, and impact detects and locating effect.
Take into full account the radar in FOD monitoring point in the angle of system architecture hardware design of the present utility modelCharacteristic with optical pickocff:
(1) radar sensor is by runway launched microwave signal, and the mode that receives reflected signal is enteredRow determination and analysis. Because microwave signal is pulse or structure, therefore can arrive receiver by calculating signalTime obtain the distance between foreign matter and radar sensor. Because the wavelength of radar sensor is shorter, and arteries and veinsRush overlapping frequency high, therefore, utilizing radar sensor is can realize high range resolution ratio and reduce groundThe impact of face clutter. But, use radar system to monitor there is its limitation for runway: radar is for metal objectThere is high detection effect, but insensitive for the non-metallic objectsit is not a metal object of rubber and so on; Adopt radar system withoutMethod avoid completely radar shadown and some other obstacle or fixation means (such as) shadow that testing result is causedRing; The foreign matter false-alarm causing for the strong signal of some minute metallic object reflections is also difficult to get rid of.
(2) optical pickocff detecting for airfield runway foreign matter comprises that infrared, near-infrared and ordinary optical passSensor. Infrared ray infrared or that thermal imaging system can only be launched by sense object is realized detection, for objectTemperature and the approaching situation of environment temperature helpless. With respect to environmental background temperature, the heat of wispLess, infrared or thermal imaging system is difficult to detect. Particularly under some extreme abnormal weather conditions (such as:Cold day or hot day), infrared or thermal imaging system is subject to has the greatest impact. In addition infrared or thermal imaging system,Become picture to lose object the information such as edge, color, be unfavorable for confirmation and the resolution of foreign matter. And normal opticalLearn sensor detection foreign matter and also have some problems: airfield runway environment complicated and changeable is not possessed suitable widelyYing Xing, can produce a large amount of false-alarms.
The utility model is in system architecture, in conjunction with the These characteristics of optical pickocff and radar sensor, to sameOne surveyed area, adopts optical pickocff and radar sensor to mix the mode detecting, and forms the mutual of detectabilityMend, effectively avoided the inherent shortcoming of single class sensor; In data processing aspect, to radar sensor and lightLearn the mode that sensor testing result adopts data fusion, thereby finally ensured low false-alarm and the Supreme People's Procuratorate of FODSurvey rate;
Radar sensor and optical pickocff operation principle and mode aspect hardware design, are taken into full account notWith. Radar sensor adopts continuous sweep mode, and it transmits and receives antenna arrangements in having turning of horizontally rotatingAbove platform; Optical pickocff is divided into two classes, and a class is detection applications sensor, another kind of for confirming purposes opticsSensor, it is installed on radar antenna rear, does not affect the rotation of radar antenna and the transmitting of signal and receives.
The function distinguishing design of optical pickocff: aspect the selection of optical pickocff, detect and confirm by foreign matterFunction divide the work, select the dissimilar optical pickocff of class.
For detection of optical pickocff adopt and focus pattern, and be fixed on pylon top, be tight shot andThe combination of camera, the burnt situation of void of effectively having avoided on the one hand zoom lens to occur in motion detection process;Also avoided on the other hand because confirming and detect that the camera lens that a shared camera lens causes cannot after zoom is confirmedAccurately be returned to detection position, thereby cause the problem of image detection hydraulic performance decline.
Confirming sensor Long-distance Control adjusting focal length, aperture etc. as required for the optics of confirming, is long burntThe combination of camera lens and low-light (level) web camera, is placed in above the turntable that has pitching and horizontally rotate function.
Detection data fusion judgement: for reducing false alarm rate, outside radar and optical system detection, increased baseFOD in data fusion judgement filters link, has proposed time-domain filtering correlating method, effectively reduces false-alarmRate, has alleviated the work load that client operation personnel foreign matter is confirmed.
Brief description of the drawings
Fig. 1 is the monitoring system configuration diagram of the utility model for airfield runway foreign matter;
Fig. 2 is the schematic diagram that the monitoring system of the utility model tower-type airfield runway foreign matter is disposed;
Fig. 3 is the utility model FOD monitoring point outward appearance schematic side view;
Fig. 4 is the position relationship schematic diagram between FOD monitoring point, taxiway and runway center line marking;
Fig. 5 is that the utility model optical pickocff is settled top view;
Fig. 6 is the embodiment of the monitoring system of the utility model airfield runway foreign matter;
Fig. 7 is the signal of the utility model guarded region edge extracting;
Fig. 8 is the specific embodiment of the utility model for the monitoring system of airfield runway foreign matter.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with concrete enforcementExample, and with reference to accompanying drawing, the utility model is further described.
Refer to Fig. 1 and illustrate, the utility model is used for the embodiment 1 of the foreign body monitoring system framework of airfield runway,This system adopts distributed arrangement, considers that sensor node is numerous, in system architecture design, considers a point componentThe mentality of designing that layer is controlled, this system architecture comprises:
With many FOD monitoring point A, WAP C, the D of data center, the E of control centre, airport private network GThe FOD dedicated network B connecting;
The hand-held mobile terminal F being connected with WAP C;
Described hand-held mobile terminal F, obtains WAP C and forwards the foreign matter that FOD dedicated network B transmitsInformation, and send the instruction of cleaning foreign matter; Described hand-held mobile terminal F sends feedback letter to WAP CBreath, visit information;
Described FOD dedicated network B, obtains the monitoring point back information that each FOD monitoring point A sends;Obtain the flight plan that airport private network G sends; Obtain foreign matter confirmation instruction, monitoring that the E of control centre sendsPoint control instruction, foreign matter information, control centre's status information, database operating instruction; Obtain the D of data centerThe data fusion result, video-splicing signal, the monitoring point control instruction that send; Obtain hand-held mobile terminal FFeedback information, the visit information of hand-held mobile terminal F, the status information of WAP C;
The described D of data center, obtains monitoring point back information, the FOD monitoring of FOD dedicated network B transmissionIn some A control instruction, hand-held mobile terminal F feedback information, hand-held mobile terminal F visit information, controlHeart E status information, database operating instruction, WAP C status information;
The described E of control centre, flight plan, the data of acquisition FOD dedicated network B transmission airport private network GFusion results, video-splicing signal; Described data fusion result can be presented in control centre's display client; Depending onFrequently splicing signal can be presented in control centre's demonstration large-size screen monitors, for staff provides panorama real-time pictures;
Described each FOD monitoring point A, the foreign matter that obtains FOD dedicated network B transmission is confirmed instruction, usesIn foreign matter information is confirmed.
Preferred embodiment, the described E of control centre, according to flight plan, sends prison via FOD dedicated network BMeasuring point control instruction, to monitoring point A, is controlled the work of each FOD monitoring point A.
Preferred embodiment, described control centre status information can be sent to data center via FOD dedicated network BD, so that condition monitoring server carries out condition monitoring.
Preferred embodiment, described database operating instruction is sent to the D of data center via FOD dedicated network B,Carry out data access, amendment, renewal, deletion action.
Preferred embodiment, the described D of data center carries out signal processing according to monitoring point back information, obtains finalForeign matter testing result, the simultaneously monitoring state to FOD monitoring point A according to monitoring point back information;
The described D of data center obtains the monitoring point of the E of control centre transmitting via FOD dedicated network B and controlsInstruction, and its Control Server via the D of data center and FOD dedicated network B are sent to FODMonitoring point A;
The described D of data center obtains the hand-held mobile terminal F feedback and the visit that send via FOD dedicated network BAsk information, further the database of the D of data center is operated;
The described D of data center obtain the E of control centre sending via FOD dedicated network B status information,The status information of WAP C, for carrying out condition monitoring to the E of control centre and WAP C.
Preferred embodiment, described video-splicing signal and data fusion result, via FOD dedicated network, B sends outDeliver to the E of control centre, monitoring point control instruction can send to FOD monitoring point A via FOD dedicated network B.
Embodiment 2
Continuous refer to Fig. 1 and Fig. 2 illustrates, the monitoring system of the utility model tower-type airfield runway foreign matter is disposed,During this monitoring system is disposed and is comprised with many FOD monitoring point A, WAP C, the D of data center, controlsThe FOD dedicated network B that heart E, airport private network G connect; What be connected with WAP C is hand-held eventually mobileEnd F; Wherein:
Described FOD monitoring point A is tower-type, and FOD monitoring point A comprises: FOD monitoring point A1, FODMonitoring point A2 ..., FOD monitoring point An. Each FOD monitoring point A comprises that pylon Ana and FOD mixClose acquisition sensor Anb; The described D of data center comprises database D 1, server D2; Described databaseD1 comprises picture database D11, radar database D12, FOD database D 13; Described server D2Comprise detection algorithm server zone D21, data fusion server zone D22, radar message processing server D23,System status monitoring server D24, Control Server D25, tiled display server D26, mobile management clothesBusiness device D27. The described E of control centre comprises multiple FOD terminals seat. Described hand-held mobile terminal F comprisesHand-held mobile terminal F1, hand-held mobile terminal F2 ..., hand-held mobile terminal Fn.
FOD dedicated network B and described many FOD sensing point A1, A2 ..., An, described WAP C,Described database D 1 comprises picture database D11, radar database D12, FOD database D 13, described inServer D2 comprises detection algorithm server zone D21, data fusion server zone D22, the processing of radar messageServer D23, condition monitoring server D24, Control Server D25, tiled display server D26, moveMoving management server D27, the described E of control centre and described airport private network G connect. WAP CComprise hand-held mobile terminal F1 with corresponding hand-held mobile terminal F, hand-held mobile terminal F2 ..., hand-held movingMoving terminal Fn connects.
Many FOD sensing point A1, A2 ..., An is laid in runway one side; Described FOD mixes detection sensingThe concrete quantity of the optical pickocff of device and millimetre-wave radar sensor is according to airfield runway scale and actual deploymentSituation is determined. Described optical pickocff, for gathering and return picture; Millimetre-wave radar sensor emission and connecingReceive antenna, realize the continuous sweep to runway monitored area.
FOD network B is FOD dedicated network B independently, and FOD network B adopts optical fibre transmission;
WAP C, is connected with FOD network B; The E of control centre is by FOD network B and wirelessAccess point C, sends to hand-held mobile terminal F1 by foreign matter information, F2 ..., Fn; Meanwhile, hand-held movementTerminal F1, F2 ..., Fn, by the database D 1 of WAP c visit data center D, uploads differentThing result; Described foreign matter result be foreign matter numbering, size, material, discovery position, discovery time,Foreign matter handler.
The described D of data center comprises database D 1, server D2;
The described picture database D11 that draws together database D 1, store and management is from each FOD monitoring point AThe original image of passback; Described radar database D12, the data that store and management is relevant to radar sensor;FOD database D 13, the related data of store and management FOD monitoring point A and the final inspection of storage foreign matterSurvey type, size, weather conditions, foreign matter occurrence positions, the source of result and foreign matter, the letter of discovery timeBreath; Described different described thing testing result comprises:
(1) the foreign matter testing result of millimetre-wave radar sensor passback comprises: whether find the pact calibration of foreign matterWill. If discovery foreign matter also comprises except agreement mark: time, foreign matter azimuth and the distance of finding foreign matter passThe numbering of the oblique distance of sensor and FOD monitoring point A;
(2) the detection algorithm server zone D21 of described server D2 mainly processes from optical pickocff and returnsThe signal passing, the image that optical pickocff is returned is processed the testing result of rear acquisition, the detection knot of acquisitionFruit comprises: whether find the agreement mark of foreign matter, if find foreign matter, except agreement mark, also comprise: FODThe numbering of location of pixels, FOD discovery time, FOD monitoring point A.
(3) described testing result is that millimetre-wave radar sensor and the optics being positioned on the A of FOD monitoring point passesThe testing result of sensor to same monitored area.
Described data fusion server zone D22, processes from FOD monitoring point return path signal, to obtaining FODThe millimetre-wave radar sensor of monitoring point A and the testing result of optical pickocff are carried out fusion treatment, are meltedClose result;
Described fusion results refers to: if millimetre-wave radar sensor or optical pickocff detect foreign matter, through numberAccording to the result of converged services device group D22 output. Its content comprises: foreign matter gps coordinate (WGS-84 coordinateForm), find foreign matter time, find foreign matter monitoring point numbering, find foreign matter sensor type (in the leastMetre wave radar sensor, optical pickocff).
Described radar message processing server D23, is responsible for passback, parsing and the distribution of radar message;
Described system status monitoring server D24, for monitoring whole system software, hardware, network, power supplyVarious states;
Described Control Server D25, is responsible for the distribution of remote control signal, enters such as controlling FOD monitoring pointRow foreign matter is confirmed, controls the initialization of FOD monitoring point and restarts work;
Described tiled display server D26 is by FOD sensing point A passback picture tiled display, complete with runwayScape mode is intuitively dedicates staff to;
Described mobile management server D27, is responsible for the management of handheld terminal F and the distribution of foreign matter message;The E of control centre, is made up of some FOD terminals seat, is mainly used in showing through data fusion server D22The testing result that group provides, and FOD monitoring point A passback picture; Pattern manipulation interface is provided simultaneously, makesStaff can send foreign matter confirmation signal to Control Server D25 by this operation interface.
Hand-held mobile terminal F, makes staff can accurately arrive foreign matter spot. Hand-held mobile terminal F1,F2, Fn, staff can pass through hand-held mobile terminal F1, F2 ..., Fn accurately arrives foreign matter spot.
Airport private network G, is connected with the E of control centre by FOD network B, can obtain schedule flight plan,In the landing moment, the information such as type, are conducive to that foreign matter is cleared up, traced to the source, the carrying out of statistic analysis;
Embodiment 3
Refer to one group of FOD monitoring point A of foreign body monitoring system for airfield runway that Fig. 3 illustrates Fig. 1Outward appearance schematic side view, described FOD monitoring point A adopts tower-type, some FOD monitoring point A adoptDistributed arrangement, wherein: every group of FOD monitoring point A comprises: pylon Ana, FOD mixing acquisition sensorAnb; Described FOD mixing acquisition sensor Anb is placed on the top of pylon Ana. Wherein: described pylonAna comprises: the An1 of tower foundation portion, auxiliary equipment An2, tower body An3, support portion An4, base An5.Described FOD mixing acquisition sensor Anb is by radar sensor An6, optical detecting sensor An7, lightLearn and confirm sensors A n8 and tower-type arrester An9 composition, wherein;
Refer to Fig. 4 and illustrate, the position relationship signal between FOD monitoring point A, taxiway and runway center line markingFigure; FOD monitoring point A is deployed in runway one side, and described FOD mixing acquisition sensor Anb is in runwayLinear distance is far away, and according to domestic related specifications requirement, ordinary circumstance distance is greater than 150 meters, in actual installation mistakeCheng Zhong, for ensureing effective monitoring height and the boat of optical detecting sensor An7, optics confirmation sensors A n8Empty safety, optical detecting sensor An7, optics confirm that sensors A n8 position is outside 200 meters of runway center line markingsEven farther.
Tower foundation An1, generally considers the steadiness of pylon Ana, second of described tower foundation An1Part need to be buried and is placed in foundation ditch;
Auxiliary equipment An2, is arranged at tower foundation An1 upper, and described auxiliary equipment An2 is that described FOD is mixedThe power supply station of closing acquisition sensor Anb needs power management node, no-break power unit, network service requiredThe outdoor cabinet that facility is laid;
Tower body An3, is arranged between tower foundation An1 and base An5 and is fixedly connected with, for support towerThe auxiliary equipment An2 at frame Ana top, the while is being also attached on tower body An3 of cable wiring;
Support portion An4, is arranged at base An5 and goes up and be fixedly connected with; Support portion An4 is the top of pylon AnaPortion's guardrail and for the support section of manual working;
Millimetre-wave radar sensors A n6 and optics are confirmed sensors A n8, are arranged at base An5 and go up and fixConnect;
Millimetre-wave radar sensors A n6 is made up of radar transmit-receive antenna An61 and radar component An62, instituteStating radar transmit-receive antenna An61 is the dual-mode antenna part of FOD mixing acquisition sensor; Described radar componentAn62 is made up of jointly precision level transmission device, Radar Signal Processing module, Radar Signal Transmission module.
Optical detecting sensor An7, is arranged at support portion An4 upper, for obtaining runway pavement surveyed areaImage frame;
Optics is confirmed sensors A n8, is arranged at base An5 and goes up and be fixedly connected with;
Optics confirms that sensors A n8 comprises pillar and horizontal tilt running part An81, and there is net An8 insideNetwork and supply line, also comprise: camera lens, video camera and shell guard shield part An82, and for the confirmation of foreign matter.
Tower-type arrester An9, is arranged at support portion An4 and goes up and be fixedly connected with, for the protection of pylon AnaThe auxiliary equipment An2 of upper installation, millimetre-wave radar sensors A n6, optical detecting sensor An7, optics are trueRecognize sensors A n8 and be not subject to lightning damage.
Described monitoring point back information comprises: imaging picture, the millimeter wave of detection applications optical pickocff An7Radar sensor reaches An61 scanning imagery picture, millimetre-wave radar sensor radar An61 testing result, prisonMeasuring point numbering, monitoring point status information, described monitoring point status information is temperature, humidity, network state, hardPart state.
Described foreign matter is confirmed instruction, be mainly used in controlling confirm purposes optical pickocff An82 zoom, focusing,Fine setting, filter opening/closing, aperture adjustment, pitching, left-right rotation are confirmed foreign matter.
Described foreign matter information comprises: be found foreign matter GPS position, discovery time, discovery monitoring point numbering,Foreign matter image, foreign matter type, dimension information.
Described wireless access three-point state information is network state, hardware state.
Hand-held mobile terminal feedback information be the registration record after workman's in-situ processing foreign matter GPS position,Foreign matter discovery time, foreign matter are found monitoring point numbering, foreign matter image, foreign matter type, foreign matter size information.
Hand-held mobile terminal visit information is the necessary data of hand-held mobile terminal F user accesses data center DStorehouse operational order, described database operating instruction is the behaviour of user account name, password, inquiry, newly-increased, amendmentDo instruction.
Described data fusion result comprises: foreign matter location of pixels, foreign matter gps coordinate, find the foreign matter time,Find foreign matter monitoring point numbering, find foreign matter sensor type (radar sensor, optical pickocff),Foreign matter image.
Described monitoring point control instruction be restart, initialization, shutdown command.
Described control centre status information is temperature, network state, hardware state, the status of software systems.
Described database operating instruction is account login, inquiry, newly-increased, deletion, modify instruction.
For detecting the foreign matter that minimum dimension is Centimeter Level, and radar emission electromagnetic wave does not disturb other electronics of airportThe normal operation of equipment. On working frequency range, select millimeter wave band as radar service band. This radar passesThe antenna that transmits and receives of sensor is positioned at above precise rotating platform, realizes runway monitoring section by horizontal transmission deviceThe continuous sweep in territory.
The arrangement top view that refers to Fig. 5 optical pickocff is as follows: through experiment, can meet tower-type FODThe optical pickocff detecting can be classified again two types by purposes:
Class1: optical detecting sensor An7 is detection applications optical pickocff
For can be to being of a size of the foreign matter blur-free imaging of Centimeter Level hundreds of meters of distances, and by day with night allEnergy normal imaging, optical detecting sensor An7 selects to focus high definition camera lens and large target surface low-light (level) phase by long JiaoMachine forms jointly. When work, camera lens is fixedly mounted on the guardrail top of support portion An4 in pylon Ana, everyIndividual camera lens is responsible for a FX, and by monitored area picture passback control centre.
Type 2: optics confirms that sensors A n8 is for confirming purposes optical pickocff
Optics confirms that sensors A n8 adopts long burnt zoom lens, low-light (level) web camera, is arranged on pitchingAbove transmission mechanism. Control centre can pass through the horizontal transmission mechanism of remote network control, pitch drive mechanism, controlMake this sensor and find region to foreign matter, then realize the blur-free imaging to foreign matter by zoom focusing function.
Refer to the embodiment of the utility model shown in Fig. 6 for the monitoring system of airfield runway foreign matter, described systemThe monitoring of system comprises the steps:
Step S1: the millimetre-wave radar sensor of each FOD monitoring point, extracts different in runway guarded regionThing information; Meanwhile, the optical pickocff of each FOD monitoring point, obtains the image of corresponding guarded region foreign matterData;
Step S2: described millimetre-wave radar sensor is by foreign matter direct information radar message processing server, thunderReach the data fusion server zone D22 that message processing server is sent to foreign matter information data center;
Described optical pickocff is by the detection algorithm server zone D21 of foreign matter direct information data center, described inspectionMethod of determining and calculating server zone D21 sends the radar data that detects foreign matter;
Step S3: radar data and the view data coordinate of described data fusion server zone D22 to foreign matter entersRow conversion, makes the radar of foreign matter and the alignment of the data space-time of image data source carry out data fusion judgement, obtains trueReal foreign matter information;
Step S4: control centre's client, to foreign matter information, is confirmed, differentiated and cleaning foreign matter.
Refer to Fig. 8 and illustrate, the monitoring system specific embodiment for airfield runway foreign matter:
Step W1～W7 millimetre-wave radar sensor detects, and has simply described millimetre-wave radar sensor and has completed raceThe whole flow process that road guarded region scanning, signal reception, processing and foreign matter extract. At millimetre-wave radar sensorDetection in, the horizontal transmission device of millimetre-wave radar sensor dependence completes the continuous sweep W1 to guarded region;In addition, because operating distance is far away, the design that generally adopts dual-mode antenna to separate, next with special reception antennaReceive reflected signal W2; Receive after radar appearance, need to its carry out Fourier transformation, sampling,Digital-to-analogue conversion series of standards signal processing flow W3; For the outer Weak target of hundreds of rice being detected, in design,The sensitivity of millimetre-wave radar sensor is far above ordinary radar, but this also causes noise signal more intense, needsClutter reduction signal W4; In addition, radar duration of work, may have takeoff and landing above runway, therefore needsCarry out moving-target and filter W5; Reduce false-alarm for improving verification and measurement ratio, can take two measures, measure 1: to canThe foreign matter signal of energy carries out filtering W6 processing, gets rid of the situation such as noise, wild value; Measure 2: press foreign matter materialSet up in advance FOD signal reflex property data base with size, carrying out shown in FOD signal extraction W7 like thisWhen step, can mate with data with existing storehouse;
Step X1～X7 optical pickocff detects, and has simply described the whole flow process that optical pickocff foreign matter detects.The optical pickocff 1 remaining static obtains the picture signal X1 of corresponding guarded region; Through compression of imagesAfter the operations such as decoding X2, become operable digital picture; Low visibility image is strengthened to processingX3; Under long burnt state, camera lens is very responsive to the motion of wind, turntable, has shake, need to be to imageCarry out anti-shake processing X4; After picture registration, the guarded region covering due to picture had both comprised runway, also bagDraw together the part outside runway, the part of runway outside can cause interference to foreign matter image detection algorithm, therefore needsCarry out guarded region rim detection X5, as Fig. 7 illustrates guarded region edge extracting schematic diagram, in figure, mark redLine zone line is that image detection algorithm is paid close attention to region. Determine after image detect regional extent, can enter itThe FOD rim detection X6 of row based on background dynamics renewal, difference and cluster; When completing after foreign matter detection, needTo extract X7 to foreign matter place location of pixels,, select the centroid position of pixel to return as foreign matter hereThe location of pixels returning.
Step Y1-Y3 data fusion judgement, when radar or optical pickocff detect after foreign matter, need to be to itCarry out data fusion judgement, before amalgamation judging, first radar and view data coordinate are changed, make twoThe data space-time alignment Y1 of class data source; Particularly, radar sensor is scaled Descartes's seat by polar coordinatesMark, image is scaled cartesian coordinate by pixel coordinate, both origins of coordinates all using base pylon seat of honour E asThe origin of coordinates; In fusion deterministic process, can run into 2 class situations:
Situation 1: radar sensor and optical pickocff are found foreign matter simultaneously, at this moment needs to carry out target association and sentencesDisconnected, determine certain threshold value, whether be same foreign matter from what find that orientation and time judges both discoveries. If closeJoin unsuccessfully, be used as two foreign matter processing.
Situation 2: the one in radar or optical pickocff is found foreign matter, considers two biographies for aviation safetyAny one in sensor found foreign matter, all should do foreign matter processing, sends alarm.
Radar or optical pickocff all can be encountered the false-alarm causing because of environmental factor in detection, for this class voidAlert, be characterized in existing in certain scanning or certain frame detected image, but in Multiple-Scan or multi frame detection,It occurs it being random, and the position of generation is also random. For this false-alarm, adopt the associated filtering of time domainY2; Adopt radar Multiple-Scan and image multi frame detection, result repeatedly carried out to time-domain filtering processing simultaneously,Can effectively reject false-alarm.
Through the foreign matter retaining after above-mentioned judgment rule, be used as true foreign matter, fed back to control centreClient Y3;
Step Z1-Z2 foreign matter is confirmed cleaning, when control centre's client is during to foreign matter information, can inspire policeReport, reminds staff to have foreign matter to find, staff can be according to flow process control optical pickocff after hearing alarmCarry out foreign matter and confirm Z1 and resolution, be foreign matter and need after cleaning when determining, can by foreign matter information (orientation,Size, material, type) send to hand-held mobile terminal Qn, and notify staff's soft strip to clear upForeign matter Z2.
The above be only the detailed description of the invention in the utility model, but protection domain of the present utility model alsoBe not limited to this, any people who is familiar with this technology, in the disclosed technical scope of the utility model, can understand and thinkThe conversion of arriving or replacement, all should be encompassed in of the present utility model comprise scope within.
Claims (10)
1. a monitoring system for airfield runway foreign matter, is characterized in that, this system comprises: with multiple FODThe FOD dedicated network that monitoring point, WAP, data center, control centre, airport private network connect;The hand-held mobile terminal being connected with WAP;
Hand-held mobile terminal, obtains WAP and forwards the foreign matter information that FOD dedicated network transmits, concurrentSend the instruction of cleaning foreign matter; Hand-held mobile terminal sends it back feedforward information, visit information to WAP;
Described FOD dedicated network, obtains the monitoring point back information that send each FOD monitoring point; Acquisition machineThe flight plan that field private network sends; Obtain foreign matter that control centre sends confirm instruction, monitoring point control instruction,Foreign matter information, control centre's status information, database operating instruction; Obtain the data fusion that data center sendsResult, video-splicing signal, monitoring point control instruction; Obtain feedback information, hand-held the moving of hand-held mobile terminalThe visit information of moving terminal, the status information of WAP;
Described data center, obtains monitoring point back information, the control of FOD monitoring point of the transmission of FOD dedicated networkInstruction processed, hand-held mobile terminal feedback information, hand-held mobile terminal visit information, control centre's status information,Database operating instruction, wireless access three-point state information;
Described control centre, the flight plan, the data fusion that obtain FOD dedicated network transmission airport private network are tiedReally, video-splicing signal;
Described each FOD monitoring point, the foreign matter that obtains the transmission of FOD dedicated network is confirmed instruction, for to differentThing information is confirmed.
2. the monitoring system of airfield runway foreign matter according to claim 1, is characterized in that described dataFusion results can be presented in control centre's display client; Video-splicing signal can be presented in control centre and show largeScreen, for staff provides panorama real-time pictures.
3. the monitoring system of airfield runway foreign matter according to claim 1, is characterized in that described controlCenter, according to flight plan, sends monitoring point control instruction via FOD dedicated network, controls each FOD prisonThe work of measuring point; Described control centre status information can be sent to data center via FOD dedicated network, so thatCarry out condition monitoring in condition monitoring server.
4. the monitoring system of airfield runway foreign matter according to claim 1, is characterized in that described dataStorehouse operational order is sent to data center via FOD dedicated network, carries out data access, amendment, upgrades, deletesExcept operation.
5. the monitoring system of airfield runway foreign matter according to claim 1, is characterized in that described dataSignal processing is carried out according to monitoring point back information in center, obtains final foreign matter testing result, simultaneously according to monitoringPoint back information is to FOD monitoring point monitoring state;
Described data center, the monitoring point control instruction of the control centre that acquisition is transmitted via FOD dedicated network,And its Control Server via data center and FOD dedicated network are sent to FOD monitoring point;
Described data center, obtains the hand-held mobile terminal feedback and the access letter that send via FOD dedicated networkBreath, further operates the database of data center;
Described data center, obtains the control centre's status information, the wireless interface that send via FOD dedicated networkEnter status information a little, for control centre and WAP are carried out to condition monitoring.
6. the monitoring system of airfield runway foreign matter according to claim 1, is characterized in that described videoSplicing signal and data fusion result, send to control centre via FOD dedicated network, and monitoring point is controlled and referred toMake meeting send to FOD monitoring point via FOD dedicated network.
7. the monitoring system of airfield runway foreign matter according to claim 1, is characterized in that each FODMonitoring point comprises: pylon and FOD mixing acquisition sensor; Described FOD mixing acquisition sensor is arranged at towerOn frame, FOD mixing acquisition sensor detects the foreign matter on airfield runway, and foreign matter information is confirmed.
8. the monitoring system of airfield runway foreign matter according to claim 7, is characterized in that described pylonComprise: tower foundation portion, auxiliary equipment, tower body, support portion and base, described tower foundation, its secondPart is buried and is placed in foundation ditch; Described auxiliary equipment, is arranged on tower foundation; Described tower body, is arranged at pylonBetween basis and base and be fixedly connected with, for the auxiliary equipment at support tower top; Described support portion, arrangesOn base and be fixedly connected with.
9. the monitoring system of airfield runway foreign matter according to claim 7, is characterized in that described FODMix acquisition sensor and be by millimetre-wave radar sensor, optical detecting sensor, optics confirm sensor andTower-type arrester composition, wherein: optical detecting sensor, is arranged on support portion, for obtaining runway roadFace surveyed area image frame; Millimetre-wave radar sensor and optics are confirmed sensor, are arranged at base correspondingOn position and be fixedly connected with; The mode of closing detection in conjunction with optical detecting sensor and millimetre-wave radar sensor is rightSame surveyed area forms the complementation of detectability; Tower-type arrester, is arranged on support portion and is fixedly connected with,Be not subject to lightning damage for the protection of the auxiliary equipment of installing on pylon.
10. the monitoring system of airfield runway foreign matter according to claim 9, is characterized in that, described millimeterRipple radar sensor is made up of radar transmit-receive antenna and radar component, and described radar transmit-receive antenna is that FOD is mixedClose the dual-mode antenna part of acquisition sensor; Described radar component is by precision level transmission device, radar signal placeReason module, Radar Signal Transmission module form jointly.
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| CN201521018793.6U CN205263980U (en) | 2015-12-09 | 2015-12-09 | Monitoring system of airport runway foreign matter |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105389921A (en) * | 2015-12-09 | 2016-03-09 | 中国民用航空总局第二研究所 | Airport runway foreign body monitoring system and method |
| CN106965946A (en) * | 2016-07-14 | 2017-07-21 | 科盾科技股份有限公司北京分公司 | A kind of method and apparatus that landing security is improved based on detection obstacle |
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2015
- 2015-12-09 CN CN201521018793.6U patent/CN205263980U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105389921A (en) * | 2015-12-09 | 2016-03-09 | 中国民用航空总局第二研究所 | Airport runway foreign body monitoring system and method |
| CN105389921B (en) * | 2015-12-09 | 2019-03-26 | 中国民用航空总局第二研究所 | A kind of monitoring system and method for airfield runway foreign matter |
| CN106965946A (en) * | 2016-07-14 | 2017-07-21 | 科盾科技股份有限公司北京分公司 | A kind of method and apparatus that landing security is improved based on detection obstacle |
| CN106965946B (en) * | 2016-07-14 | 2019-06-18 | 科盾科技股份有限公司 | A kind of method and apparatus improving landing safety based on detection obstacle |
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