Array radar foreign object detection system and method

Abstract

The present disclosure provides a kind of array radar foreign matter detection system and method, system includes: multiple radar transmitting units, in multiple preset transmitting position, constitute transmitting array, for transmitting radar detection signal to the detection area on the airport runway;Multiple radar receiving units, in multiple preset receiving position, constitute receiving array, for receiving the radar echo signal scattered by detection area;Radar imaging unit, for imaging processing based on the echo signal received in multiple positions, generate radar image in detection area;Radar image detection unit, for detecting whether there is foreign matter in the radar image of detection area;Position forming mechanism, for carrying fixed radar transmitting unit in preset transmitting position, also for carrying fixed radar receiving unit in preset receiving position.The present application can enhance the ability of clutter suppression, improve FOD detection capability.

Description

Technical Field

[0001] This disclosure relates to the field of radar technology, and more specifically, to an array radar foreign object detection system and method. Background Technology

[0002] FOD (Foreign Object Debris) refers to any foreign substance, debris, or object that may damage an aircraft or its systems; it is often referred to as runway foreign object debris. The hazards posed by FOD are extremely serious. Numerous cases have demonstrated that foreign objects on airport runways can easily be sucked into engines, causing engine failure. Debris can also accumulate in mechanical systems, affecting the normal operation of landing gear, wings, and other equipment. This not only damages the aircraft and claims precious lives but also results in enormous economic losses.

[0003] In the early days, most airport runway inspections in China were carried out manually by pavement inspectors. During these inspections, the runways would be closed, which resulted in low efficiency and poor reliability of flight operations, and also consumed valuable runway usage time.

[0004] Currently, FOD (Foreign Object Demand) detection can be achieved through optical video detection and radar detection. Optical video detection involves optical image recognition of acquired runway images, but the identification of foreign objects is affected by the resolution of the optical image. Furthermore, optical video detection is significantly affected by weather conditions; its efficiency and reliability are greatly reduced in adverse weather conditions such as rain and fog, or when operating at night. Therefore, millimeter-wave radar has been added to FOD detection. Millimeter-wave radar can achieve nighttime detection and has advantages such as relatively narrow beamwidth, wide signal bandwidth, and small size and weight, making it widely used in FOD radar detection equipment.

[0005] However, existing millimeter-wave radars used for FOD detection are still significantly affected by weather. Compared to microwaves, millimeter waves are more significantly affected by climate. Detection performance drops drastically, or even fails, during periods of increased atmospheric moisture, fog, or rain. Furthermore, millimeter-wave radars used for FOD detection employ background cancellation to suppress ground clutter, but ground clutter varies with weather and seasons, directly impacting detection performance. In addition, the fixed angular resolution of millimeter-wave radars for FOD detection results in significant differences in radar illumination area at long and short distances, leading to inconsistent detection performance at both ends of the array radar foreign object detection system. Summary of the Invention

[0006] This disclosure provides an array radar foreign object detection system and method. This disclosure provides a foreign object detection system using an array radar. The array radar includes a radar and a position forming mechanism. The radar includes: multiple radar transmitting units, each disposed at a preset position to form a transmitting array, for transmitting radar detection signals to a detection area; multiple radar receiving units, each disposed at a preset position to form a receiving array, for receiving echo signals obtained by scattering and / or reflecting the detection signals by a target or clutter; a radar imaging unit for performing imaging processing based on the received echo signals from multiple positions to generate a radar image of the detection area; a radar image detection unit for detecting whether foreign objects exist in the radar image of the detection area; and a position forming mechanism for supporting the radar transmitting units and fixing them at a preset transmitting position on one side of an airport runway. The position forming mechanism causes the radar transmitting units to transmit radar signals at the fixed preset transmitting position. The position forming mechanism also supports the radar receiving units and fixes them at a preset receiving position on one side of the airport runway. The position forming mechanism causes the radar receiving units to receive radar echo signals at the fixed preset receiving position. Optionally, the radar transmitting unit and the radar receiving unit may belong to the same structure or different structures.

[0007] Optionally, the radar transmitting unit includes a radar transmitter and a radar transmitting antenna, and the radar receiving unit includes a radar receiving antenna, a radar receiver, a radar data acquisition unit, and a radar data recording unit.

[0008] Optionally, the position forming mechanism includes multiple structural units, each of which includes a connection and rotation mechanism, a motion attitude measurement unit, and a support structure.

[0009] Optionally, the preset positions of the radar transmitting unit and the radar receiving unit are located on the same side of the detection area; wherein the distance between any two radar transmitting units is less than or equal to the imaging resolution, or / and the distance between any two radar receiving units is less than or equal to the imaging resolution.

[0010] Optionally, another way to preset the positions of the radar transmitting unit and the radar receiving unit is to distribute them on opposite sides of the detection area; wherein the distance between any two radar transmitting units is less than or equal to the imaging resolution, or / and the distance between any two radar transmitting units is less than or equal to the imaging resolution.

[0011] Optionally, another way to preset the position of the radar receiving unit is to satisfy the following conditions: when the distance between any two radar transmitting units is less than or equal to the imaging resolution, the distance between two adjacent radar receiving units is greater than the distance between two adjacent radar transmitting units, and the distance between two adjacent radar receiving units is less than or equal to the near-field width of the detection area corresponding to the beam of the radar receiving unit.

[0012] Optionally, the number of radar transmitting units satisfies the condition that the number of radar transmitting units multiplied by the distance between two adjacent radar transmitting units is greater than the far-end width of the detection area corresponding to the beams of two adjacent radar receiving units.

[0013] Optionally, another way to preset the position of the radar transmitting unit is to satisfy the following conditions: when the distance between any two radar receiving units is less than or equal to the imaging resolution, the distance between two adjacent radar transmitting units is greater than the distance between two adjacent radar receiving units, and the distance between two adjacent radar transmitting units is less than or equal to the near-field width of the illumination and detection area corresponding to the beams emitted by the two adjacent radar transmitting units.

[0014] Optionally, the number of radar receiving units is such that the number of radar receiving units multiplied by the distance between two adjacent radar receiving units is greater than the far-end width of the illumination and detection area corresponding to the beams emitted by two adjacent radar transmitting units.

[0015] A second aspect of this disclosure provides a method for detecting foreign objects using an array radar. The method includes: a radar transmitting unit and a radar receiving unit arranged at preset positions along one or both sides of an airport runway; the radar transmitting unit transmitting radar detection signals to a detection area on the airport runway from multiple preset transmitting positions; the radar receiving unit receiving echo signals scattered by the radar detection signals in the detection area from multiple preset receiving positions; a radar imaging unit performing imaging processing on the echo signals corresponding to different combinations of transmitting and receiving from the preset transmitting and receiving positions to obtain a radar image of the detection area; and a radar image detection unit using the radar image to detect foreign objects and detect whether there are foreign objects in the detection area.

[0016] Optionally, transmitting radar detection signals to the detection area on the airport runway is achieved by adjusting the radar transmission beam direction of the radar transmitting antenna of the radar transmitting unit using the connection and rotation mechanism of the motion position forming mechanism, so that the radar transmission beam illuminates the detection area on the airport runway.

[0017] Optionally, when the preset launch position is located on either side of the airport runway, the preset launch position is a fixed position where the support structure of the position forming mechanism is located; when the preset receiving position is located on either side of the airport runway, the preset receiving position is a fixed position where the support structure of the position forming mechanism is located.

[0018] Optionally, the line connecting the fixed position to the adjacent fixed position is located on either side of the airport runway, and the line is combined to form a straight line or a broken line.

[0019] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0020] This disclosure presents an array radar foreign object detection system and method, capable of acquiring radar images within a detection area and performing foreign object detection based on these images to determine the presence of foreign objects within the detection area. By acquiring radar images for foreign object detection, compared to existing technologies that combine millimeter-wave radar detection with / or optical video, the radar resolution cell area can be effectively reduced, thereby significantly reducing background clutter intensity, improving the signal-to-clutter ratio, enhancing clutter suppression capabilities, and improving FOD detection capabilities. Furthermore, since the resolution cell area is reduced using an imaging method rather than through narrow beams, it eliminates the need for millimeter-wave bands, which are easily implemented with narrow beams, allowing the use of microwave bands with lower atmospheric attenuation and rain attenuation, thus reducing the impact of weather conditions on detection capabilities.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0022] Figure 1 A schematic diagram of the structure of an array radar foreign object detection system, as shown in an exemplary embodiment;

[0023] Figure 2 This is a schematic diagram illustrating the structure and placement of an array radar foreign object detection system as an exemplary embodiment.

[0024] Figure 3 This is a schematic diagram illustrating the structure and placement of an array radar foreign object detection system as an exemplary embodiment.

[0025] Figure 4 This is a schematic diagram illustrating the structure and placement of an array radar foreign object detection system as an exemplary embodiment.

[0026] Figure 5 This is a schematic diagram illustrating the structure and placement of an array radar foreign object detection system as an exemplary embodiment.

[0027] Figure 6 This is a schematic diagram illustrating the structure and placement of an array radar foreign object detection system as an exemplary embodiment.

[0028] Figure 7 This is a schematic diagram illustrating the structure and placement of an array radar foreign object detection system as an exemplary embodiment.

[0029] Figure 8 A flowchart illustrating an array radar foreign object detection method as an exemplary embodiment;

[0030] Figure 9 A flowchart illustrating an array radar foreign object detection method as an exemplary embodiment;

[0031] Figure 10 This is a schematic diagram illustrating the structure and layout of an array radar foreign object detection system in the prior art;

[0032] Figure 11 A schematic diagram of the structure of an array radar foreign object detection system, as shown in an exemplary embodiment;

[0033] Figure 12 A schematic diagram of the structure of an array radar foreign object detection system, as shown in an exemplary embodiment;

[0034] Figure 13 This is a schematic diagram of the structure of an array radar foreign object detection system, as shown in an exemplary embodiment. Detailed Implementation

[0035] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. The technical solutions in the embodiments of this application are clearly and completely described. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0036] First, a brief introduction to the relevant technologies involved in the embodiments of this application will be given.

[0037] Radar is an electronic device that uses electromagnetic waves to detect targets. Radar emits electromagnetic waves to illuminate a target and receives its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), azimuth, and altitude.

[0038] Synthetic Aperture Radar (SAR) uses a small antenna that moves at a constant speed along the trajectory of a long linear array and radiates coherent signals. The echoes received at different locations are coherently processed to obtain a high-resolution imaging radar.

[0039] Radar beamwidth refers to the angle between the two half-power points of the beam.

[0040] Radar angular resolution refers to the radar's ability to distinguish two targets in an angular direction. It is usually determined by the beamwidth; the narrower the beam, the better the angular resolution. The radar beamwidth is directly proportional to the radar's wavelength and inversely proportional to the antenna length.

[0041] Figure 10 This is a schematic diagram illustrating the working principle of millimeter-wave radar for FOD detection. (For example...) Figure 10 As shown, multiple millimeter-wave radars are placed side by side along one or both sides of the runway along its length. When the radars detect, each radar emits a detection signal to illuminate the runway area, and the rotating beam covers the runway area that the radar is responsible for illuminating, thus covering the entire runway area with multiple radars.

[0042] The angular resolution of this radar detection method depends on the radar beamwidth; the wider the radar beamwidth, the worse the angular resolution. Radar beamwidth is related to wavelength and antenna size. When radar antenna size is limited, a shorter wavelength results in a narrower radar beam, better angular resolution, and lower clutter intensity. This is the determining factor for the current use of millimeter-wave frequencies in FOD radar detection.

[0043] Millimeter-wave radar is used to detect FOD, enabling nighttime detection. It has advantages such as relatively narrow beamwidth, wide signal bandwidth, and small size and weight, and is widely used in various types of FOD radar detection equipment.

[0044] However, compared to microwaves, millimeter-wave radar used for FOD detection is significantly affected by weather conditions. Detection performance drops drastically, or even ceases to function, during periods of increased atmospheric moisture, fog, or rain. Furthermore, millimeter-wave radar for FOD detection employs background cancellation to suppress ground clutter, but ground clutter varies with weather and seasons, directly impacting detection performance. Additionally, the fixed angular resolution of millimeter-wave radar for FOD detection results in significant differences in radar illumination area at long and short ranges, leading to decreased detection performance at longer distances.

[0045] The purpose of this disclosure is to provide an array radar foreign object detection method and system that can overcome the shortcomings of existing optical video and millimeter-wave radar for detecting FOD, and meet the requirements of all-day, all-weather, and high-performance FOD detection.

[0046] The array foreign object detection method and system according to embodiments of the present invention have at least the following beneficial effects:

[0047] (1) Enhanced ability to suppress background clutter

[0048] Compared to using high-resolution imaging, it can effectively reduce the radar resolution cell area, thereby significantly reducing the background clutter intensity, improving the signal-to-clutter ratio, enhancing clutter suppression capabilities, and improving FOD detection capabilities.

[0049] (2) Improve all-weather detection capabilities

[0050] Because high-resolution imaging is used for FOD detection, the correlation between FOD detection resolution and waveband can be reduced. Therefore, microwave waveband can be used for FOD detection. Microwave waveband has a significantly better penetration ability for water vapor, fog and rain than millimeter waveband, which can effectively improve all-weather detection capability.

[0051] The array foreign object detection method and system of the present invention have advantages such as enhanced ability to suppress background clutter, improved FOD detection performance, and improved all-weather detection capability.

[0052] This disclosure provides an array radar foreign object detection system, combined with... Figure 1 As shown, the array radar foreign object detection system includes:

[0053] Multiple radar transmitting units, ranging from 101 to 10m, are set at preset positions in each transmitting unit to form a transmitting array for transmitting radar detection signals to the detection area.

[0054] Multiple radar receiving units 201 to 20n are respectively set at a preset position in each receiving unit to form a receiving array, which is used to receive the echo signal obtained by the detection signal being scattered and / or reflected by the target or clutter;

[0055] The radar imaging unit 300 is used to perform imaging processing based on the received echo signals from multiple locations to generate a radar image of the detection area.

[0056] The radar image detection unit 400 is used to detect whether there are foreign objects in the radar image of the detection area;

[0057] A position forming mechanism 500 is used to carry the radar transmitting unit and fix the radar transmitting unit at a preset transmission position on one side of the airport runway; wherein, the position forming mechanism enables the radar transmitting unit to transmit radar signals at the fixed preset transmission position;

[0058] The position forming mechanism is also used to carry the radar receiving unit and fix the radar receiving unit at a preset receiving position on one side of the airport runway; wherein, the position forming mechanism enables the radar receiving unit to receive radar echo signals at the fixed preset receiving position.

[0059] In this embodiment of the disclosure, the radar transmitting unit and the radar receiving unit can be integrated into a single radar. For a single radar, the number of radar transmitting units and radar receiving units is the same, and they are located at the same position in the radar array.

[0060] In this embodiment, the radar can also be a transmit-receive radar, meaning that the radar transmitting unit and the radar receiving unit are separately configured. When the radar operates in continuous wave mode, the transmit-receive radar can effectively suppress the problem of transmitter interference with the receiver. The transmit-receive radar can operate in pulse mode or continuous wave mode. There are various implementation methods for the transmit-receive radar. For example, when both the radar transmitting unit and the radar receiving unit are configured on both sides of the airport runway, the radar transmitting unit and the radar receiving unit can be configured to be arranged along the same side or different sides of the airport runway.

[0061] In this embodiment, both the radar transmitting unit and the radar receiving unit can be respectively mounted on the connecting and rotating mechanism, and can rotate through the rotation of the connecting and rotating mechanism, which can be installed on the support structure. The connecting and rotating mechanism can drive the radar transmitting unit and / or the radar receiving unit to rotate; alternatively, the connecting and rotating mechanism can remain stationary to prevent the radar transmitting unit and / or the radar receiving unit from rotating. The aforementioned support structure can be fixedly installed on either side of the airport runway according to actual application needs.

[0062] In this embodiment of the disclosure, the radar transmitting unit and the radar receiving unit may belong to the same structure or to different structures.

[0063] In one embodiment, when the radar transmitting unit and the radar receiving unit are structurally part of the same structure, signal transmission and reception can be achieved through the same structure.

[0064] In another embodiment, when the radar transmitting unit and the radar receiving unit are structurally different structures, then signal transmission and reception need to be achieved through different structures.

[0065] In this embodiment, the radar transmitting unit includes a radar transmitter and a radar transmitting antenna, and the radar receiving unit includes a radar receiving antenna, a radar receiver, a radar data acquisition unit, and a radar data recording unit. The radar transmitter is configured to generate a transmitted signal, and the radar receiver is configured to receive radar echo signals. The radar transmitting antenna is configured to convert electrical signals into spatial electromagnetic waves and transmit them to the detection area. The radar receiving antenna is configured to convert the spatial electromagnetic waves scattered back from the detection area into electrical signals. It is understood that when the radar is a transceiver integrated radar, the transmitting antenna and the receiving antenna can be configured as the same antenna or the same antenna array, and the radar operates in pulse mode; alternatively, two antennas can be used, one for transmitting and the other for receiving, and the radar operates in continuous wave mode. The detection area is a portion of the airport runway.

[0066] In this embodiment, a radar data acquisition unit and a radar data recording unit are described. The radar data acquisition unit can be configured to digitize echo signals obtained from different locations to obtain radar echo data. The radar data recording unit can be configured to store radar echo data and motion attitude information obtained from different locations. Here, the motion attitude information can be used to indicate radar angle data, etc.

[0067] In this embodiment of the disclosure, the array radar foreign object detection system may further include a controller, which can be configured to control and monitor system operation. For example, the controller may be used to send radar rotation control commands to the radar, instructing the radar transmitting unit and / or radar receiving unit to rotate.

[0068] In this embodiment of the disclosure, the types of foreign objects include, but are not limited to: metal devices (e.g., nuts, screws, washers, nails, fuses, etc.) when the detection area is land, mechanical tools, concrete and asphalt fragments (e.g., stones, sand, ice shards, etc.), flying animals, items that are easily carried in an aircraft (e.g., personal belongings, pens, pencils, buttons, etc.) and other items that may affect the safety of moving objects that need to move in the detection area.

[0069] In this embodiment of the disclosure, the position forming mechanism includes multiple structural units, each of which includes a connection and rotation mechanism, a motion posture measurement unit, and a support structure.

[0070] In this embodiment of the disclosure, the position forming mechanism is used to measure the support, rotation, and motion attitude of the radar.

[0071] In this embodiment of the disclosure, multiple radar receiving units 201, 202, ..., 20j, 20n are respectively used to receive the echo signals obtained by scattering and / or reflecting the radar detection signals emitted by multiple radar transmitting units 101, 102, ..., 10i, 10m. Here, i is equal to or not equal to j, n is equal to or not equal to m, and i, j, m, n are natural numbers.

[0072] In this embodiment of the disclosure, the radar arrays set on opposite sides or one side of the detection area (airport runway) are mainly used for imaging to achieve high azimuth resolution.

[0073] In Earth imaging applications, synthetic aperture radar (SAR) is typically used. SAR requires a flight system, such as an aircraft or satellite equipped with radar. During flight, the radar antenna emits a beam covering a strip of ground, then receives scattered or reflected waves from objects along that strip, forming an image. As the flight system continues to fly, it continuously emits beams and receives echoes, creating multiple radar images. The integration of these multiple images improves resolution. In this embodiment, since the detection area concerns the airport runway itself, it is necessary to avoid interference from other flight systems with normal aircraft operations. Using a SAR mounted on a flight system would potentially impact the safety of aircraft, personnel, and airport equipment. Therefore, this application uses a fixed radar transmitting or receiving array to achieve a data acquisition process similar to SAR. This results in high azimuth resolution through imaging processing while minimizing the impact on the safety of aircraft, personnel, vehicles, and equipment at the airport.

[0074] In this embodiment of the present disclosure, a preset first type of location and a preset second type of location are distributed on opposite sides of the detection area.

[0075] In this embodiment of the disclosure, the preset first type of position and the preset second type of position may also be distributed on the same side of the detection area.

[0076] In this embodiment of the disclosure, the spacing between preset first-type locations is less than or equal to a first threshold distance; the spacing between preset second-type locations is less than or equal to a second threshold distance. The first threshold distance is less than or equal to the imaging resolution; the second threshold distance is less than or equal to the length of the near-field end of the beam illumination detection area of ​​two adjacent radars.

[0077] In this embodiment of the disclosure, after multiple radar transmitting units transmit radar detection signals to the detection area, multiple radar receiving units will receive the echo signals obtained by the detection signals being scattered and / or reflected by the target or clutter. Here, the relative positional relationship between the multiple radar transmitting units and the multiple radar receiving units needs to be such that it does not affect the radar's imaging resolution.

[0078] In this embodiment of the disclosure, regarding the size of the interval, the equivalent spatial sampling interval synthesized by the radar transmitting unit and the radar receiving unit needs to be less than or equal to the imaging resolution.

[0079] When the radar transmitting unit and the radar receiving unit are in the same location, that is, when the radar adopts an integrated transceiver radar, the radar transmitting unit and the radar receiving unit form a radar transceiver unit, and the interval between each radar transceiver unit needs to be less than or equal to the imaging resolution.

[0080] When the radar transmitting unit and the radar receiving unit are separated, the interval between the radar transmitting units can meet a first threshold distance, and the interval between the radar receiving units can meet a second threshold distance; or the interval between the radar transmitting units can meet a second threshold distance, and the interval between the radar receiving units can meet a first threshold distance.

[0081] In this embodiment of the disclosure, the radar transmitting unit or the radar receiving unit may employ different beamwidths. One is a first radar beam whose beam coverage area is the entire airport runway; the other is a second radar beam whose beam coverage area is a portion of the airport runway.

[0082] In this embodiment of the disclosure, combined with Figure 2 As shown, in this embodiment, when the radar transmitting unit and the radar receiving unit are in the same location, that is, when the radar adopts an integrated transceiver radar, the radar transmitting unit and the radar receiving unit constitute a radar transceiver unit. In this way, the radar receiving unit can receive the echo signal obtained by the radar detection signal transmitted by the corresponding radar transmitting unit being scattered and / or reflected by the target or clutter. The interval between each radar transceiver unit needs to be less than or equal to the imaging resolution, that is, the positional relationship between the radar transceiver units is a first-type position.

[0083] In this embodiment of the disclosure, combined with Figure 3 As shown, the radar transmitting unit and the radar receiving unit are distributed on opposite sides of the detection area;

[0084] The positional relationship between radar transmitting units is classified as the second type of position, while the positional relationship between radar receiving units is classified as the first type of position.

[0085] Wherein, the distance between two adjacent radar transmitting units is less than or equal to the near-range width of the illumination and detection area corresponding to the beams emitted by the two adjacent radar transmitting units, and the distance between the plurality of radar receiving units is less than or equal to the imaging resolution; or, the distance between adjacent equivalent phase centers formed by the radar transmitting unit and the corresponding radar receiving unit is less than or equal to the imaging resolution.

[0086] In this embodiment of the present disclosure, the radar transmitting unit and the radar receiving unit are distributed on opposite sides of the detection area, such that multiple radar transmitting units at preset positions are located on opposite sides of the detection area along with multiple radar receiving units at preset positions.

[0087] In this embodiment of the disclosure, the radar transmitting unit and the radar receiving unit may also be distributed on the same side of the detection area, such that a plurality of preset radar transmitting units and a plurality of radar receiving units at preset positions are located on the same side of the detection area.

[0088] In this embodiment of the disclosure, the spacing between two adjacent radar transmitting units is greater than the spacing between two adjacent radar receiving units; the positional relationship between the radar transmitting unit array on one side where multiple radar transmitting units are located satisfies the second type of position; and the positional relationship between the radar receiving units satisfies the first type of position.

[0089] In this embodiment of the disclosure, the radar transmitting unit and the radar receiving unit may also be located on the same side of the detection area. Furthermore, when the radar transmitting unit and the radar receiving unit are located on the same side of the detection area, although the number of radar transmitting units is less than the number of radar receiving units, the radar transmitting units and radar receiving units at corresponding positions can still be placed in the same position. The distance between two adjacent radar transmitting units is still greater than the distance between two adjacent radar receiving units; the distance between two adjacent radar receiving units is still less than or equal to the imaging resolution.

[0090] In this embodiment of the disclosure, the near end of the beam illumination detection area of ​​the radar transmitting unit refers to the near radar end of the beam illumination detection area emitted by the radar transmitting unit, and the far end is analogous.

[0091] In this embodiment of the disclosure, radar detection signals emitted by multiple radar transmitting units illuminate the airport runway, while multiple radar receiving units receive scattered signals from the radar detection area, collect these scattered signals to obtain radar echo data, and perform imaging processing on the radar echo data to obtain a radar image.

[0092] In this embodiment of the disclosure, by setting and placing the radar transmitting unit and the radar receiving unit as described above, the relationship between the number of radars and the sampling interval required for radar resolution can be appropriately balanced, so that the number of radar transmitting units can be appropriately reduced while still having a high sampling interval required for radar resolution.

[0093] In this embodiment of the disclosure, combined with Figure 4 As shown, the radar transmitting unit and the radar receiving unit are distributed on opposite sides of the detection area;

[0094] The positional relationship between radar transmitting units is classified as the first type of position, and the positional relationship between radar receiving units is classified as the second type of position.

[0095] Wherein, the distance between two adjacent radar receiving units is less than or equal to the near-field width of the detection area corresponding to the beams of the two adjacent radar receiving units, and the distance between the plurality of radar transmitting units is less than or equal to the imaging resolution; or, the distance between adjacent equivalent phase centers formed by the radar transmitting unit and the corresponding radar receiving unit is less than or equal to the imaging resolution.

[0096] In this embodiment of the present disclosure, the radar transmitting unit and the radar receiving unit are distributed on opposite sides of the detection area, such that a plurality of preset radar transmitting units and a plurality of preset radar receiving units are located on opposite sides of the detection area.

[0097] In this embodiment of the present disclosure, the radar transmitting unit and the radar receiving unit may also be distributed on the same side of the detection area, such that a plurality of radar transmitting units in a preset manner and a plurality of radar receiving units in a preset position are located on the same side of the detection area.

[0098] In this embodiment of the disclosure, the spacing between two adjacent radar transmitting units is greater than the spacing between two adjacent radar receiving units; the positional relationship between the radar transmitting unit array on one side where multiple radar transmitting units are located satisfies a first type of position; and the positional relationship between the radar receiving units satisfies a second type of position.

[0099] In this embodiment of the disclosure, the radar transmitting unit and the radar receiving unit may also be located on the same side of the detection area. Furthermore, when the radar transmitting unit and the radar receiving unit are located on the same side of the detection area, although the number of radar receiving units is less than the number of radar transmitting units, the radar receiving units and radar transmitting units at corresponding positions can still be placed in the same position. The distance between two adjacent radar receiving units is still greater than the distance between two adjacent radar transmitting units; the distance between two adjacent radar transmitting units is still less than or equal to the imaging resolution.

[0100] In this embodiment of the disclosure, by setting and placing the radar transmitting unit and the radar receiving unit as described above, the relationship between the number of radars and the sampling interval required for radar resolution can be appropriately balanced, so that the number of radar receiving units can be appropriately reduced while still having a high sampling interval required for radar resolution.

[0101] In this embodiment of the disclosure, combined with Figure 5As shown, the radar transmitting unit and the radar receiving unit are distributed on opposite sides of the detection area. Alternatively, the radar transmitting unit and the radar receiving unit may be distributed on the same side of the detection area.

[0102] The distance between two adjacent radar transmitting units is greater than the distance between two adjacent radar receiving units;

[0103] The total length of the plurality of radar receiving units is not less than the interval between the elements of the radar transmitting array, and the interval between the elements of the radar transmitting array is not greater than the near-end width of the illuminated runway corresponding to the antenna beam of the element; the number of radar receiving units satisfies that the number of radar receiving units multiplied by the distance between two adjacent radar receiving units is greater than the far-end width of the illumination and detection area corresponding to the beam of two adjacent radar transmitting units.

[0104] The radar receiving unit and the corresponding radar transmitting unit form an equivalent phase center, and the distance between two adjacent equivalent phase centers is less than or equal to the imaging resolution.

[0105] In this embodiment of the disclosure, multiple radar receiving units will rotate the receiving beam to receive the echo signals obtained by the radar detection signals emitted by multiple transmitting radars being scattered and / or reflected by the target or clutter.

[0106] In this embodiment of the disclosure, the distance between the radar receiving unit and the radar transmitting unit is smaller. By combining the radar transmitting unit and the receiving unit, the number of radar receiving units can be effectively reduced, and the resolution can be improved through imaging, thereby reducing the size of the radar system.

[0107] In this embodiment of the disclosure, combined with Figure 6 As shown, the radar transmitting unit and the radar receiving unit are distributed on opposite sides of the detection area. Alternatively, the radar transmitting unit and the radar receiving unit may be distributed on the same side of the detection area.

[0108] The spacing between two adjacent radar transmitting units is smaller than the spacing between two adjacent radar receiving units;

[0109] The total length of the plurality of radar transmitting units is not less than the interval between the elements of the radar receiving array, and the interval between the elements of the radar receiving array is not greater than the near-end width of the illuminated runway corresponding to the antenna beam of the element; the number of radar transmitting units satisfies that the number of radar transmitting units multiplied by the distance between two adjacent radar transmitting units is greater than the far-end width of the detection area corresponding to the beam of two adjacent radar receiving units.

[0110] The radar receiving unit and the corresponding radar transmitting unit form an equivalent phase center, and the distance between two adjacent equivalent phase centers is less than or equal to the imaging resolution.

[0111] In this embodiment of the disclosure, multiple radar receiving units will cover the entire detection area (the entire runway area) by rotating the direction of the transmitted beam. The multiple radar receiving units will receive the echo signals obtained by the radar detection signals transmitted by multiple transmitting radars being scattered and / or reflected by the target or clutter.

[0112] In this embodiment of the disclosure, the number of radar transmitting units is less than that of radar receiving units. By combining radar transmitting units and receiving units, the number of radar receiving units and radar receiving units can be effectively reduced, and the resolution can be improved through imaging, thereby reducing the size of the radar system.

[0113] In this embodiment of the disclosure, combined with Figure 7 As shown, the radar transmitting unit 10i includes at least: a radar transmitter 10i01 and a radar transmitting antenna 10i02;

[0114] The radar transmitter 10i01 is connected to the radar transmitting antenna 10i02. The radar transmitter 10i01 is used to generate and amplify the transmitted electrical signal and transmit the transmitted electrical signal to the radar transmitting antenna 10i02.

[0115] The radar transmitting antenna 10i02 is used to convert the transmitted electrical signal into radar electromagnetic waves and transmit the radar electromagnetic waves to the detection area.

[0116] In this embodiment of the present disclosure, the radar transmitting antenna 10i02 is used to convert the transmitted electrical signal into a radar detection signal in the form of electromagnetic waves at different locations, and to transmit the radar detection signal to the detection area.

[0117] In this embodiment of the disclosure, multiple radar transmitting units correspond to multiple radar transmitters and multiple radar transmitting antennas, and the transmitting antenna array composed of multiple radar transmitting antennas can transmit multiple radar detection signals to the detection area.

[0118] In this embodiment of the disclosure, combined with Figure 7 As shown, the radar receiving unit 20j includes at least: a radar receiving antenna 20j01, a radar receiver 20j02, a radar data acquisition unit 20j03, and a radar data recording unit 20j04.

[0119] The radar receiving antenna 20j01 is connected to the radar receiver 20j02. The radar receiving antenna 20j01 is used to receive the echo signal obtained by the detection signal being scattered and / or reflected by the target or clutter, convert the echo signal into a received electrical signal, and transmit the received electrical signal to the radar receiver 20j02.

[0120] In this embodiment of the disclosure, the echo signal obtained by the detection signal being scattered and / or reflected by the target or clutter is in the form of an electromagnetic wave. Multiple receiving antennas receive the echo signal at different locations, and then convert the electromagnetic wave echo signal into a receiving electrical signal, and transmit the receiving electrical signal to a signal receiver.

[0121] In this embodiment of the disclosure, multiple radar receiving units correspond to multiple radar receiving antennas and multiple radar receiving antennas. The receiving antenna array composed of multiple radar receiving antennas receives echo signals, which are then collected by the radar data acquisition unit 20j03 via a signal receiver to obtain radar echo data. The radar data recording unit 20j04 records the radar echoes in real time. In addition, the multiple radar echo data received and acquired are sent to the radar imaging unit 300 for high-resolution imaging.

[0122] In this embodiment of the disclosure, both the radar transmitting unit and the radar receiving unit can have a certain rotation angle and need to be installed on the connecting and rotating mechanism. The connecting and rotating mechanism adjusts the direction of the radar transmitting beam or the radar receiving beam by driving the rotating radar or a part of the radar to rotate.

[0123] The radar also requires an attitude measurement unit connection to measure the angle data of the connection and rotation mechanism, and then determine the direction of the radar's transmitted beam or received beam.

[0124] The support structure is configured to support the connection and rotation mechanism and / or the radar transmitting unit and / or the radar receiving unit;

[0125] The controller is used to control and monitor the operation of the array radar foreign object detection system.

[0126] In this embodiment of the disclosure, combined with Figure 8 As shown, a foreign object detection method for array radar is provided, the method comprising:

[0127] Step S901: Multiple radar transmitting units set at preset positions form a transmitting array to transmit radar detection signals to the detection area;

[0128] Step S902: Multiple radar receiving units set at preset positions form a receiving array to receive the echo signal obtained by the detection signal being scattered and / or reflected by the target or clutter.

[0129] Step S903: Acquire the echo signal to obtain radar echo data, perform imaging processing on the radar echo data to obtain a radar image within the detection area;

[0130] Step S904: Based on the radar image within the detection area, perform foreign object detection processing to determine whether a foreign object exists within the detection area.

[0131] In this embodiment of the disclosure, the signal transmission between steps S901 and S904 involves multiple radar detection signals generated by multiple radar transmitting units, covering multiple stripes in the detection area. Multiple radar receiving units receive echo signals obtained by target or clutter scattering and / or reflection in the detection area on multiple corresponding stripes, collect multiple radar echo data, and transmit these radar echo data to the radar imaging unit for image processing to form a high-resolution radar image.

[0132] In this embodiment of the disclosure, combined with Figure 9 As shown, the radar transmitting unit includes at least a radar transmitter and a radar transmitting antenna. The radar transmitter includes circuits for signal generation and signal amplification, and the transmitting signal generator is connected to the radar transmitting antenna.

[0133] Step S901: Multiple radar detection signals are transmitted to the detection area through multiple radar transmitting units set at preset positions, including:

[0134] Step S9011: The radar transmitter generates a transmitted electrical signal, amplifies the transmitted signal, and transmits the transmitted electrical signal to the radar transmitting antenna;

[0135] Step S9012: The transmitted electrical signal is converted into electromagnetic waves through the radar transmitting antenna, and the electromagnetic waves are transmitted to the detection area.

[0136] In this embodiment of the present disclosure, the radar receiving unit includes at least: a radar receiving antenna and a radar receiver, wherein the radar receiving antenna and the radar receiver are connected.

[0137] The method further includes:

[0138] The radar receiving antenna receives the echo signal obtained by the detection signal being scattered and / or reflected by the target or clutter, converts the echo signal into a received electrical signal, and transmits the received electrical signal to the radar receiving antenna.

[0139] Combination Figure 11As shown, an embodiment of the present invention provides an array radar foreign object detection system. The array radar foreign object detection system according to the embodiment of the present disclosure may include: a radar transmitter, a radar receiver, a radar antenna array, a radar data acquisition unit, a radar data processing unit, a radar data recording unit, a connection and rotation mechanism, a motion attitude measurement unit, a support structure, a controller, etc.

[0140] The following examples are provided for further illustration in conjunction with the above embodiments:

[0141] In this embodiment of the disclosure, an array radar foreign object detection system includes:

[0142] Radar transmitter: configured to generate transmitted signals; Radar receiver: configured to receive radar echo signals; Radar array: a combination of multiple radar transmitting antennas and multiple radar receiving antennas, configured to convert electrical signals into spatial electromagnetic waves at different locations and transmit them to the detection area, or to convert spatial electromagnetic waves scattered back by targets or clutter in the detection area into electrical signals at different locations; Radar data acquisition unit: configured to digitize echo signals obtained from different locations to obtain radar echo data; Radar imaging unit: configured to perform imaging processing on echo data obtained from different locations to obtain radar images; Radar image detection unit: configured to use radar images for runway foreign object detection processing; Radar data recording unit: configured to store radar echo data and motion attitude information obtained from different locations; Connection and rotation mechanism: configured to install the radar transmitting unit and radar receiving unit, connect, support, and rotate the radar or a part of the radar; Attitude measurement unit: configured to measure the angle data of the connection and rotation mechanism; Support structure: configured to support the connection and rotation mechanism; Controller: configured to control and monitor the operation of the system.

[0143] The detection system may consist of one or more components.

[0144] The supporting structure adopts a steel beam structure, a reinforced concrete structure, or a combination of reinforced concrete and steel beams.

[0145] Combination Figure 2 As shown, an array-based foreign object detection method according to an embodiment of the present invention is further illustrated. The array radar foreign object detection method includes:

[0146] The radar array is arranged at a predetermined position along one or both sides of the airport runway;

[0147] The transmitting part of the radar array sends detection signals to the ground to be detected;

[0148] The receiving section of the radar array receives the echo signals scattered from the ground that need to be detected;

[0149] By using the echo signals obtained from different locations by the radar array for imaging processing, a radar image of the detection area can be obtained.

[0150] Foreign object detection is performed on radar images to determine if there are any foreign objects on the runway.

[0151] As can be seen from the schematic diagram, because the imaging of the runway does not require the narrow beam used by existing millimeter-wave FOD detection radar, the method of this invention, although using the microwave band with good weather adaptability and wide beam detection, can reduce the area of ​​the resolution unit by imaging the data collected at different locations, thereby reducing the clutter intensity by orders of magnitude and improving the detection performance.

[0152] for Figure 2 The array radar foreign object detection method involves placing the radar array along one side of the airport runway, with the transmitting and receiving parts of each element of the radar array in the same position.

[0153] Each element of the radar array is placed at a set position, and the interval between each element's position is set according to the imaging resolution. Depending on the radar array imaging detection system, the interval is no greater than the imaging resolution, or the interval between adjacent equivalent phase centers formed by the transmitting and receiving parts is no greater than the imaging resolution.

[0154] Imaging processing of the echo signals obtained by each element of the radar array at different locations involves treating the echo signals obtained at different locations as equivalent to the echo signals collected by the synthetic aperture radar at different locations during its movement in the air, and then applying the imaging processing methods of synthetic aperture radar.

[0155] Combination Figure 3 As shown, this invention further illustrates an embodiment of a foreign object detection method using an array radar with separate transmit and receive terminals.

[0156] The radar array is divided into a radar transmitting array and a radar receiving array. The radar transmitting array is sparsely distributed along one side of the runway, while the radar receiving array is densely distributed along one side of the runway. The spacing between the elements of the radar receiving array is no greater than the imaging resolution, and the spacing between the elements of the radar transmitting array is no greater than the width of the near end of the runway corresponding to the beam.

[0157] In this imaging detection method, each element of the radar transmitting array emits a radar detection signal that illuminates the radar runway. At the same time, the radar receiving unit of the radar receiving array receives the radar scattering signal of the area illuminated by the radar detection signal, collects these signals, obtains the corresponding echo data, and performs imaging processing on these echo data to obtain a radar image.

[0158] Figure 3In this configuration, the radar transmitting array and radar receiving array are located on opposite sides of the runway, or they can be on one side of the runway. When the radar transmitting and receiving arrays are on one side of the runway, an element of the radar transmitting array can be placed in the same position as an element of the corresponding radar receiving array.

[0159] For this imaging detection method, the positions of the radar receiving array and the radar transmitting array can also be interchanged. Figure 4 This can be considered as a invention based on the present invention. Figure 3 A schematic diagram illustrating the transceiver switching method for foreign object detection using a transceiver-separated array radar.

[0160] Combination Figure 5 The diagram illustrates another method for detecting foreign objects using a separate transmit and receive array radar, further illustrating an embodiment of the present invention. The radar array is divided into a transmitting array and a receiving array. The transmitting array is sparsely distributed along one side of the runway, while the receiving array is densely distributed along the same side. The spacing between elements of the receiving array is no greater than the imaging resolution. The total length of the receiving array is no less than the spacing between elements of the transmitting array. The spacing between elements of the transmitting array is no greater than the near-field width of the runway illuminated by the antenna beam of the element. The equivalent phase centers corresponding to the transmit / receive combinations formed by the elements of the receiving array and the transmitting array are spaced apart, with the spacing between adjacent equivalent phase centers no greater than the imaging resolution. The number of receiving units satisfies the condition that the number of receiving units multiplied by the spacing between two adjacent receiving units is greater than the far-field width of the illumination detection area corresponding to the beams of two adjacent transmitting units.

[0161] In this imaging detection method, each element of the radar transmitting array emits a radar detection signal that illuminates the radar runway. At the same time, the elements of the radar receiving array receive the radar scattered signals from the area illuminated by the radar transmitting array beam. These signals are collected to obtain the echo data corresponding to the equivalent phase center of the corresponding transmit / receive combination. The echo data corresponding to the equivalent phase center of the transmit / receive combination formed by all the elements of the radar receiving array and the elements of the radar transmitting array are then processed for imaging to obtain a radar image.

[0162] Figure 5 In this configuration, the radar transmitting and receiving arrays are located on opposite sides of the runway, or they can be on one side. When the radar transmitting and receiving arrays are on one side of the runway, an element of the radar transmitting array can be placed in the same position as an element of the corresponding radar receiving array. The radar receiving array can be placed at one end of the runway's length or at the center of the runway's length.

[0163] For this imaging detection method, the positions of the radar receiver and the radar transmitter can also be interchanged. Figure 6 This can be considered as a invention based on the present invention. Figure 5 A schematic diagram illustrating the transceiver switching of another transceiver-transmitter array radar foreign object detection method according to another implementation method.

[0164] Combination Figure 2 The array radar foreign object detection system of the present invention shown is as follows: Figure 12 This invention provides a structural diagram of an array radar foreign object detection system according to an embodiment of the present invention. The radar transmitter, radar receiver, radar antenna, and radar data acquisition unit constitute a radar transceiver element. This radar transceiver element, along with a motion attitude measurement unit, a connecting and rotating mechanism, and a supporting structure, constitute a structural unit. Multiple structural units form a linear array, which, based on the actual layout within the airport, is placed on one side of the runway. The linear array is parallel to the runway and spaced a certain distance from it. The radar transceiver element is above the runway's horizontal plane. The radar imaging unit, radar data recording unit, and controller can be placed within one of the structural units or divided into multiple parts, depending on the actual situation. There are 1, 2, ..., N radar transceiver elements and 1, 2, ..., N structural units. N is a natural number.

[0165] for Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 13 The diagram shows the structural composition of an array foreign object detection system according to the present invention. A radar transmitter and a radar antenna constitute a radar transmitting element, and a radar receiver, a radar antenna, and a radar data acquisition unit constitute a radar receiving element. There are 1, 2, ..., M radar transmitting elements and 1, 2, ..., N radar receiving elements; N and M are natural numbers.

[0166] The radar transmitting array element, motion attitude measurement unit, connection and rotation mechanism, and support structure constitute a transmitting structure, and the radar receiving array element, motion attitude measurement unit, connection and rotation mechanism, and support structure constitute a receiving structure; there are 1, 2, ..., M transmitting structures and 1, 2, ..., N receiving structures; N and M are natural numbers.

[0167] Multiple launch structures form a launch linear array, which is placed on one side of the runway, taking into account the actual layout of the airport. The launch linear array is parallel to the runway and at a certain distance from the runway, and the radar launch elements are higher than the runway level.

[0168] Multiple receiving structures form a receiving linear array, which is placed on one side of the runway according to the actual layout of the airport. The receiving linear array is parallel to the runway and at a certain distance from the runway, and the radar receiving elements are higher than the runway level.

[0169] The transmitting linear array and the receiving linear array can be on the same side of the runway or opposite each other on different runways;

[0170] The radar imaging unit and the radar data recording unit can be placed in one of the receiving structures, or they can be divided into multiple parts, depending on the actual situation.

[0171] The controller can be placed in one of the receiving or transmitting structures, or it can be divided into multiple parts, depending on the actual situation.

[0172] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. An array radar foreign object detection system, characterized in that, Includes a radar and a position forming mechanism, the radar comprising: Multiple radar transmitting units are set at preset positions in each transmitting unit to form a transmitting array, which is used to transmit radar detection signals to the detection area; Multiple radar receiving units are respectively set at a preset position in each receiving unit to form a receiving array, which is used to receive the echo signal obtained by the detection signal being scattered and / or reflected by the target or clutter; A radar imaging unit is used to perform imaging processing based on echo signals received from multiple locations to generate a radar image of the detection area. A radar image detection unit is used to detect whether there are foreign objects in the radar image of the detection area; the foreign objects are detected using microwave band detection. A position forming mechanism is used to carry the radar transmitting unit and fix the radar transmitting unit at a preset transmission position on one side of the airport runway; wherein, the position forming mechanism enables the radar transmitting unit to transmit radar signals at the fixed preset transmission position; The position forming mechanism is also used to carry the radar receiving unit and fix the radar receiving unit at a preset receiving position on one side of the airport runway; wherein, the position forming mechanism enables the radar receiving unit to receive radar echo signals at the fixed preset receiving position. One way to specify the preset positions of the radar transmitting units and the radar receiving units is to distribute them on opposite sides of the detection area; wherein the distance between any two radar transmitting units is less than or equal to the imaging resolution, or / and the distance between any two radar receiving units is less than or equal to the imaging resolution.

2. The system according to claim 1, characterized in that, The radar transmitting unit and the radar receiving unit may belong to the same structure or to different structures.

3. The system according to claim 1, characterized in that, The radar transmitting unit includes a radar transmitter and a radar transmitting antenna, and the radar receiving unit includes a radar receiving antenna, a radar receiver, a radar data acquisition unit, and a radar data recording unit.

4. The system according to claim 1, characterized in that, The position forming mechanism includes multiple structural units, each of which includes a connection and rotation mechanism, a motion attitude measurement unit, and a support structure.

5. The array radar foreign object detection system according to claim 1, characterized in that, Another way to specify the preset positions of the radar transmitting unit and the radar receiving unit is to place them on the same side of the detection area; wherein the distance between any two radar transmitting units is less than or equal to the imaging resolution, or / and the distance between any two radar receiving units is less than or equal to the imaging resolution.

6. The array radar foreign object detection system according to claim 1, characterized in that, Another way to preset the position of the radar receiving unit is to satisfy the following conditions: when the distance between any two radar transmitting units is less than or equal to the imaging resolution, the distance between two adjacent radar receiving units is greater than the distance between two adjacent radar transmitting units, and the distance between two adjacent radar receiving units is less than or equal to the near-end width of the detection area corresponding to the beam of the radar receiving unit.

7. The array radar foreign object detection system according to claim 6, characterized in that, The number of radar transmitting units satisfies the condition that the number of radar transmitting units multiplied by the distance between two adjacent radar transmitting units is greater than the far-end width of the detection area corresponding to the beams of two adjacent radar receiving units.

8. The array radar foreign object detection system according to claim 1, characterized in that, Another way to preset the position of the radar transmitting unit is to satisfy the following conditions: when the distance between any two radar receiving units is less than or equal to the imaging resolution, the distance between two adjacent radar transmitting units is greater than the distance between two adjacent radar receiving units, and the distance between two adjacent radar transmitting units is less than or equal to the near-field width of the illumination and detection area corresponding to the beams emitted by the two adjacent radar transmitting units.

9. The array radar foreign object detection system according to claim 8, characterized in that, The number of radar receiving units is such that the number of radar receiving units multiplied by the distance between two adjacent radar receiving units is greater than the far-end width of the illumination and detection area corresponding to the beams emitted by two adjacent radar transmitting units.

10. A method for detecting foreign objects using an array radar, characterized in that, The method includes: The radar transmitting units and radar receiving units are arranged at predetermined positions on both sides of the airport runway; wherein the distance between any two radar transmitting units is less than or equal to the imaging resolution, or / and the distance between any two radar receiving units is less than or equal to the imaging resolution. The radar transmitting unit transmits radar detection signals to the detection area on the airport runway from multiple preset transmission positions; The radar receiving unit receives the echo signal scattered by the radar detection signal in the detection area at multiple preset receiving positions; The radar imaging unit uses the echo signals corresponding to different preset transmission and reception combinations to perform imaging processing and obtain radar images of the detection area. The radar image detection unit uses radar images to detect foreign objects and detect whether there are foreign objects in the detection area; the foreign objects are detected using microwave band.

11. The method according to claim 10, characterized in that, The method of transmitting radar detection signals to the detection area on the airport runway is to use the connection and rotation mechanism of the moving position forming mechanism to adjust the radar transmission beam direction of the radar transmission antenna of the radar transmission unit so that the radar transmission beam illuminates the detection area on the airport runway.

12. The method according to claim 10, characterized in that, The process of receiving the echo signal scattered by the radar detection signal in the detection area is achieved by adjusting the radar receiving beam direction of the radar receiving antenna of the radar receiving unit through the connection and rotation mechanism of the position forming mechanism, so that the radar receiving beam covers the detection area on the airport runway.

13. The method according to claim 10, characterized in that, When the preset launch position is located on either side of the airport runway, the preset launch position is the fixed position where the support structure of the position forming mechanism is located; When the preset receiving position is located on either side of the airport runway, the preset receiving position is the fixed position where the support structure of the position forming mechanism is located.

14. The method according to claim 13, characterized in that, The fixed position, and the line connecting the fixed position to the adjacent fixed position, is located on either side of the airport runway, and the line connecting the fixed positions is a straight line or a broken line.

Images