CN209456818U

CN209456818U - Multiple entry runway is anti-to scratch system

Info

Publication number: CN209456818U
Application number: CN201821692135.9U
Authority: CN
Inventors: 高秋悦; 张硕; 谢悦; 焦英杰
Original assignee: BEIJING CAPITAL INTERNATIONAL AIRDROME Co Ltd
Current assignee: BEIJING CAPITAL INTERNATIONAL AIRDROME Co Ltd
Priority date: 2018-10-18
Filing date: 2018-10-18
Publication date: 2019-10-01
Anticipated expiration: 2028-10-18

Abstract

The utility model provides that a kind of multiple entry runway is anti-to scratch system, and the anti-system that scratches of the multiple entry runway includes: processor and the safety zone for being set to each runway threshold, probe unit, position guidance display screen and current display screen；Safety zone is arranged in runway threshold, and safety zone is the terminating point that berths close to runway side, is starting point of berthing close to taxiway side；Probe unit is used to detect the position of the head and empennage into the aircraft of safety zone；Processor communication is connected to probe unit, position guidance display screen and current display screen.The multiple entry runway is anti-to scratch the designated position that system can guide aircraft to be moored to runway threshold, be able to detect taxiway whether can normal pass, and play instruction and forewarning function for subsequent aircraft.

Description

Multiple entry runway is anti-to scratch system

Technical field

The utility model belongs to aviation field, scratches system more particularly, to a kind of multiple entry runway is anti-.

Background technique

Chinese Civil Aviation is quickly grown, and flight amount is increasing, also more and more vigorous to the operation demand of airfield runway.For Meet flight use demand, improve runway service efficiency, more and more airports have selected multiple entry runway as airport race The type selecting in road, multiple entry are with the maximum difference of single entry runway: multiple entry runway is maximum compared with the runway of single entry Advantage is that aircraft can enter multiple runway thresholds in advance, and then sequentially enter runway, relative to single entry runway, is saved Aircraft enters from taxiway the time of runway threshold ground taxi.By this advantage of multiple entry runway, peak period is every Hour multiple entry runway than single entry runway can the flights of more 2.8 sorties of drop should in today that flight number is increasingly saturated Number should not be underestimated.Multiple entry runway is increasingly becoming the inevitable choice of airfield runway configuration.According to data statistics, 2016, 10 more than national two millions airports, runway is multiple entry runway.Moreover, multiple entry runway also becomes new reconstruction airport Primary type selecting.

But the security risk that multiple entry runway is difficult to avoid that there is one, as shown in Figure 1, having when in runway threshold B When aircraft is parked, the aircraft of rear taxiway if you need to the taxiway continuation after runway threshold B slide forward into Enter runway threshold A, as the aircraft in runway threshold B park it is not in place, it is most likely that cause two frame aircrafts to scratch.In capital Airport recurs the event that two such aircrafts scratch at runway end in 2010 and 2014.Aircraft scratches event, and one Aspect causes aircraft to damage, and increases aircraft maintenance cost, affects travelling；It on the other hand, may shadow when serious Ring the personal safety of passenger and unit.

Meanwhile civil aviation authority is not yet directed to aircraft and is strictly limited in runway threshold holding fix, only in " civil airport Movement area technical standard " and the unit reference books of airline in require " as close as possible to runway holding fix, but to invade Runway holding fix ", and scene lacks effective instruction or prompt mark, unit is only capable of by live runway holding fix mark Note board comes the position of subjective judgement oneself.Part of generating units is that aircraft slide is avoided to cross line, causes runway to invade, takes more and waiting The mode of braking is taken to position the last period distance.Shown according to Capital Airport scene early period tracking result: 80% or more navigates Pocket stops sliding in 10-20 meters of holding fix of section in head, and about 5% unit is after incision aircraft enters bit line Stop, influencing the taxiway normal use at aircraft rear.

Currently, control tower can only command aircraft to detour or command aviation in the case where runway threshold has aircraft occupancy Device waits (runway threshold in front is idle) outside runway threshold, seriously constrains Runway operation efficiency.How multiple entry is avoided Runway aircraft scratches the generation of event, gives full play to the operational efficiency of multiple entry runway, domestic and international airport is without the relevant technologies It may be implemented.

Utility model content

In order to solve the above-mentioned technical problem, the utility model provides that a kind of multiple entry runway is anti-to scratch system, this enter Mouth runway is anti-to scratch the designated position that system can guide aircraft to be moored to runway threshold, whether is able to detect rear taxiway Can normal pass, and play instruction and forewarning function for the subsequent aircraft that slides.

To achieve the goals above, the utility model provides that a kind of multiple entry runway is anti-to scratch system, and the multiple entry is run Road includes runway and runway taxiway disposed in parallel and the multiple runway thresholds being set between the runway and taxiway, The multiple entry runway prevents that scratching system includes:

Processor and safety zone, probe unit, the position for being set to each runway threshold guide display screen and pass through aobvious Display screen；

The safety zone is arranged in the runway threshold, and the safety zone is termination of berthing close to the runway side Point is starting point of berthing close to the taxiway side；

The probe unit is used to detect the position of the head and empennage into the aircraft of the safety zone；

The processor communication is connected to the probe unit, position guidance display screen and the current display screen, The processor controls the position of corresponding runway threshold according to the detection result for the probe unit for being set to each runway threshold respectively It sets the passage display screen that guidance display screen shows that aircraft berths key instruction, and controls corresponding runway threshold and shows that taxiway is logical Row instruction.

It preferably, further include alarm, the alarm is communicatively coupled to the probe unit, when the probe unit is visited It measures the head of the aircraft and when the distance between the terminating point that berths is less than predetermined threshold, the processor controls the report Alert device alarm.

Preferably, the runway threshold is arranged in close to the side of the runway, display side in the position guidance display screen To towards the runway threshold.

Preferably, the runway threshold is arranged in close to the side of the taxiway, display direction in the current display screen Towards the taxiway.

It preferably, further include stop line, the stop line is arranged on the runway threshold, is located at the safety zone and institute It states between runway, berth the distance between the terminating point and the stop line are 0m-5m.

Preferably, the probe unit includes laser radar detection device and/or thermal imaging detector.

Preferably, the runway threshold is arranged in close to the side of the runway, detection side in the laser radar detection device To towards the runway threshold.

Preferably, the runway threshold is arranged in close to the side of the taxiway, detection side in the thermal imaging detector To towards the runway threshold.

Preferably, the processor is using the detection result of the laser radar detection device as initial probe as a result, passing through The detection result of the thermal imaging detector verifies the initial probe result.

Preferably, the position guidance display screen and the current display screen are LED display.

The utility model has the beneficial effects that:

1) setting that display screen is guided by processor, safety zone, detection unit and position, guides aircraft accurately to berth In safety zone, it is ensured that subsequent aircraft can avoid aircraft from scratching with safety taxiway.

2) by the setting of processor, probe unit and current display screen, aircraft is obtained in the opposite position of runway threshold It sets, knows whether taxiway can be slided for the aircraft normal pass that rear taxiway slides, and by current display screen display Trade can normal pass be subsequent aircraft play the role of instruction and early warning.

Other features and advantages of the utility model will then part of the detailed description can be specified.

Detailed description of the invention

The utility model illustrative embodiments are described in more detail in conjunction with the accompanying drawings, the utility model it is upper It states and other purposes, feature and advantage will be apparent, wherein in the utility model illustrative embodiments, phase Same reference label typically represents same parts.

Fig. 1 shows the schematic diagram of multiple entry runway in the prior art.

Fig. 2 shows the anti-schematic structures for scratching system of the multiple entry runway of one embodiment according to the present utility model Figure.

Fig. 3 shows the Handpiece Location detection principle diagram of one embodiment according to the present utility model.

Fig. 4 shows the tail position detection principle diagram of one embodiment according to the present utility model.

Description of symbols

1, runway；2, taxiway；3, runway threshold；4, safety zone；5, position guides display screen；6, current display screen；7, Berth terminating point；8, it berths starting point；9, laser radar detection device；10, thermal imaging detector.

Specific embodiment

Preferred embodiments of the present invention are described in more detail below.Although the following describe the utility model Preferred embodiment, however, it is to be appreciated that may be realized in various forms the utility model without the implementation that should be illustrated here Mode is limited.On the contrary, thesing embodiments are provided so that the utility model is more thorough and complete, and can be by this The range of utility model is completely communicated to those skilled in the art.

The utility model provides that a kind of multiple entry runway is anti-to scratch system, and multiple entry runway includes runway, flat with runway The taxiway of row setting and the multiple runway thresholds being set between runway and taxiway, the multiple entry runway is anti-to scratch system packet It includes:

Specifically, it during aircraft enters runway threshold, is berthed by the aircraft that position guides display screen to show Key instruction is accurately berthed into safety zone, it is ensured that rear taxiway can be with safe passing.Simultaneously in aircraft autonomous parking, Current display screen based on the relative position that aircraft is located at runway threshold remind in real time rear taxiway whether P Passable, after being Continuation of the journey pocket plays instruction and forewarning function.

The guide that display screen is guided by the setting of safety zone and position, keeps aircraft stop position more accurate, effectively Evade the risk that aircraft scratches, while improving the level of the anti-intrusion of runway；Make aircraft closer to runway, shortens aviation Device enters the ground taxi time of runway, improves Runway operation efficiency；It establishes the anti-aircraft of multiple entry runway and scratches technology mark post, Formulation for civil aviation authority's aircraft stopping criterion provides reference.

Specifically, current display screen is traffic lights display screen or the display screen that can show text, when aircraft accurately berths When not parking aircraft in into safety zone or runway threshold, shows green light, guide subsequent aircraft P Passable；Work as aircraft It is berthing, when not entering safety zone, is showing red light, forbidding the current taxiway of subsequent aircraft.

Specifically, the head that guidance display screen in position can show aircraft can also be shown red at a distance from the terminating point that berths Green light carries out clear sensory cue, and aircraft is guided to continue to slide or halt；Current display screen can show that aircraft can be after It is continuous to slide or slide the information such as maximum aeroplane span forward, it can also intuitively show that traffic lights carry out clear sensory cue.

It preferably, further include alarm, the alarm is communicatively coupled to the probe unit, when the detection When the head that unit detects the aircraft is less than predetermined threshold with the distance between the terminating point that berths, the processor control The alarm equipment alarm.

Specifically, alarm can be alarmed using hierarchical approaches, and classifying alarm is divided into level Four alarm: when aircraft Head is more than when berthing terminating point, is red alarm, and type of alarm is " voice prompting red alarm and the monitoring in monitoring center System pops up red alarm prompt；When the head of aircraft is less than the 1/4 of predetermined threshold with the distance between the terminating point that berths, Orange alarm, type of alarm are that " the orange alarm of voice prompting simultaneously pops up orange warning note in monitoring system；When the machine of aircraft Head with berth the distance between terminating point be less than predetermined threshold 1/2, greater than predetermined threshold 1/4 when, yellow alarm, alarm side Formula is that " voice prompting yellow alarm simultaneously pops up yellow alarm prompt in monitoring system；Head when aircraft and the terminating point that berths The distance between be less than predetermined threshold, greater than predetermined threshold 2/4 when, blue alarm, type of alarm be " voice prompting blue report Police simultaneously pops up blue warning note in monitoring system.Wherein, prompt information includes affiliated runway threshold and distance is berthed terminating point Range information etc..

Preferably, side of the runway threshold close to runway, display direction direction is arranged in guidance display screen in position Runway threshold.

Preferably, side of the runway threshold close to taxiway is arranged in current display screen, and display direction direction is sliding Trade.

It is highly preferred that position guidance display screen and current display screen can show text prompt and signal lamp prompt simultaneously, In: position guidance display screen can show that plane distance specifies halt distance, can also show that traffic lights carry out clear sensory cue； Current display screen can show that aircraft can continue to slide or can slide the information such as maximum aeroplane span forward, can also intuitively show red Green light carries out clear sensory cue.

It preferably, further include stop line, the stop line is arranged on the runway threshold, is located at the safety Between area and the runway, berth the distance between the terminating point and the stop line are 0m-5m.

Preferably, probe unit includes laser radar detection device and/or thermal imaging detector.

Specifically, it during probe unit lectotype selection, needs to choose and does not interfere runway threshold while can accurately sentence The equipment of disconnected aircraft position.

The technology identified at present to aircraft position is broadly divided into three categories: contact, induction type and video monitoring.Its Middle contact technology mainly includes ground induction coil, fiber grating, and shortcoming is damaged road face, disposably investment is big, is influenced Road face tolerance；Induction type technology includes Doppler radar, laser acquisition, infrared light curtain, and main problem is to may interfere with Navigation or airborne signal, need to carry out Technology Selection feasibility assessment；Video Supervision Technique includes high-definition monitoring, thermal imaging monitoring And the monitoring of infrared light filling, high-definition monitoring, infrared light filling are easily failed under special weather vulnerable to backlight, the influence of night illumination, heat Imaging technique is not influenced by illumination, weather.

To sum up, the application sufficiently assesses above-mentioned possible technique type selecting according to civil aviaton's regulation, industry regulations, has chosen Laser radar, image recognition technology accurately identify aircraft position.

By the setting of laser radar detection device and thermal imaging detector, laser radar detection device can accurately determine aviation The range information of the head of device and the terminating point that berths, and the position by interconnecting guides display screen vector aircraft to stop to specified peace In the whole district.After current machine enters runway threshold B, thermal imaging detector can determine aircraft position, as can aircraft is detected, C taxiway after illustrating tail slides that safe distance is inadequate, is lined up aircraft taxi by the passage display screen prompt of interconnection and arrives this Place needs to wait for；Stop after preceding machine to after designated position, while thermal imaging detector identification is less than aircraft, taxiway can be prompted to wait Aircraft continues to slide to designated position.

Preferably, processor is using the detection result of laser radar detection device as initial probe as a result, passing through heat The detection result of imaging detector verifies initial probe result.

Preferably, the runway threshold is arranged in close to the side of the runway in the laser radar detection device, Detection direction is towards the runway threshold.

Preferably, the runway threshold is arranged in close to the side of the taxiway in the thermal imaging detector, Detection direction is towards the runway threshold.

Specifically, processor is run according to the control of the detection result for the probe unit for being set to each runway threshold is corresponding respectively The position guidance display screen of road entrance shows that aircraft berths key instruction, and controls the current display screen display of corresponding runway threshold Show that taxiway pass-through command includes:

Step 101: if probe unit detects head, controller judges that aircraft carries out detection zone；

Step 102: whether probe unit detection head and the distance between terminating point L1 that berths, processor judge distance L1 Greater than the first safe distance SL1；If it is, the position of processor control runway threshold guides display screen display distance L1, and Show that the passage display screen for continuing to slide instruction and processor control runway threshold shows that no through traffic and instructs；Otherwise, continue To step 103；

Step 103: probe unit detects the position of empennage, and processor judges whether empennage is located at according to the position of empennage and stops It moors between terminating point and starting point of berthing；If so, the position guidance display screen display of processor control runway threshold stops sliding Row instruction, and the passage display screen display of control runway threshold allow pass-through command.

Specifically, processor is run according to the control of the detection result for the probe unit for being set to each runway threshold is corresponding respectively The position guidance display screen of road entrance shows that aircraft berths key instruction, and controls the current display screen display of corresponding runway threshold Show taxiway pass-through command further include:

After step 103, following steps 104 are executed:

Step 104: the head for the aircraft that processor is detected according to probe unit and/or the position of empennage judge aviation Whether device moves；If aircraft is mobile, controller control position guidance display screen display waits instruction of taking off, and controls passage Display screen display allows pass-through command.

After step 104, following steps 105 are executed:

Step 105: if probe unit does not detect head, controller judges that aircraft leaves detection zone；Control The position guidance display screen of device control runway threshold processed is resetted, and the passage display screen of control runway threshold shows permission Pass-through command.

Enter in order to avoid there is operational safety problem in runway because domestic at present without the anti-technology scratched of multiple entry runway In the case that mouth has aircraft occupancy, control tower can only command aircraft to detour or aircraft is commanded to wait (the race in front outside runway threshold Road entrance is idle), seriously constrain Runway operation efficiency.

By the technology, following change can be brought:

(1) entrance taxiway aircraft stop position is more accurate, effectively evades the risk that aircraft scratches, improves operation Level of security has saved aircraft and has scratched rear bring damage maintenance cost.

(2) entrance taxiway aircraft stop position is more accurate, can promote the level of the anti-intrusion of runway, aircraft is avoided to streak Specified halt bring Runway operation safety problem.

(3) entrance taxiway aircraft stop position is more accurate, makes entrance taxiway aircraft closer to runway, shortens and fly Machine enters the ground taxi time of runway, improves Runway operation efficiency: the ground as every airplane can save at least 4s or so is sliding The row time, it is meant that reduce runway occupancy time at least 4s.

Stop sliding in 10-20 meters of holding fix of section and aircraft to board a plane in head according to 80% Stationary state is to the speed measuring and calculating for starting to slide into 4 meters per second of runway or so: 80% apart from holding fix average distance is (10 + 20)/2=15 meters, 15/4=3.75 seconds.

(4) entrance taxiway aircraft stop position is more accurate, and rear taxiway aircraft accessible can enter other races Road entrance saves the time that aircraft enters runway threshold ground taxi from taxiway, can equally reduce runway occupancy time.

(5) it establishes the anti-aircraft of multiple entry runway and scratches technology mark post, the formulation for civil aviation authority's aircraft stopping criterion provides With reference to.

Embodiment

Fig. 1 shows the schematic diagram of multiple entry runway in the prior art.Fig. 2 shows a realities according to the present utility model Apply the anti-schematic diagram for scratching system of multiple entry runway of example.Fig. 3 shows one embodiment according to the present utility model Handpiece Location detection principle diagram.Fig. 4 shows the tail position detection principle diagram of one embodiment according to the present utility model. Wherein, dash area is detections of radar face in attached drawing 3, and the solid line in reference is apart from mark line.

As Figure 1-Figure 4, the multiple entry runway is anti-scratches system, and multiple entry runway includes runway 1, parallel with runway 1 The taxiway 2 of setting and the multiple runway thresholds 3 being set between runway 1 and taxiway 2, the multiple entry runway is anti-to scratch system It include: processor and safety zone 4, probe unit, position guidance display screen 5 and the current display for being set to each runway threshold Screen 6；

Safety zone 4 is arranged in runway threshold 3, and safety zone 4 is the terminating point 7 that berths close to 1 side of runway, close to taxiway 2 sides are starting point 8 of berthing；

Probe unit is used to detect the position of the head and empennage into the aircraft of safety zone 4；

The processor communication is connected to the probe unit, position guidance display screen 5 and the current display screen 6, the processor controls corresponding runway threshold according to the detection result for the probe unit for being set to each runway threshold respectively Position guidance display screen 5 shows that aircraft berths key instruction, and the display of passage display screen 6 for controlling corresponding runway threshold 3 is slided Trade pass-through command.

It wherein, further include alarm, the alarm is communicatively coupled to the probe unit, when the probe unit detects When to the head of the aircraft and the distance between the terminating point that berths less than predetermined threshold, the processor controls the alarm Device alarm.

Wherein, runway threshold 3 is arranged in close to the side of runway in guidance display screen 5 in position, and display direction enters towards runway Mouth 3.

Wherein, runway threshold 3 is arranged in close to the side of taxiway 2 in current display screen 6, and display direction is towards taxiway.

It wherein, further include stop line, stop line setting enters on 3 mouthfuls in runway, is located at safety zone 4 and runway 1, termination of berthing The distance between point and stop line are 2m.

Wherein, probe unit includes laser radar detection device 9 and thermal imaging detector 10.

Wherein, processor is using the detection result of laser radar detection device 9 as initial probe as a result, being detected by thermal imaging The detection result of device 10 verifies initial probe result.

Wherein, the runway threshold 3 is arranged in close to the side of the runway 1, detection in the laser radar detection device 9 Direction is towards the runway threshold 3.

Wherein, the runway threshold 3 is arranged in close to the side of the taxiway 2, detection in the thermal imaging detector 10 Direction is towards the runway threshold 3.

Wherein, the processor is using the detection result of the laser radar detection device 9 as initial probe as a result, passing through institute The detection result for stating thermal imaging detector 10 verifies the initial probe result.

Wherein, the position guidance display screen 5 and the current display screen 6 are LED display.

Specific lectotype selection is as follows:

The technology combined using advanced laser radar detection device and image procossing, utilizes the superior of laser radar apparatus Characteristic (investigative range is 100 × 50m facade or more), may be implemented a set of position sensing equipment while detecting head and tail position It sets, and guides the LED display of display screen and current display screen to give pilot's prompt by position.

(1) lectotype selection foundation:

The Response to selection time is small, can be at 3-D image and the laser radar monitored in real time, and general section of laser invisible in human eye 800nm on subject to, it is ensured that laser is invisible, meets civil aviaton's standard, and detection accuracy is high, meets the basic need of imaging object It wants, electromagnetic frequency meets civil aviaton's standard.

Video imaging selects visible angle big, meets the monitoring range in this region, pixel meets monitoring requirements, and has Infrared enhancing function, night can pass through surrounding light aid imaging.

Radar type selecting:

1. radar introduction

Laser radar is using laser as light source, by exploring laser light and the detected lightwave signal without interaction come remote sensing Measurement.It the use of the laser radar technique that vibrating Raman technology measures is Raman lidar.Laser radar is to send out Penetrate the radar system of the characteristic quantities such as position, the speed of detecting laser beam target.From working principle, there is no root with microwave radar This difference: to objective emission detectable signal (laser beam), then by the reflected signal of slave target received, (target is returned Wave) it is compared with transmitting signal, after making proper treatment, so that it may target is obtained for information about, such as target range, orientation, height Degree, speed, posture, the even parameters such as shape.The working principle of laser radar and radio radar is essentially identical, and depends on institute The Detection Techniques of use.Wherein the basic structure of direct detection type laser radar and laser range finder are rather close.When work, by Emission system send a signal, be received after target reflects system collection, by measurement laser signal roundtrip propagation when Between and determine the distance of target.As for the radial velocity of target, then can be determined by the Doppler frequency shift of reflected light, it can also be with Two or more distances are measured, and calculates its change rate and acquires fast search degree.

Compared with conventional microwave radar, laser radar is due to using laser beam, working frequency many high compared with microwave, Therefore high resolution is brought, the characteristics of active jamming rejection ability is strong, light weight small in size.

2. thermal imaging detector introduction

Thermal imaging detector includes RF transmitter, receiver and signal processor, and the signal of signal processor is defeated Outlet is connect through infrared transmitter with RF transmitter；Signal input part is through infrared radiation receiving circuit and infrared receiver Device connection, feedback signal output are connect with peripheral control circuits.In pyroscan, thermoelectric element detects human body In the presence of or it is mobile, and the output signal of thermoelectric element is converted into voltage signal.Then, waveform analysis is carried out to voltage signal. Then, only when detecting the waveform generated by human body by waveform analysis, just output detects signal.Disadvantage: it is easy by each Kind heat source, the interference of sunlight source.Infrared penetration power is poor, and the infra-red radiation of human body is easily blocked, and is not easy to be received by a detector.Vulnerable to The interference of radio-frequency radiation.When environment temperature and close human body temperature, detection and sensitivity are decreased obviously, and cause to lose in short-term sometimes Spirit.Although laser radar detection have the shortcomings that with infrared acquisition it is similar, compare infrared acquisition, laser radar penetrability be higher than it is red Outer detection, the influence relative to weather are less than infrared acquisition, and do not generate the radar clutter of radiation and interference, so at present Until be better than other modes.

3. specific type selecting

By being referred to a few money radar equipments, including: Japan north sun HOKUYO-2 ties up laser scanning and ranging instrument UXM-30LXH-EWA: 80 meters of distance, 0.125 ° of angular resolution of measurement.Suitable for measuring the distance of next RTG.It can examine Measurement ruler cun, the moving direction of position and object.More echo functions are suitable for rain, the adverse circumstances such as snow and mist.The model is built-in to be added Hot device, can in cold environment normal use.The interface of sensor is Ethernet.Sweep time 50ms, scanning angle 190°.Need a 10-30VDC power supply.RobotEye RE05 3D laser radar: it realizes to scanning range and scanning accuracy Immediately adjustment.It is light-weight, small in size, sturdy and durable, while having the scanning range better than similar product: horizontal sweep range 360 °, 70 ° of vertical scanning range, observation scope routine target 30m.In addition to this, acquiring density in the 3D data point of each axis can Reach 100 points of every degree.Standing grain matches 40 line laser radar Pandar of science and technology: domestic three-dimensional laser radar, scanning theory: rotating electric machine, Line number: 40, minimum vertical angular resolution: 0.33 °, detection range 150m, 360 ° of horizontal field of view angle, -16 ° of vertical field of view angle~ 7°.Performance parameter meets the requirements, but price about 400,000.By scanning angle, coverage area, response time and price into Row comparison, Japanese laser radar belong to the 2D response time in 50ms, the investigative range of RobotEye RE05 3D laser radar The Rational Parameters of 30m, domestic standing grain match 40 line laser radar Pandar of science and technology are expensive.So the Response to selection time is lesser VLP-16 three-dimensional laser radar, it is advantageous that compared to two-dimensional radar (50 milliseconds of response time), acquisition speed is fast (11 milliseconds of response time), high resolution, and more reasonable in scanning range and price, the adaptation for temperature and vibration Property is strong；It is controlled by wave beam, sensing point (point cloud) with Arbitrary distribution and can be prepared, with the high-precision quick detection energy of laser radar Power.

Kept when three-dimensional laser radar detects aircraft tracking and real time contrast's head and safety stop line away from From by the image procossing progress side loophole auxiliary of camera, then we can guide prompt pilot on display screen exist in position This region is can to stop aircraft and inform that the aircraft of back can move on by the passage display screen of back.

4. the technical parameter of three-dimensional laser radar

Support twice return；

Vertical measurement angular range: 30 ° (15 ° of ﹢ are arrived 15 ° of ﹣)；

Vertical direction angle resolution ratio: 2 °；

Horizontal direction measurement angle range: 360 °；

Horizontal direction angle resolution ratio: 0.1 ° to 0.4 °；

Measurement frequency: 5 arrive 20Hz；

The revolving speed of motor can be monitored and changed by web browser；

Laser safety grade: 1 grade (eye-safe)；

Optical maser wavelength: 905nm；

Sensor power: 8W (representative value)；

Operating voltage: 9-32V；

Weight: 830g；

Outer dimension: 103mm*72mm；

Response time: 500m/sec²Amplitude, time 11msec；

Vibration: 5Hz to 2000Hz, 3G rms；

Degree of protection: IP67.

5. thermal imaging detector

Thermal imaging system is the infrared energy distribution map for receiving measured target using infrared detector and optical imaging objective In shape reflection to the light-sensitive element of infrared detector, so that Infrared Thermogram is obtained, the heat point of this thermography and body surface Cloth field is corresponding.Generally, thermal imaging system is exactly that the invisible infrared energy that object issues is changed into visible thermal image.

Compared to infrared thermal imaging equipment, the industrial camera of high pixel is more clear on visual, and can clearly be seen The aircraft arrived influences and traveling process；And the unstable video of infra-red heat energy imaging, it can be with steady change image Missing can also be had for the place of not temperature by, which changing, does not show, a general profile can only be monitored, without industry Camera imaging it is clear, having the powerful industrial camera of infrared increasing can be realized by environment light to monitoring section at night The imaging in domain.The CCD target surface of collocation industrial camera, it is ensured that effective investigative range, and can focus.

Compared to other general cameras, industrial camera has very big advantage on operating temperature reliability.

Camcorder technology parameter:

Pixel number: 2592*2048；

Frame frequency: 50fps；

Pixel spacing: 4.8 μm；

High definition has infrared enhancing function；

CCTV resolution of lens: 9,000,000 pixels；

CCTV lens coverage: 6mm~100mm；

Running temperature: -20 DEG C to+65 DEG C；

Storage temperature: -40 DEG C to+80 DEG C.

6. processor type selecting

Technical grade embedded board computer, performance small in size is high, and 3.5 cun of the space of a whole page, Windows system, performance so far Preferably, and the smallest available embedded board computer of volume.

Other technical grade single-borad computers are compared, grinding China with auspicious industrial personal computer is ground is top-quality, reliability highest, work Making temperature can be at -40~85 DEG C, and the industrial personal computer that this project needs needs to be embedded in LED display board, and can accomplish minimum Embedded board computer only grind the embedded board computer of China at present suitable for this project.

Industrial personal computer technical parameter:

CPU:Intel Core i5socket；

Memory: 8G；

Mainboard core: Intel QM57；

Video card: mainboard is integrated；

Network interface card: 2 network interfaces of gigabit；

Operating temperature: -40~85 DEG C.

7. software section

Laser radar processing software；

Scan picture software；

Background monitoring remotely operates software.

8. device parameter summary sheet

(2) equipment feasibility analysis

It is stopped using the technology identification aircraft based on newest three-dimensional laser radar and in conjunction with image procossing auxiliary phase Position, and prompt the taxiway at runway threshold rear whether can be for aircraft taxi.Object space involved in the project detects, is Simple logic of uniting determines.

Wherein, the technology that laser radar and image procossing combine has the following advantages:

A. systems technology is advanced.VLP-16 laser radar sensor volume very little, cost is lower, can be mass produced. Meanwhile it remains the breakthrough key features of Velodyne laser radar: real-time (non-delay), 360 °, the acquisition of 3D data And measurement.100 meters of distance radius of measurement or more is, it can be achieved that arrive radius 150-200 meters.Low-power consumption (< 10W), light-weight (about 830 Gram), compact (diameter about 103mm, height 72mm), double back selection characteristics (can counterclockwise or rotate clockwise). 16 channels of VLP-16 support of Velodyne, 300,000 three dimensional point clouds per second, 360 ° of horizontal field of view, vertical field of view 30 °, up and down ± 15 °.VLP-16 is without apparent external rotary part (rotating part is in inside), so that challenging In environment, it has high degree of adaptability.

By advanced Digital Signal Processing and waveform analysis, high-precision extension distance and calibration reflectivity number are obtained According to.

1. device characteristics

360 ° of horizontal field of view (FOV)

Revolving speed: 5-20 per second turns (adjustable)

30 ° of perpendicualr field (FOV)

Echo is up to 100 meters (effective distance depends on useful application)

2. calibrating reflectivity

VLP-16 measures object reflectance using 256 bit resolutions, 1 to 100m range be not excited optical power and Distance influences.Reflectivity is carried out using reflector according to commercial reflectivity standards to calibrate completely, is formed calibration table and is stored in VLP- In 16 PFGA.

The measured value of diffuse reflector corresponds to the reflectivity from 0% to 100% from 0-100.

The measured value of reflecting mirror is from 101-254, wherein the reflectivity of 255 corresponding ideal reflecting mirrors, 101-254 is corresponding The reflectivity of partial occlusion or defective reflecting mirror.

3. echo mode

Due to the beam divergence of laser, a single Laser emission often hits multiple objects and generates multiple echoes. VLP-16 can analyze multiple echoes and individually record strongest echo or last echo, or record both above-mentioned times simultaneously Wave.

Most beam sections are radiated at nearly wall, and the rest part of light beam is radiated at remote wall.Only it is greater than in two wall distances VLP-16 just will record twice return under conditions of 1m.If strongest echo is last echo, record the last the second Echo.

B. system does not generate the electromagnetic wave of radar property.The system utilizes infrared laser detecting technology, does not generate radar electricity Magnetic wave.

C. system is easy for installation, small in size.

D. system O&M is simple.For civil airport, the busy transport airport of especially more runways (multiple entry runway) is run The O&M limited time in road and taxiway, it is desirable to which equipment O&M is simple, and the time is shorter.

E. rain and snow weather, since because the penetration capacity of infrared laser is strong, the detection for passing through three-dimensional laser radar can To meet the detection to aircraft.

F. feedback signal can be added in writing control terminal program, if radar failure is anti-according to the port translation of radar Feedback signal is 0000001, and similarly LED failure feedback signal is 0000010, image capture device failure feedback signal 0000011 Deng receiving feedback signal in control terminal program and be converted into warning prompt.

G. available range is slided at prompt rear.

By three-dimensional laser radar measure tail to safety stop line distance, to calculate tail to taxiway middle line Distance (x).

The minimum range (d) that can be slided=maximum span/2+ minimum clear distance

Type	Maximum span/m	Minimum clear distance/m	The minimum range (d) that can be slided/m
				A	15	8.75	16.25
B	24	9.5	21.5
				C	36	10.5	28.5
D	52	14.5	40.5
				E	65	15	47.5
F	80	17.5	57.5

The distance (x) of tail to taxiway middle line is compared with the minimum range (d) that can be slided, in current display screen Display is prompted for rear aircraft taxi.

As x >=57.5, after the maximum type that can slide be F, current display screen display " F/x "；

As 47.5≤x < 57.5, after the maximum type that can slide be E, current display screen display " E/x "；

As 40.5≤x < 47.5, after the maximum type that can slide be D, current display screen display " D/x "；

As 28.5≤x < 40.5, after the maximum type that can slide be C, current display screen display " C/x "；

As 21.5≤x < 28.5, after the maximum type that can slide be B, current display screen display " B/x "；

As 16.25≤x < 21.5, after the maximum type that can slide be A, current display screen display " A/x "；

As x < 16.5, rear aircraft cannot be slided, current display screen display " stopping ".

(3) system structure function

A. the main detection system of laser radar

Positioning is scanned to the aircraft in traveling according to lidar measurement principle, judges position.

Referred to as " LiDAR ", Light Detection and Ranging has laser among equipment for laser radar English Light source, general array laser emit the pulse of 905 nano wave lengths.Because of the strong convergence of laser, before the light beam of laser encounters The object or barrier of side are rebounded and are received the reception of focal plane laser radar receiver back, are issued by calculating light beam To the received time difference, relatively accurately the distance between judgment object and laser radar.

Scanning mode is that all-solid state laser scans and laser signal receives, i.e., is swept using non-mechanical scanning mode, that is, phased array It retouches and realizes laser scanning, detecting with the automatically controlled scanning of micromechanics.

Multiple laser beams are issued in vertical direction along different angle, are realized through horizontal direction scanning to target area three-dimensional wheel Exterior feature detection.

Angular resolution refers to the resolution capability of a component of imaging system or system.That is imaging system or system element energy Differentially distinguish the ability of two adjacent objects minimum spacings.Resolving power is generally with imaging system to two minimum discernable mesh Opened angular dimension indicates between mark, usually with the radian System describe for estimating angle, also known as angular resolution (or angular resolution). Being converted into article size is 2cm.

Distance can intuitively be seen and aircraft shape size by the color of different distances in radar asorbing paint, Heel distance comparing is carried out according to aircraft size.

B. image detection system

Camera system has infrared enhancing function, and night acquires clear image by runway edge lights lamplight brightness.According to Continuous high-definition image, which is analyzed, positions the object in image, judges position, video image is uploaded to monitoring center, mentions Judge to be shown apart from the distance of tail safety line by LED to whether aircraft reaches marking path position for real-time video.Together The principle of sample be also in radar detection by judge mark position, to judge whether aircraft reaches designated position, and away from From information.Under the weather condition of very severe, although can generate some noise on image processing brings some difficulties, right and wrong In the case of normal atrocious weather, aircraft can generally be stopped clearance.

In the picture by recognizer to the aircraft size in image, the distance walked, shape, color etc. divided Analysis judgement, gives its corresponding information.

C. data transmission system

Monitoring center is connected by data transmission system to carry out data transmission.Two LED displays are connected by cable, Embedded board computer connects laser radar and picture pick-up device.And by industrial grade switch, LED display data are carried out, Laser radar data, the transmission between picture pick-up device data, and feedback monitoring center data.

D.LED display system

Result after being detected by LED real-time display detection system indicates pilot.Position guides display screen logical Digital prompt pilot is crossed apart from safety stop linear distance, the current display screen prompt of postposition be lined up aircraft whether P Passable.

(4) embodiment

According to actual needs, the technical solution that we use laser radar and image procossing to combine.Using laser radar It determines the exact position that aircraft is advanced, judges satisfactory stop position.Aircraft is judged using image procossing mode Specifically enter a situation, or judge whether it is aircraft, and by image real-time transmission to monitoring center, assists airport management organization real Apply supervision.

A. specific steps

System detects target using laser radar and real time image collection jointly.The distance of laser radar detection target, together When industrial personal computer to acquisition image carry out image procossing determine target attribute.And then determine be aircraft or vehicle crew etc. other Target.

Laser Scanning Equipment detects the aircraft in sliding in aircraft distance 100m, and tracks at any time, swashs in three-dimensional Radar persistently emits the infrared invisible laser of multiple beam, and reflection can be generated by projecting on aircraft, the reception of three-dimensional laser radar Device can carry out three-dimensional imaging according to by the far and near different optical path being reflected back of aircraft various pieces, and track at any time, and Threshold value according to three-dimensional laser radar in each distance carries out, and judges the distance of aircraft traveling, and with the marker bit that has marked It sets and is judged.

Detection laterally covers critical distance: three-dimensional laser radar measurement range is 1m~100m, when aircraft nose travels Three-dimensional laser radar may detect aircraft and advance when to sweep radius range 100m.Stopped with three-dimensional laser radar distance The distance 52m of line most distal edge is height, is counted down using, as bottom edge, calculating position guidance display screen apart from the safety stop position line 20m When distalmost end detection range be 56m in three dimension detector coverage area.Tail is measured to safe stopping by three-dimensional laser radar The only distance of line, thus calculate tail to taxiway middle line distance (x).Pass through the distance to tail to taxiway middle line (x) it is compared with the minimum range (d) that can be slided, shows in current display screen, prompted for rear aircraft taxi.

Detect longitudinally covered height: the visual field of three-dimensional laser radar is 30 ° by running most proximal end 28m meter apart from stop zone It calculates, can calculate roadside detection minimum altitude (assuming that being overlapped among aircraft with runway side) is about 16.2m, and middle line detection is about 29m.Visual field increases as distance increases, so detection height meets the height of airline carriers of passengers, longitudinally covered closest approach Cover whole aircrafts.

When detecting the aircraft for waiting and taking off, when judging that head reaches 20 meters of safety stop line, start aobvious in LED display Show distance.The distance that LED display is shown is the mobile real-time range of head, at the same calculate plane distance tail portion safety line away from From being stopped according to real-time range, shown by LED.Finally by head and the monitoring image monitoring information transmission of tail position To monitoring center, monitoring center decision is assisted.

B. equipment detects environmental analysis

1. on equipment vertical scan angle, it can be seen that the height of surrounding devices is not above 1m, and detecting devices Height is also in the position about 1m, so it blocks vertical scanning range detects up to 29m at area's runway center line marking to be flown, it will not Detecting devices is impacted.According to the height of aircraft, theoretical search coverage is calculated, in head and drive end unit all in detection model In enclosing, thus for the detection system for judge judge with tail position with Handpiece Location its longitudinal probing apart from satisfaction most The case where big aircraft altitude, other types can detect.

2. other equipment detect influence in the horizontal direction to multiple entry, equipment sensing point is head spy in longitudinal height Measuring point and tail sensing point, the height of this two o'clock is above the general height placed with the cowl lamp on runway side, direction board, so right Detection influence almost without.

Each embodiment of the utility model is described above, above description is exemplary, and non-exclusive, and And it is also not necessarily limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for Many modifications and changes are obvious for those skilled in the art.

Claims

1. a kind of multiple entry runway is anti-to scratch system, the multiple entry runway includes runway and runway taxiway disposed in parallel And it is set to multiple runway thresholds between the runway and taxiway, which is characterized in that the multiple entry runway is anti-to scratch system Include:

Processor and safety zone, probe unit, position guidance display screen and the current display screen for being set to each runway threshold；

The safety zone is arranged in the runway threshold, and the safety zone is the terminating point that berths close to the runway side, leans on The nearly taxiway side is starting point of berthing；

The processor communication is connected to the probe unit, position guidance display screen and the current display screen, described Processor draws according to the position that the detection result for the probe unit for being set to each runway threshold controls corresponding runway threshold respectively It leads the passage display screen that display screen shows that aircraft berths key instruction, and controls corresponding runway threshold and shows that taxiway passage refers to It enables.

2. multiple entry runway according to claim 1 is anti-to scratch system, which is characterized in that it further include alarm, the report Alert device is communicatively coupled to the probe unit, when the probe unit detect the head of the aircraft and berth terminating point it Between distance when being less than predetermined threshold, the processor controls the alarm equipment alarm.

3. multiple entry runway according to claim 1 is anti-to scratch system, which is characterized in that the position guidance display screen is set It sets in the runway threshold close to the side of the runway, display direction is towards the runway threshold.

4. multiple entry runway according to claim 1 is anti-to scratch system, which is characterized in that the current display screen setting exists The runway threshold is close to the side of the taxiway, and display direction is towards the taxiway.

5. multiple entry runway according to claim 1 is anti-to scratch system, which is characterized in that it further include stop line, it is described to stop Only line is arranged on the runway threshold, and between the safety zone and the runway, the terminating point that berths stops with described Only the distance between line is 0m-5m.

6. multiple entry runway according to claim 1 is anti-to scratch system, which is characterized in that the probe unit includes laser Radar detedtor and/or thermal imaging detector.

7. multiple entry runway according to claim 6 is anti-to scratch system, which is characterized in that the laser radar detection device is set It sets in the runway threshold close to the side of the runway, detection direction is towards the runway threshold.

8. multiple entry runway according to claim 6 is anti-to scratch system, which is characterized in that the thermal imaging detector setting In the runway threshold close to the side of the taxiway, detection direction is towards the runway threshold.

9. multiple entry runway according to claim 6 is anti-to scratch system, which is characterized in that the processor is by the laser The detection result of radar detedtor is as initial probe as a result, by the detection result of the thermal imaging detector to described initial Detection result is verified.

10. multiple entry runway according to claim 1 is anti-to scratch system, which is characterized in that the position guides display screen And the current display screen is LED display.