CN110927812A - Airport pavement foreign matter monitoring method and monitoring system - Google Patents
Airport pavement foreign matter monitoring method and monitoring system Download PDFInfo
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Abstract
The invention provides an airport pavement foreign matter monitoring method and an airport pavement foreign matter monitoring system, wherein the monitoring method comprises the following steps: arranging a scanning device and a line laser on an airport runway; the scanning equipment carries out first acquisition and second acquisition at each scanning angle to obtain first acquisition data and second acquisition data; determining that foreign matters exist on the picture acquired for the first time according to the first acquired data to obtain a preliminary foreign matter judgment result; carrying out subtraction processing on the first acquisition data and the second acquisition data; judging whether the foreign matter on the picture acquired for the first time has a laser line according to the subtraction processing result, and marking the foreign matter without the laser line as a non-standard foreign matter without the entity height; and deleting the non-standard foreign matters without entity height in the foreign matter preliminary judgment result to obtain and output a final foreign matter judgment result.
Description
Technical Field
The invention relates to the field of detection systems, in particular to a method and a system for monitoring foreign matters on an airport pavement.
Background
In the foreign matter monitoring system on the airport pavement, the previous scanning mode adopts the rotation of a cradle head by 170 degrees to process the acquired images, and the mode is to process the images on the basis of two-dimensional images, so that whether some foreign matters such as oil stains, scratches, tire marks and the like without three-dimensional height are difficult to distinguish, and the false alarm rate is improved. When the foreign matter on the airport pavement is monitored by the light-spot structured light measurement method, the foreign matter on the airport pavement needs to be measured in a mode of scanning an object point by point, the time required by image pickup and image processing is rapidly increased along with the increase of the measured object, real-time measurement is difficult to complete, and real-time monitoring on the foreign matter on the airport pavement is difficult to realize.
Disclosure of Invention
The invention aims to solve the technical problem that the foreign matters on the airport pavement are difficult to monitor in real time due to the difficulty in real-time measurement in the prior art, and provides a method and a system for monitoring the foreign matters on the airport pavement.
The invention provides an airport pavement foreign matter monitoring method, which comprises the following steps:
arranging a scanning device and a line laser on an airport runway;
controlling the scanning equipment to perform first acquisition and second acquisition at each scanning angle to obtain first acquisition data and second acquisition data, wherein the first acquisition is performed when the line laser is turned off, and the second acquisition is performed when the line laser is turned on;
determining that foreign matters exist on the picture acquired for the first time according to the first acquired data to obtain a preliminary foreign matter judgment result;
carrying out subtraction processing on the first acquired data and the second acquired data;
judging whether the foreign matter on the picture acquired for the first time has a laser line according to the subtraction processing result, and marking the foreign matter without the laser line as a non-standard foreign matter without the entity height;
and deleting the non-standard foreign matters without entity height in the foreign matter preliminary judgment result to obtain and output a final foreign matter judgment result.
Preferably, the step of arranging the scanning device and the line laser on the runway of the airport comprises the steps of:
debugging the set position of each scanning device;
and the line laser corresponding to each scanning device is arranged close to the plane where the runway is located.
Preferably, the step of debugging the setting position of each scanning device specifically includes:
the setting position of each scanning device and the plane of the runway corresponding to each scanning device in the scanning range are positioned on the same horizontal plane.
Preferably, the step of determining whether a laser line appears in a foreign object on the first acquired picture according to the subtraction processing result, and marking the foreign object without the laser line as a non-standard foreign object without an entity height includes the following steps:
obtaining a heterogeneous pixel value according to the subtraction processing result, and judging that a laser line appears in foreign matters on the picture acquired for the first time when the heterogeneous pixel value is larger than a threshold value; when the heterogeneous pixel value is smaller than a threshold value, judging that no laser line appears in foreign matters on the acquired picture for the first time;
and when the foreign matter on the picture acquired for the first time is judged to have no laser line, marking the foreign matter without the laser line as a non-standard foreign matter without the entity height.
The invention also provides an airport pavement foreign matter monitoring system of the embodiment, which comprises scanning equipment, a line laser and monitoring center equipment, wherein the scanning equipment and the line laser are arranged on an airport runway;
the scanning device is used for performing first acquisition and second acquisition at each scanning angle to obtain first acquisition data and second acquisition data, wherein the first acquisition is performed when the line laser is turned off, and the second acquisition is performed when the line laser is turned on;
the monitoring center equipment is used for determining that foreign matters exist on the picture acquired at the first time according to the first acquisition data to obtain a preliminary foreign matter judgment result; carrying out subtraction processing on the first acquisition data and the second acquisition data; judging whether the foreign matter on the picture acquired for the first time has a laser line according to the subtraction processing result, and marking the foreign matter without the laser line as a non-standard foreign matter without the entity height; and deleting the non-standard foreign matters without entity height in the foreign matter preliminary judgment result to obtain and output a final foreign matter judgment result.
Preferably, the line laser corresponding to each scanning device is arranged close to the plane where the runway is located.
Preferably, the setting position of each scanning device and the plane of the runway corresponding to each scanning device in the scanning range are located on the same horizontal plane.
Preferably, the monitoring center is further configured to: obtaining a heterogeneous pixel value according to the subtraction processing result, and judging that a laser line appears in foreign matters on the picture acquired for the first time when the heterogeneous pixel value is larger than a threshold value; when the heterogeneous pixel value is smaller than a threshold value, judging that no laser line appears in foreign matters on the acquired picture for the first time;
and when the foreign matter on the picture acquired for the first time is judged to have no laser line, marking the foreign matter without the laser line as a non-standard foreign matter without the entity height.
Preferably, the scanning device comprises an optical lens group and a CCD camera.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: the scanning device carries out primary acquisition at each scanning angle when the line laser is closed and secondary acquisition when the line laser is opened to obtain primary acquisition data and secondary acquisition data, and acquisition of two-dimensional images is changed into three-dimensional images through the primary acquisition data and the secondary acquisition data, so that whether foreign matters in the preliminary foreign matter judgment result are effective foreign matters or not can be accurately judged, namely, suspected foreign matter objects without height are removed, and the integral false alarm rate of the monitoring system is greatly reduced.
Drawings
Fig. 1 is a flowchart of an embodiment of a method for monitoring airport pavement foreign matter according to the present invention.
Fig. 2 is a schematic structural diagram of an embodiment of the airport pavement foreign matter monitoring system according to the present invention.
Fig. 3 is a schematic diagram of an embodiment of a first-time acquired picture according to the present invention.
FIG. 4 is a diagram of an embodiment of a second captured image according to the present invention.
1. Scanning device, 2, line laser, 3, laser line, 4, acquisition area at the moment, 5, overall acquisition area.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The invention provides an airport pavement foreign matter monitoring method, which comprises the following steps of:
step S01, arranging the scanning device and the line laser on the airport runway;
step S02, controlling the scanning device to perform first acquisition and second acquisition at each scanning angle to obtain first acquisition data and second acquisition data, wherein the first acquisition is performed when the line laser is turned off, and the second acquisition is performed when the line laser is turned on;
step S03, determining that foreign matters exist on the picture acquired for the first time according to the first acquired data to obtain a preliminary foreign matter judgment result;
step S04, carrying out subtraction processing on the first acquisition data and the second acquisition data;
step S05, judging whether the foreign matter on the picture acquired for the first time appears laser line according to the subtraction processing result, and marking the foreign matter without laser line as non-standard foreign matter without entity height;
and step S06, deleting the non-standard foreign matters without entity height in the preliminary foreign matter judgment result to obtain and output a final foreign matter judgment result.
In step S02, the controller on the circuit board controls the line laser to turn on and off, and also controls the exposure function of the scanning device, i.e., the camera, to perform image taking.
In step S04, according to the pixel comparison method of image area, the image is subjected to area block comparison to change the details of the pixel value of each of the two pictures, and since there is a large difference between the pixel value with laser line and the pixel value without laser line, it can be distinguished by comparison whether the area is a significant linear change.
According to the airport pavement foreign matter monitoring method, the scanning device carries out first acquisition when the line laser is closed and second acquisition when the line laser is opened at each scanning angle to obtain first acquisition data and second acquisition data, and the acquired two-dimensional image is changed into a three-dimensional image through the first acquisition data and the second acquisition data, so that whether the foreign matter in the primary foreign matter judgment result is effective or not can be accurately judged, namely, suspected foreign matter objects without height are removed, and the overall false alarm rate of the monitoring system is greatly reduced, namely, the occurrence of false alarms of non-foreign matters such as runway scratch false alarm, light shadow false alarm, water stain false alarm and the like is distinguished.
Specifically, each scanning angle may be 10 degrees, 20 degrees, etc., and is set according to the actual application.
In a specific implementation, the step of arranging the scanning device and the line laser on the runway of the airport comprises the following steps:
debugging the set position of each scanning device;
and the line laser corresponding to each scanning device is arranged close to the plane where the runway is located.
Specifically, the step of debugging the setting position of each scanning device specifically includes:
the setting position of each scanning device and the plane of the runway corresponding to each scanning device in the scanning range are positioned on the same horizontal plane.
In a specific implementation, the step of determining whether a laser line appears in a foreign object on a first acquired picture according to subtraction processing, and marking the foreign object without the laser line as a non-standard foreign object without an entity height includes the following steps:
obtaining a heterogeneous pixel value according to the subtraction processing result, and judging that a laser line appears in foreign matters on the picture acquired for the first time when the heterogeneous pixel value is larger than a threshold value; when the heterogeneous pixel value is smaller than a threshold value, judging that no laser line appears in foreign matters on the acquired picture for the first time;
and when the foreign matter on the picture acquired for the first time is judged to have no laser line, marking the foreign matter without the laser line as a non-standard foreign matter without the entity height.
Specifically, since the line laser pixel area is a regular change area and is not an obvious line laser point in the image processing, the line laser point of the image is already obtained through two image changes before and after the image processing, and then the area where the line laser point of the image is located is marked. The algorithm for obtaining the heterogeneous pixel values according to the processing result of the difference method in the image processing algorithm specifically comprises three steps:
first, image filtering.
When an airport pavement image is researched, firstly, the acquired image information is preprocessed to filter interference, noise and the like, so that the signal-to-noise ratio can be improved. Meanwhile, considering the calculation speed, a method for combining the average filtering and the median filtering of the small region is selected, firstly, pixels around 1/2 are removed from the window pixels in a sorting mode, and the rest pixels are averaged. Therefore, the information of the original image can be well stored, and the noise can be smoothed.
Firstly, eliminating singular values by using a median filtering idea to obtain a reserved median group; the arithmetic mean is then applied to obtain a window output value. Thus, a coordinated selection between noise suppression, smoothing regions and edge protection can be made by selecting the number of values that hold the median cluster. The method has certain effects on region smoothing before boundary extraction and filtering of a small amount of noise.
And secondly, matching images.
And matching the picture of the first non-line-opening laser moment with the current line-opening laser image to find the image with the largest effective matching range. In order to reduce the calculated amount, several fixed small areas of the image of the first non-line-opening laser are used as templates during matching, roaming is carried out in a certain area of the current image to obtain the minimum measure sum, the initial position of the upper left corner of the template is recorded, and position parameters are provided for the next step; the measure is mainly based on the fractional dimension theory, the fractional dimension is obtained by a carpet covering method for a local area, then the local area is quantized, a quantized value of a local small area is given, and then the local small area is coded according to the quantized value. This avoids the effect of light intensity variations on the matching.
In the BT algorithm, all points in the range of the three-dimensional gray image surface epsilon are considered, and if the image surface gray scale is g (i, j) (i, j is coordinates), the coverage top surface is u epsilon (i, j), the coverage bottom surface is b epsilon (i, j), and initially epsilon is 0, then g (i, j) ═ u0(i,j)＝b0(i, j), e 1,2, the following are covered:
and ε is the number of coverages, the coverage area A (ε) is:
mandelbort defines a surface fractal dimension: a (epsilon) ═ F epsilon2-DWhere F is a constant and D is the fractal dimension of the surface. The fractal dimension may be from log [ A (ε)]And log (. epsilon.) is estimated by a linear fit, the slope of the fit lineNamely 2-D. The algorithm is used to calculate the fractal dimension of the 2D surface, typically taking local windows (e.g., 3 × 3, 5 × 5, 11 × 11, etc.) to calculate the local fractal dimension. The larger the window size, the more computationally intensive.
And aiming at matching, large-scale resolution is adopted, fractional dimension codes of the images are calculated, then the fractional bit number codes of the two images are compared, if the fractional bit number codes are the same, matching is carried out, then the total subset matching number is calculated, and the comparable amount of the matching degree of the two images is given.
And thirdly, extracting image difference fractal.
According to the matching relation of the second step, the reliably matched part is divided into smaller subsets, the fractional dimension of each subset is obtained, each small subset is correspondingly coded in the upper-level subset, compared with the matched image, the subsets which cannot be matched are searched, one-dimensional measurement of the mismatching degree is given, and the most basic subset which is larger than a determined threshold value is found, namely the foreign matter suspicious region is obtained, namely the line laser appears.
Finally, the judgment result is output in two ways: firstly, wireless laser foreign matters; the second is the presence of line laser.
The specific process is illustrated as follows:
the method comprises the steps of carrying out original foreign matter recognition algorithm on a picture acquired by a first unopened laser to judge whether foreign matters exist or not, then carrying out image processing of a difference method on the picture acquired by the first unopened laser and the picture acquired by a second opened laser, judging whether line laser on the picture acquired by the second opened laser is in the picture acquired by the first unopened laser or not according to the image processing result of pixel subtraction, forming a line laser line on the surface of the foreign matters if the foreign matters are in a three-dimensional shape, and preventing the line laser from appearing on the picture acquired by the second time if the foreign matters are in the three-dimensional shape, namely, the different pixel values acquired after the image processing subtraction are below a threshold value, because the line laser is projected to infinity, determining whether the foreign matters are three-dimensional or not through the two judgments so as to distinguish false scratches on a runway, false alarm of non-foreign matters such as false alarm of light and shadow, false alarm of water stain and the like.
That is, firstly, because the runway of the airport is not a reference horizontal plane, the scanning devices are debugged to enable the plane of each scanning device in the scanning range and the plane of the runway in the scanning range of each scanning device to be positioned at the same horizontal plane, and in addition, the corresponding line laser is loaded at the position where each scanning device is tightly attached to the ground, so that the line laser is arranged in parallel with the runway and tightly attached to the plane of the runway.
When the scanning device collects images, the scanning device stops rotating at each preset angle, and realizes twice photographing at the same angle at the same moment, the line laser is started during one photographing, the line laser is not started during one photographing, after the scanning is finished, in the image processing, the original image processing is firstly carried out on the image without the line laser for the first time to judge the foreign matters in the image, then, the subtraction processing in the aspect of image processing is carried out on the images of the laser which is turned on and off twice at the same angle at the same moment, the line laser pixel points are found out and marked, and the situation that the shape is generated when the grating stripes meet high foreign matters is utilized, the judgment is carried out by changing the pixels of the laser line marked in the image processing, whether the foreign object in the line laser in the first image processing has the height of the foreign object is determined, and whether the foreign object is a suspected foreign object is judged by determining whether the foreign object has the three-dimensional height.
Specifically, the two shooting processes are actually judged by image processing with the template every time, and the line laser re-shooting only is the other part in the image processing, namely, the second judgment is carried out again after the image processing is carried out on the first image shooting for confirming whether the foreign matter has the height of the foreign matter. The overall decision step should be such that the acquisition of the template is initially performed without the laser being wired, assuming the runway is clean. Then, the device starts continuous scanning, wherein each scanning is divided into open line laser scanning and non-open line laser scanning, if a foreign matter exists, a first judgment result of the foreign matter can be obtained through the non-open line laser scanning, but whether the reported foreign matter is a definite foreign matter is not clear, so that the image processing of the image of the open line laser needs to be carried out again for the second time, the image processing is specially used for removing the foreign matter with no entity height in some foreign matters for the first alarm, and the removed other foreign matters are regarded as definite foreign matters.
In the specific implementation, the image processing process is divided into two steps, the first step is to perform primary foreign matter identification to perform image processing in the picture acquired when the laser line laser is not started for the first time, as shown in fig. 3, two foreign matters and oil stain water marks and the like appear, then the result of the primary foreign matter judgment in the first step identification is to identify three suspicious foreign matters, and then the second step is to perform the picture acquired in a structured light mode, as shown in fig. 4, it is found that laser lines appear on the foreign matters 12 irradiated by the line laser at the positions close to the foreign matters 11 irradiated by the line laser at the far distance, the laser lines of the foreign matters are judged by a subtraction method in the image processing, but the oil stain water marks 13 on the runway are not judged to have laser lines, and then the oil stain water marks 13 on the runway can be considered to be non-standard foreign matters without entity. In this way, the non-standard foreign matter without the entity height is deleted in the preliminary foreign matter judgment result in the final image processing, and the final foreign matter judgment result is obtained and output, so that the confirmation work of the suspected foreign matter without the actual height is completed. The false alarm is reduced, and the working efficiency of the monitoring system is improved.
In specific implementation, a linear structured light mode is added into the monitoring method, so that a certain auxiliary effect is played on image processing of airport pavement foreign matter monitoring on the whole, and secondary confirmation screening is performed on foreign matters without entity height, such as oil stains, scratches, tire marks and the like, which originally appear in the image processing, so that the integral false alarm rate of the monitoring system is greatly reduced.
The invention provides an airport pavement foreign matter monitoring system of an embodiment, as shown in fig. 2, the monitoring system comprises a scanning device 1, a line laser 2 and a monitoring center device, wherein the scanning device 1 and the line laser 2 are arranged on an airport runway;
the scanning device 1 is used for performing first acquisition and second acquisition at each scanning angle to obtain first acquisition data and second acquisition data, wherein the first acquisition is performed when the line laser 2 is turned off, and the second acquisition is performed when the line laser 2 is turned on;
the monitoring center equipment is used for determining that foreign matters exist on the picture acquired at the first time according to the first acquisition data to obtain a preliminary foreign matter judgment result; carrying out subtraction processing on the first acquisition data and the second acquisition data; judging whether the foreign matter on the picture acquired for the first time has a laser line according to the subtraction processing result, and marking the foreign matter without the laser line as a non-standard foreign matter without the entity height; and deleting the non-standard foreign matters without entity height in the foreign matter preliminary judgment result to obtain and output a final foreign matter judgment result.
According to the airport pavement foreign matter monitoring system, the scanning equipment is used for carrying out primary acquisition when the line laser is closed and secondary acquisition when the line laser is opened at each scanning angle to obtain primary acquisition data and secondary acquisition data, and the acquired two-dimensional image is changed into a three-dimensional image through the primary acquisition data and the secondary acquisition data, so that whether foreign matters in the primary foreign matter judgment result are effective foreign matters or not can be accurately judged, namely, suspected foreign matter objects without height are removed, and the integral false alarm rate of the monitoring system is greatly reduced.
In a specific implementation, the line laser 2 corresponding to each scanning device 1 is arranged close to the plane of the runway. Specifically, the scanning device comprises an optical lens group and a CCD camera.
In a specific implementation, the setting position of each scanning device 1 is on the same horizontal plane with the plane of the runway corresponding to each scanning device in the scanning range.
In a specific implementation, the monitoring center is further configured to:
finding out line laser pixel points according to the subtraction processing result for marking, and generating the shape when the grating stripes meet high foreign matters;
the determination is made by the change of the pixels of the line laser marked in the image processing whether the foreign object in the line laser in the first image processing has its height.
As shown in fig. 2, the scanning device 1 collects pictures by combining the optical lens group and the CCD camera, starts the laser illumination mode at night to collect images at night, and adds the line laser 2 to form a structured light mode to collect images twice, wherein the line laser 2 is not turned on once and the line laser 2 is turned on once. If the foreign body is long enough and has a certain height in the irradiation range of the line laser 2, the laser line 3 can be clearly seen on the foreign body. The acquisition area 4 where the scanning device 1 stays at the moment performs the acquisition of pictures twice at the same angle at the same time. The scanning device 1 rotates in the acquisition process to finish the acquisition of pictures of all angles in the whole acquisition area 5.
In the specific implementation, the image processing process is divided into two steps, the first step is to perform primary foreign matter identification to perform image processing in the picture acquired when the laser line laser is not started for the first time, as shown in fig. 3, two foreign matters and oil stain water marks and the like appear, then the result of the primary foreign matter judgment in the first step identification is to identify three suspicious foreign matters, and then the second step is to perform the picture acquired in a structured light mode, as shown in fig. 4, it is found that laser lines appear on the foreign matters 12 irradiated by the line laser at the positions close to the foreign matters 11 irradiated by the line laser at the far distance, the laser lines of the foreign matters are judged by a subtraction method in the image processing, but the oil stain water marks 13 on the runway are not judged to have laser lines, and then the oil stain water marks 13 on the runway can be considered to be non-standard foreign matters without entity. In this way, the non-standard foreign matter without the entity height is deleted in the preliminary foreign matter judgment result in the final image processing, and the final foreign matter judgment result is obtained and output, so that the confirmation work of the suspected foreign matter without the actual height is completed. The false alarm is reduced, and the working efficiency of the monitoring system is improved.
In specific implementation, a linear structured light mode is added into the monitoring method, so that a certain auxiliary effect is played on image processing of airport pavement foreign matter monitoring on the whole, and secondary confirmation screening is performed on foreign matters without entity height, such as oil stains, scratches, tire marks and the like, which originally appear in the image processing, so that the integral false alarm rate of the monitoring system is greatly reduced.
The foregoing embodiments and description have been presented only to illustrate the principles and preferred embodiments of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as hereinafter claimed.
Claims (9)
1. A foreign matter monitoring method for an airport pavement is characterized by comprising the following steps: the monitoring method comprises the following steps:
arranging a scanning device and a line laser on an airport runway;
controlling the scanning equipment to perform first acquisition and second acquisition at each scanning angle to obtain first acquisition data and second acquisition data, wherein the first acquisition is performed when the line laser is turned off, and the second acquisition is performed when the line laser is turned on;
determining that foreign matters exist on the picture acquired for the first time according to the first acquired data to obtain a preliminary foreign matter judgment result;
carrying out subtraction processing on the first acquired data and the second acquired data;
judging whether the foreign matter on the picture acquired for the first time has a laser line according to the subtraction processing result, and marking the foreign matter without the laser line as a non-standard foreign matter without the entity height;
and deleting the non-standard foreign matters without entity height in the foreign matter preliminary judgment result to obtain and output a final foreign matter judgment result.
2. The monitoring method of claim 1, wherein: the step of positioning the scanning device and the line laser on the runway of the airport comprises the steps of:
debugging the set position of each scanning device;
and the line laser corresponding to each scanning device is arranged close to the plane where the runway is located.
3. The monitoring method of claim 2, wherein: the step of debugging the set position of each scanning device specifically comprises:
the setting position of each scanning device and the plane of the runway corresponding to each scanning device in the scanning range are positioned on the same horizontal plane.
4. The monitoring method of claim 1, wherein: the step of judging whether the foreign matter on the picture acquired for the first time appears a laser line according to the subtraction processing result and marking the foreign matter without the laser line as a non-standard foreign matter without the entity height comprises the following steps:
obtaining a heterogeneous pixel value according to the subtraction processing result, and judging that a laser line appears in foreign matters on the picture acquired for the first time when the heterogeneous pixel value is larger than a threshold value; when the heterogeneous pixel value is smaller than a threshold value, judging that no laser line appears in foreign matters on the acquired picture for the first time;
and when the foreign matter on the picture acquired for the first time is judged to have no laser line, marking the foreign matter without the laser line as a non-standard foreign matter without the entity height.
5. The utility model provides an airport pavement foreign matter monitoring system which characterized in that: the monitoring system comprises scanning equipment, a line laser and monitoring center equipment, wherein the scanning equipment and the line laser are arranged on an airport runway;
the scanning device is used for performing first acquisition and second acquisition at each scanning angle to obtain first acquisition data and second acquisition data, wherein the first acquisition is performed when the line laser is turned off, and the second acquisition is performed when the line laser is turned on;
the monitoring center equipment is used for determining that foreign matters exist on the picture acquired at the first time according to the first acquisition data to obtain a preliminary foreign matter judgment result; carrying out subtraction processing on the first acquisition data and the second acquisition data; judging whether the foreign matter on the picture acquired for the first time has a laser line according to the subtraction processing result, and marking the foreign matter without the laser line as a non-standard foreign matter without the entity height; and deleting the non-standard foreign matters without entity height in the foreign matter preliminary judgment result to obtain and output a final foreign matter judgment result.
6. The monitoring system of claim 5, wherein: and the line laser corresponding to each scanning device is arranged close to the plane where the runway is located.
7. The monitoring system of claim 5, wherein: the setting position of each scanning device and the plane of the runway corresponding to each scanning device in the scanning range are positioned on the same horizontal plane.
8. The monitoring system of claim 5, wherein: the monitoring center equipment is also used for:
obtaining a heterogeneous pixel value according to the subtraction processing result, and judging that a laser line appears in foreign matters on the picture acquired for the first time when the heterogeneous pixel value is larger than a threshold value; when the heterogeneous pixel value is smaller than a threshold value, judging that no laser line appears in foreign matters on the acquired picture for the first time;
and when the foreign matter on the picture acquired for the first time is judged to have no laser line, marking the foreign matter without the laser line as a non-standard foreign matter without the entity height.
9. The monitoring system of claim 5, wherein: the scanning device comprises an optical lens group and a CCD camera.
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| CN111897025A (en) * | 2020-08-06 | 2020-11-06 | 航泰众联(北京)科技有限公司 | Airport pavement foreign matter detection equipment and system based on 3D/2D integration detection |
| CN115908779A (en) * | 2022-11-14 | 2023-04-04 | 武汉工程大学 | A FOD detection method, device, equipment and storage medium based on laser scanning |
| CN116704446A (en) * | 2023-08-04 | 2023-09-05 | 武汉工程大学 | Method and system for real-time detection of foreign matter on airport runway surface |
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| CN115908779B (en) * | 2022-11-14 | 2025-11-18 | 武汉工程大学 | A laser scanning-based FOD detection method, apparatus, device, and storage medium |
| CN116704446A (en) * | 2023-08-04 | 2023-09-05 | 武汉工程大学 | Method and system for real-time detection of foreign matter on airport runway surface |
| CN116704446B (en) * | 2023-08-04 | 2023-10-24 | 武汉工程大学 | Real-time detection method and system for foreign matters on airport runway pavement |
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| CN110927812B (en) | 2024-08-27 |
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