A foreign matter imaging detection system and method based on radar motion

Abstract

The application provides a foreign matter imaging detection system and method based on radar motion, which comprises a radar and a motion position forming mechanism; the radar comprises: a radar transmitting unit configured at one or more preset transmitting positions, which transmits radar detection signals to a detection area on an airport runway; a radar receiving unit configured at one or more preset receiving positions, which receives radar echo signals scattered by the detection area; a radar imaging unit which performs imaging processing based on the received echo signals at multiple positions to generate a radar image of the detection area; a radar image detection unit which detects whether there is foreign matter in the radar image of the detection area; and the motion position forming mechanism which carries the radar transmitting unit to move or is fixed at the preset transmitting position, and also carries the radar receiving unit to move or is fixed at the preset receiving position. The application can enhance the clutter suppression capability and improve the FOD detection capability.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular to a foreign object imaging detection system and method based on radar motion. Background Technology

[0002] Foreign Object Debris (FOD) 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 components, 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 detection can be achieved through optical video detection and radar detection methods. Optical video detection involves optical image recognition of acquired runway images; however, the identification of foreign objects is affected by the resolution of the optical image, resulting in low efficiency. Furthermore, optical video detection is significantly affected by weather conditions; its efficiency and reliability decrease considerably in adverse weather conditions such as rain or 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 various types of 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 angular resolution of millimeter-wave radars for FOD detection is fixed, and the radar illumination area differs significantly between near and far distances, resulting in inconsistent detection performance at both ends. Summary of the Invention

[0006] This application provides a foreign object imaging detection system and method based on radar motion.

[0007] The technical solution of this application is implemented as follows:

[0008] In a first aspect, a foreign object imaging detection system based on radar motion is provided, comprising a radar and a motion position forming mechanism, wherein the radar includes:

[0009] A radar transmitting unit is configured at one or more preset transmitting positions to transmit radar detection signals toward a detection area on an airport runway.

[0010] A radar receiving unit is configured at one or more preset receiving positions to receive radar echo signals scattered by the detection area;

[0011] 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.

[0012] A radar image detection unit is used to detect whether there are foreign objects in the radar image of the detection area;

[0013] The motion position forming mechanism is used to carry the radar transmitting unit and form a relative movement between the radar transmitting unit and the airport runway or to fix the radar transmitting unit at a preset transmission position on one side of the airport runway; wherein, the motion position forming mechanism enables the radar transmitting unit to transmit radar signals at the fixed preset transmission position or to move to the preset preset transmission position.

[0014] The motion position forming mechanism is also used to carry the radar receiving unit, forming a relative movement between the radar receiving unit and the airport runway or fixing the radar receiving unit at a preset receiving position on one side of the airport runway; wherein, the motion position forming mechanism enables the radar receiving unit to receive radar echo signals at the fixed preset receiving position or the preset receiving position reached by the movement.

[0015] In one embodiment, the movement range of the radar transmitting unit and / or radar receiving unit formed by the movement of the movement position forming mechanism is located on either side of the airport runway, and the movement range is one of the following ranges:

[0016] The length of the running zone is less than the length of the airport runway;

[0017] The length of the running zone is equal to the length of the airport runway;

[0018] The length of the movement zone is equal to the sum of the length of the airport runway and the width of the radar beam.

[0019] In one embodiment, the radar includes one or more radar transmitting units and one or more radar receiving units.

[0020] In one embodiment, the radar transmitting unit and the radar receiving unit may be structurally the same structure or different structures.

[0021] In one 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.

[0022] In one embodiment, the motion position forming mechanism includes one or more structural units, each structural unit including a connection and rotation mechanism, a translation mechanism, a motion attitude measurement unit, and a support structure.

[0023] In one embodiment, the translational mechanism of the structural unit includes a vehicle and / or a track.

[0024] Secondly, a method for detecting foreign objects based on radar motion imaging is provided, the method comprising:

[0025] The motion position forming mechanism of the foreign object imaging detection system causes the radar transmitting unit and / or radar receiving unit to move, so that the radar transmitting unit moves to or is fixed at one or more preset transmitting positions, and the radar receiving unit moves to or is fixed at one or more preset receiving positions.

[0026] The radar transmitting unit transmits radar detection signals to the detection area on the airport runway from one or more preset transmission positions;

[0027] The radar receiving unit receives the echo signal scattered by the radar detection signal acting on the detection area at one or more preset receiving positions;

[0028] 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.

[0029] The radar image detection unit uses radar images to detect foreign objects and determine whether there are foreign objects in the detection area.

[0030] In one embodiment, transmitting radar detection signals to the detection area on the airport runway is achieved by using the connection and rotation mechanism of the motion position forming mechanism to adjust the radar transmission beam direction of the radar transmitting antenna of the radar transmitting unit, so that the radar transmission beam illuminates the detection area on the airport runway.

[0031] In one embodiment, receiving the echo signal scattered by the radar detection signal acting on the detection area is achieved by adjusting the radar receiving beam direction of the radar receiving antenna of the radar receiving unit using the connection and rotation mechanism of the motion position forming mechanism, so that the radar receiving beam covers the detection area on the airport runway.

[0032] In one embodiment, 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 motion position forming mechanism is located, or a movable position formed by the movement of the carrier vehicle of the motion position forming mechanism.

[0033] When the preset receiving position is located on either side of the airport runway, the preset receiving position is either a fixed position where the support structure of the motion position forming mechanism is located, or a movable position formed by the movement of the carrier vehicle of the motion position forming mechanism.

[0034] In one embodiment, the line connecting the moving position to the adjacent moving position is located on either side of the airport runway, and the lines are combined to form a straight line or a broken line.

[0035] In one embodiment, 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.

[0036] The foreign object imaging detection system and method based on radar motion provided in this application utilizes the movement of the radar transmitting unit and / or radar receiving unit to generate radar echo signals at different positions relative to the detection area. These echo signals can then be used for imaging processing to obtain a radar image of the detection area, thereby detecting the presence of foreign objects in the radar image. This effectively reduces the radar resolution cell area, significantly reducing background clutter intensity, improving the signal-to-clutter ratio, and enhancing FOD detection capabilities. Furthermore, since the resolution cell area is reduced using an imaging method rather than through a narrow beam, it eliminates the need for millimeter-wave bands, which are easier to implement with narrow beams. Microwave bands, with their lower atmospheric attenuation and rain attenuation, can be used, thus reducing the impact of weather conditions on detection capabilities. Attached Figure Description

[0037] Figure 1 This is a schematic diagram illustrating the working principle of a millimeter-wave radar for FOD detection.

[0038] Figure 2 This is a schematic diagram of the structure of a foreign object imaging detection system provided in an embodiment of this application;

[0039] Figure 3a This is a schematic diagram of a radar layout for foreign object imaging detection provided in an embodiment of this application;

[0040] Figure 3b This is a schematic diagram of another radar layout for foreign object imaging detection provided in an embodiment of this application;

[0041] Figure 4aThis is a schematic diagram of a radar layout with separate transmit and receive terminals for foreign object imaging detection provided in an embodiment of this application;

[0042] Figure 4b This is a schematic diagram of another radar layout with separate transmit and receive terminals for foreign object imaging detection according to an embodiment of this application;

[0043] Figure 5a This is a schematic diagram of a radar layout with separate transmit and receive terminals for foreign object imaging detection provided in an embodiment of this application;

[0044] Figure 5b This is a schematic diagram of another radar layout with separate transmit and receive terminals for foreign object imaging detection provided in this application embodiment;

[0045] Figure 6 This is a schematic diagram of a multi-radar layout for foreign object imaging detection provided in an embodiment of this application;

[0046] Figure 7 This is a schematic diagram of the structure of a foreign object imaging detection system provided in an embodiment of this application;

[0047] Figure 8 This is a schematic diagram of another foreign object imaging detection system provided in an embodiment of this application;

[0048] Figure 9 This is a schematic diagram of the structure of another foreign object imaging detection system provided in the embodiments of this application;

[0049] Figure 10 This is a schematic diagram of another foreign object imaging detection system provided in the embodiments of this application;

[0050] Figure 11 This is a schematic diagram of another foreign object imaging detection system provided in the embodiments of this application;

[0051] Figure 12 This is a flowchart illustrating a foreign object imaging detection method provided in an embodiment of this application;

[0052] Figure 13a This is a flowchart illustrating another foreign object imaging detection method provided in an embodiment of this application;

[0053] Figure 13b This is a flowchart illustrating another foreign object imaging detection method provided in the embodiments of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. 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. The steps shown in the flowcharts can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0055] It is understood that the description of the various embodiments in this application emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0056] First, a brief introduction to the relevant technologies involved in the embodiments of this application will be given.

[0057] 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.

[0058] 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.

[0059] Radar beamwidth refers to the angle between the two half-power points of the beam.

[0060] 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 wavelength and inversely proportional to the antenna length.

[0061] Figure 1 This is a schematic diagram illustrating the working principle of millimeter-wave radar for FOD detection. (For example...) Figure 1 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 beam illuminates 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.

[0062] 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.

[0063] 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.

[0064] However, compared to microwaves, millimeter-wave radar used for FOD detection is significantly affected by weather conditions. Detection performance drops drastically, or even fails, during periods of increased atmospheric moisture, fog, or rain. Furthermore, millimeter-wave radar for FOD detection uses background cancellation to suppress ground clutter, but ground clutter varies with weather and seasons, directly impacting detection performance. Additionally, the angular resolution of millimeter-wave radar for FOD detection is fixed, and the significant difference in radar illumination area at long and short distances causes a decline in long-range detection performance.

[0065] Figure 2 This is a schematic diagram of the structure of a foreign object imaging detection system provided in an embodiment of this application, as shown below. Figure 2 As shown, the system may include: a radar 210 and a motion position forming mechanism 220. The radar 210 includes: a radar transmitting unit 211, a radar receiving unit 212, a radar imaging unit 213, and a radar image detection unit 214; wherein:

[0066] Radar transmitting unit 211 is configured at one or more preset transmitting positions to transmit radar detection signals toward a detection area on the airport runway.

[0067] Radar receiving unit 212 is configured at one or more preset receiving positions to receive radar echo signals scattered by the detection area;

[0068] The radar imaging unit 213 is used to perform imaging processing based on the received echo signals from multiple locations to generate a radar image of the detection area.

[0069] The radar image detection unit 214 is used to detect whether there are foreign objects in the radar image of the detection area;

[0070] The motion position forming mechanism 220 is used to carry the radar transmitting unit and form a relative movement between the radar transmitting unit and the airport runway or fix the radar transmitting unit in a preset transmission position on one side of the airport runway; wherein, the motion position forming mechanism enables the radar transmitting unit to transmit radar signals at the fixed preset transmission position or to move to the preset preset transmission position.

[0071] The motion position forming mechanism 220 is also used to carry the radar receiving unit and form a relative motion between the radar receiving unit and the airport runway or to fix the radar receiving unit at a preset receiving position on one side of the airport runway; wherein, the motion position forming mechanism enables the radar receiving unit to receive radar echo signals at the fixed preset receiving position or the preset receiving position reached by the motion.

[0072] The detection area is all or part of the airport runway.

[0073] In one embodiment, the radar transmitting unit and the radar receiving unit may be structurally the same structure or different structures.

[0074] In some examples, the radar can be a transceiver integrated radar, meaning that the radar's transmitting and receiving units are not separate. For a transceiver integrated radar, the radar transmitting and receiving units move simultaneously along the airport runway, driven by a moving platform.

[0075] In some examples, the radar can be a transmit-receive radar, meaning that the radar's transmitting unit and receiving unit are separately configured. When the radar operates in continuous wave mode, a transmit-receive radar can effectively suppress the problem of transmitter interference with the receiver. Transmit-receive radar can operate in pulse mode or continuous wave mode. There are various implementations for transmit-receive radar. For example, if both the radar transmitting and receiving units are configured to move along the airport runway, they can be configured to move along the same side or different sides of the runway. Another example is that the radar receiving unit is fixed in position, while only the radar transmitting unit is configured to move along either side of the airport runway. Yet another example is that the radar transmitting unit is fixed in position, while only the radar receiving unit is configured to move along either side of the airport runway.

[0076] It is understood that 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; of course, the connecting and rotating mechanism can also 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 or on the motion position forming mechanism, depending on the actual application requirements. For example, when only the radar transmitting unit is configured to move along the airport runway, the support structure supporting the radar transmitting unit is installed on the motion position forming mechanism, while the support structure supporting the radar receiving unit is fixedly installed on either side of the airport runway.

[0077] In one embodiment, the radar includes one or more radar transmitting units and one or more radar receiving units.

[0078] In one 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.

[0079] In some examples, the radar transmitting unit includes a radar transmitter and a radar transmitting antenna, while the radar receiving unit includes a radar receiver, a radar receiving antenna, 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 the radar echo signal. The radar transmitting antenna is configured to convert the electrical signal into spatial electromagnetic waves (i.e., a radar beam) and transmit it 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 radar transmitting antenna and the radar 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.

[0080] In some examples, the radar imaging unit is used to perform imaging processing based on the received echo signals from multiple locations to generate a radar image of the detection area; then, the radar image detection unit is used to perform runway foreign object detection processing on the obtained radar image.

[0081] In some examples, 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 record radar echo data and motion attitude information obtained from different locations. Here, the motion attitude information can be used to indicate radar position and velocity data, as well as radar angle data, etc.

[0082] In one embodiment, the structural units of the motion position forming mechanism may include: one or more structural units; each structural unit includes: a connection and rotation mechanism, a translation mechanism, a support structure, and a motion attitude measurement unit.

[0083] In one embodiment, the translation mechanism includes a vehicle and / or a track.

[0084] The connection and rotation mechanism is configured to be mounted on a carrier or support structure to connect to, carry, and rotate the radar or a portion thereof (radar transmitting unit and / or radar receiving unit).

[0085] The transport vehicle is configured to carry and drive the connecting and rotating mechanism and radar or a portion of the radar (radar transmitting unit and / or radar receiving unit) along the length of the runway on one side of the airport runway.

[0086] The motion attitude measurement unit is configured to acquire motion attitude information, which may include: position and speed data of the carrier vehicle, and angle data of the connecting and rotating mechanisms.

[0087] The track is configured to support and guide the movement of the transport vehicle. A support structure is configured to support and secure the track. The track can be a straight track or a circular track. The support structure can be a steel beam structure, a reinforced concrete structure, or a combination of reinforced concrete and steel beams.

[0088] It is understandable that the motion position forming mechanism can also be configured with other structures, as long as it can ensure that the motion position forming mechanism can carry the radar or a part of the radar (radar transmitting unit and / or radar receiving unit) to move along the airport runway.

[0089] In some examples, the foreign object imaging detection system may also include a controller configured to control and monitor system operation. For example, the controller may be used to issue radar motion control commands to a motion position forming mechanism, instructing the motion position forming mechanism to move the radar or a portion of the radar along an airport runway. The controller may also be used to send radar rotation control commands to the radar, instructing the radar transmitting unit and / or radar receiving unit to rotate.

[0090] The aforementioned foreign objects may include, but are not limited to: metal devices (e.g., nuts, screws, washers, nails, fuses, etc.), machine tools, flying objects (e.g., personal belongings, pens, pencils, buttons, etc.), rubber fragments, plastic products, concrete and asphalt fragments (e.g., stones, sand, ice shards, etc.).

[0091] This application provides a foreign object (FOD) imaging detection system based on radar motion. A radar transmitting unit can be configured on a motion position forming mechanism and moves along an airport runway. At multiple preset transmitting positions reached during the movement, it transmits radar detection signals to a detection area on the runway. A radar receiving unit receives the echo signals scattered by the radar detection signals in the detection area. A radar imaging unit performs imaging processing based on the received multiple echo signals. Since the multiple echo signals are obtained by scattering radar detection signals emitted at different positions through the detection area, imaging processing of the multiple echo signals can be approximately equivalent to synthetic aperture radar (SAR) imaging processing. This allows for the acquisition of a radar image of the detection area, enabling the detection of foreign objects within the radar image. This effectively reduces the radar resolution cell area, thereby significantly reducing background clutter intensity, improving the signal-to-clutter ratio, enhancing clutter suppression capabilities, and improving FOD detection capabilities.

[0092] Furthermore, since high-resolution radar imaging reduces the correlation between FOD detection resolution and waveband, microwave bands can be used for FOD detection. Because microwave bands have significantly better penetration capabilities for water vapor, fog, and rain than millimeter-wave bands, using microwave bands for FOD detection effectively reduces the impact of weather conditions on FOD detection compared to millimeter-wave radar, thus significantly improving all-weather FOD detection capabilities.

[0093] In one embodiment, the movement range of the radar transmitting unit is located on either side of the airport runway, and the movement range of the radar transmitting unit is one of the following ranges:

[0094] The length of the radar transmitting unit's movement range is less than the length of the airport runway;

[0095] The length of the radar transmitting unit's movement range is equal to the length of the airport runway;

[0096] The length of the radar transmitting unit's movement range is equal to the sum of the airport runway length and the radar beam's illumination width.

[0097] Here, the movement range of the radar transmitting unit can be understood as: the movement trajectory of the radar transmitting unit along the airport runway when the radar transmitting unit is configured to move along the airport runway.

[0098] The length of the movement range of a radar transmitting unit can be less than the length of an airport runway. In other words, the portion of the airport runway projected onto the movement range of the radar transmitting unit can be a portion of the airport runway. For example, the starting position of the radar transmitting unit's movement projected onto the airport runway is the starting point of the airport runway, and the ending position of the radar transmitting unit's movement projected onto the airport runway is the center point of the airport runway.

[0099] The length of the radar transmitting unit's movement range can be equal to the length of the airport runway. In other words, the area projected onto the airport runway from the radar transmitting unit's movement range can be the entire airport runway. In this case, the location projected onto the airport runway from the radar transmitting unit's initial movement position is the start point of the airport runway, and the location projected onto the airport runway from the radar transmitting unit's final movement position is the end point of the airport runway.

[0100] The length of the radar transmitting unit's movement range can also be equal to the sum of the airport runway length and the radar beam illumination width. In other words, the area projected onto the airport runway from the radar transmitting unit's movement range can be the entire airport runway plus the areas corresponding to half the radar beam illumination width added to each end. The radar beam illumination width can be used to indicate the width of the radar beam's illumination area on the airport runway.

[0101] In one embodiment, the distance between any two preset launch positions is less than or equal to half the radar imaging resolution.

[0102] Here, radar imaging resolution indicates the minimum actual distance between two targets that the radar can distinguish on the screen. By setting the spacing between every two preset transmission positions to be less than or equal to half of the radar imaging resolution, more echo signals obtained from different positions can be imaged and processed. This imaging processing is equivalent to a larger radar antenna aperture, which further reduces the radar resolution cell area, enhances clutter suppression capabilities, and further improves FOD detection capabilities.

[0103] In one embodiment, the movement range of the radar receiving unit is located on either side of the airport runway, and the movement range of the radar receiving unit is one of the following ranges:

[0104] The length of the radar receiving unit's operating range is less than the length of the airport runway;

[0105] The length of the radar receiving unit's operating range is equal to the length of the airport runway;

[0106] The length of the radar receiving unit's operating range is equal to the sum of the airport runway length and the radar beam width.

[0107] Here, the movement range of the radar receiving unit can be understood as: the movement trajectory of the radar receiving unit along the airport runway when the radar receiving unit is configured to move along the airport runway.

[0108] The length of the radar receiving unit's movement range can be less than the length of the airport runway. In other words, the portion of the airport runway projected onto the radar receiving unit's movement range can be a portion of the airport runway. For example, the starting position of the radar receiving unit's movement projected onto the airport runway is the starting point of the airport runway, and the ending position of the radar receiving unit's movement projected onto the airport runway is the center point of the airport runway.

[0109] The length of the radar receiving unit's movement range can be equal to the length of the airport runway. In other words, the area projected onto the airport runway from the radar receiving unit's movement range can be the entire airport runway. In this case, the location projected onto the airport runway from the radar receiving unit's initial movement position is the start point of the airport runway, and the location projected onto the airport runway from the radar receiving unit's final movement position is the end point of the airport runway.

[0110] The length of the motion range of the radar receiving unit can also be equal to the sum of the length of the airport runway and the illumination width of the radar beam. That is, the range of the motion range of the radar receiving unit projected onto the airport runway can be the entire airport runway with the range corresponding to half the illumination width of the radar beam added to each end.

[0111] In one embodiment, the radar receiving unit is specifically used to: when there is only one radar receiving unit and it is located on either side of the airport runway, it can rotatably receive echo signals scattered in the detection area by one or more radar beams emitted during the movement of the radar transmitting unit at different receiving angles.

[0112] Here, the receiving angle is used to indicate the rotation angle of the radar receiving unit in receiving radar echoes. The radar receiving unit can be rotated to adjust the angle at which it receives radar echoes in the detection area.

[0113] Specifically, a correspondence between the receiving angle of the radar receiving unit and the preset transmission position of the radar transmitting unit can be pre-established, so that the radar receiving unit can rotatably receive the echo signals scattered in the detection area by the radar detection signal emitted by the radar transmitting unit at each preset transmission position reached by the radar transmitting unit at different receiving angles according to the correspondence between the receiving angle and the preset transmission position.

[0114] For example, when the radar transmitting unit moves to the nth preset transmitting position, the radar receiving unit rotates to the nth receiving angle to receive the echo signal scattered by the radar detection signal emitted from the nth preset transmitting position in the detection area, where n is a positive integer greater than or equal to 1.

[0115] In one embodiment, the number of radar transmitting units is one; the radar transmitting unit is further configured to transmit a first radar beam toward the airport runway when it is located on either side of the airport runway; wherein the beam coverage area of ​​the first radar beam is the entire airport runway.

[0116] The radar receiving unit is also configured to receive echo signals scattered by the first radar beam in the detection area at multiple preset receiving positions reached during movement along the airport runway.

[0117] In one embodiment, the number of radar transmitting units is one; the radar transmitting unit is also configured to rotatably transmit a second radar beam to the detection area at different transmission angles when it is located on either side of the airport runway; the beam coverage area of ​​the second radar beam is less than or equal to the detection area.

[0118] The radar receiving unit is also configured to receive echo signals scattered by radar detection signals with different transmission angles at multiple preset receiving positions reached along the airport runway.

[0119] Here, the transmission angle is used to indicate the angle of the center of the radar beam generated by the radar transmitting unit. The radar transmitting unit can be rotated to adjust the angle of the center of the radar beam transmitted to the detection area.

[0120] Specifically, a correspondence can be established between the transmission angle of the radar transmitting unit and the preset receiving position of the radar receiving unit. When the radar transmitting unit rotates and transmits radar detection signals to the detection area at different transmission angles, the radar receiving unit receives the echo signal scattered by the radar detection signal in the detection area at each preset receiving position reached by the radar transmission unit according to the correspondence between the transmission angle and the preset receiving position.

[0121] For example, when the radar transmitting unit rotates to the m-th transmitting angle, the radar receiving unit moves to the m-th preset receiving position to receive the echo signal scattered by the radar detection signal emitted at the m-th transmitting angle in the detection area, where m is a positive integer greater than or equal to 1.

[0122] In one embodiment, the radar receiving unit is specifically configured to, when moving along an airport runway, receive echo signals scattered by radar detection signals emitted by the radar transmitting unit during its movement at multiple preset receiving positions reached during the movement, which are then applied to the detection area.

[0123] In this embodiment, the nth preset transmission position reached by the radar transmitting unit and the nth preset reception position reached by the radar receiving unit can be the same position or different positions. For example, if the radar transmitting unit and the radar receiving unit move along different sides of the airport runway, the nth preset transmission position and the nth preset reception position are different positions.

[0124] In one embodiment, the radar receiving unit is specifically used to: receive the echo signal scattered by the radar detection signal emitted by the radar transmitting unit during its movement in the detection area when there are multiple radar receiving units and the multiple radar receiving units are all set on either side of the airport runway.

[0125] The number of radar receiving units can be equal to the number of preset transmission positions. For example, the echo signal scattered by the radar detection signal emitted by the radar transmitting unit when it moves to the nth preset transmission position can be received by the nth radar receiving unit at a set receiving angle.

[0126] The number of radar receiving units can also be less than the number of preset transmission positions. For example, the radar detection signals emitted sequentially by the radar transmitting units at the nth to mth preset transmission positions can be received by the tth radar receiving unit at multiple different receiving angles, where the number of multiple different receiving angles is m-n+1, ​​and n, m, and t are all positive integers greater than 1.

[0127] In one embodiment, there are multiple radar transmitting units; multiple radar transmitting units are configured to transmit radar detection signals to the detection area when they are located on either side of the airport runway; the radar receiving unit is further configured to receive, when it moves along the airport runway and reaches one or more preset receiving positions, the echo signals scattered in the detection area by multiple radar beams with the same transmission angle using a first receiving beam or a second receiving beam, wherein the beam coverage area of ​​the first receiving beam is the entire airport runway, and the beam coverage area of ​​the second receiving beam is less than or equal to the detection area.

[0128] The number of radar transmitting units can be equal to the number of preset receiving positions. For example, the echo signal received by a radar receiving unit when it moves to the nth preset receiving position can be the echo signal scattered by the radar detection signal emitted by the nth radar transmitting unit in the detection area.

[0129] The number of radar transmitting units can also be less than the number of preset receiving positions. For example, the echo signals received sequentially by the radar receiving units when they move to the nth to mth preset receiving positions can be the echo signals scattered by the radar detection signals emitted by the tth radar transmitting unit at multiple different transmission angles when they are rotated. The number of multiple different transmission angles is m-n+1, ​​where n, m, and t are all positive integers greater than 1.

[0130] In one embodiment, the spacing between any two preset receiving positions is less than or equal to half the radar imaging resolution.

[0131] Here, radar imaging resolution indicates the minimum actual distance between two targets that the radar can distinguish on the screen. By setting the spacing between every two preset receiving positions to be less than or equal to half of the radar imaging resolution, more echo signals obtained from different positions can be imaged and processed. This imaging processing is equivalent to a larger radar antenna aperture, which further reduces the radar resolution cell area, enhances clutter suppression capabilities, and further improves FOD detection capabilities.

[0132] In one embodiment, the number of radar transmitting units is one, and the length of the movement range of one radar transmitting unit is less than the length of the airport runway.

[0133] The radar transmitting unit is specifically used to perform multiple reciprocating movements along the airport runway. The radar detection signals emitted by the radar transmitting unit in different reciprocating movements cover different detection areas on the airport runway.

[0134] Alternatively, the radar transmitting unit is specifically used to: make a single movement along the airport runway and transmit a first radar beam to the airport runway during the single movement, wherein the beam coverage area of ​​the first radar beam is the entire airport runway.

[0135] Alternatively, the radar transmitting unit is specifically used to: perform a single movement along the airport runway, and rotatably transmit a second radar beam at different transmission angles at each preset transmission position during the single movement, wherein the detection area covered by the second radar beam transmitted at different preset transmission positions is different, and the beam coverage area of ​​the second radar beam is less than or equal to the detection area.

[0136] Here, when the radar transmitting unit is configured to move back and forth along the airport runway multiple times, the radar receiving unit can be set on either side of the airport runway, and the number of radar receiving units can be one or more.

[0137] When the length of the movement range of a radar transmitting unit is less than the length of the airport runway, the radar detection signal emitted by the radar transmitting unit in one movement can only cover part of the runway area. There are several ways to cover the entire runway area.

[0138] One implementation involves the radar transmitting unit repeatedly moving back and forth to cover different areas of the runway, ultimately covering the entire runway. The entire runway area can be divided into multiple regions. For each region, during foreign object imaging detection, when the radar transmitting beam of the moving radar transmitting unit sweeps across that region, the radar beam of the nearest radar receiving unit in that region follows the radar receiving beam of the transmitting unit, receiving the radar scattered signal from the area illuminated by the transmitting unit's radar beam. Alternatively, the radar beams of multiple nearest radar receiving units in that region can follow the radar beam of the transmitting unit, receiving the radar scattered signal from the area illuminated by the transmitting unit's radar beam. Or, all radar receiving units can follow the radar beam of the transmitting unit, receiving the radar scattered signal from the area illuminated by the transmitting unit's radar beam.

[0139] Another implementation method: The radar transmitting unit completes the coverage of the entire runway area in one movement. The radar transmitting unit performs multiple beam scans at each preset transmission position and transmits independent detection signals at each beam scan position. The radar beams at different transmission positions cover different detection areas. In this way, the radar receiving unit can receive the echo signals scattered from different detection areas, thereby ultimately covering the entire runway area.

[0140] Alternatively, the radar transmitting unit can cover the entire runway area in a single movement. The detection signal emitted by the radar transmitting unit covers the entire airport runway. The radar receiving unit receives the scattered signals of the corresponding runway area covered by the detection signal at multiple preset receiving positions or at different receiving angles. In this way, the entire runway area can also be covered in a single movement.

[0141] In one embodiment, the number of radar receiving units is one, and the length of the movement range of one radar receiving unit is less than the length of the airport runway.

[0142] The radar receiving unit is specifically used to perform multiple reciprocating movements along the airport runway. The detection areas on the airport runway covered by the multiple radar beams received by the radar receiving unit in different reciprocating movements are different.

[0143] Alternatively, the radar receiving unit is specifically used to: make a single movement along the airport runway, and during the single movement, receive multiple echo signals with the first receiving beam covering the entire airport runway.

[0144] Alternatively, the radar receiving unit is specifically used to: perform a single movement along the airport runway, and at each preset receiving position during the single movement, rotatably receive multiple echo signals with a second receiving beam at different receiving angles, wherein the detection area covered by the second receiving beam at different preset receiving positions is different, and the beam coverage area of ​​the second receiving beam is less than or equal to the detection area.

[0145] The radar receiving unit is configured to move back and forth along the airport runway multiple times, and the radar transmitting unit can be set on either side of the airport runway. The number of radar transmitting units can be one or more.

[0146] When the length of the movement range of the radar receiving unit is less than the length of the airport runway, the echo received by the radar receiving unit in one movement can only cover part of the runway area. In order to cover the entire runway area, various implementation methods can be adopted.

[0147] One implementation method is to have the radar receiving unit cover different areas of the runway through multiple reciprocating movements, eventually covering the entire area of ​​the runway.

[0148] The entire runway area can be divided into multiple regions. During foreign object imaging detection, the radar receiving unit receives multiple echo signals from each region as it moves. These echo signals can be generated by the scattering of multiple radar beams from the nearest radar transmitting unit within that region. Alternatively, the multiple echo signals can be generated by the scattering of radar beams from the nearest multiple radar transmitting units within that region. Or, the multiple echo signals can be generated by the scattering of radar beams from all radar transmitting units within that region.

[0149] Another approach is to have the radar receiving unit cover the entire runway area in a single movement. At each preset receiving position, the radar receiving unit can rotate to receive multiple echo signals with receiving beams at different receiving angles. Since the detection areas covered by the receiving beams at different preset receiving positions are different, the entire runway area can be covered in a single movement of the radar receiving unit.

[0150] Alternatively, the radar receiving unit can achieve full coverage of the runway area in a single movement. During the movement, the radar receiving unit uses the area covered by the beam as the receiving beam for the entire airport runway, and receives the scattered signals generated by radar detection signals emitted from different transmission positions or different transmission angles illuminating the runway area. The radar receiving unit then receives the scattered signals of the corresponding runway area covered by the detection signals at multiple preset receiving positions. In this way, the entire runway area can also be covered in a single movement.

[0151] In one embodiment, there are multiple radar transmitting units, and different radar transmitting units move along the airport runway in different segment areas. The radar detection signals emitted by different radar transmitting units in different segment areas cover different detection areas. And / or, there are multiple radar receiving units, and different radar receiving units move along the airport runway in different segment areas. The multiple radar detection signals received by different radar receiving units in different segment areas cover different detection areas.

[0152] In this embodiment, multiple radars can be used to move along segmented areas of the airport runway. The radar beams of different radars cover different areas of the runway for foreign object imaging detection in different areas. These multiple radars can all be integrated transceiver radars, or they can all be separate transceiver radars, or some radars can be integrated transceiver radars and some separate transceiver radars. During movement, different radars transmit and receive data in their respective segmented areas, and use the radar echo data obtained from the corresponding segmented areas to create radar images of those segments.

[0153] In one embodiment, there are multiple radar transmitting units, and only some of the radar transmitting units are configured to move along the airport runway; and / or, there are multiple radar receiving units, and only some of the radar receiving units are configured to move along the airport runway.

[0154] In this embodiment, for ease of description, the radar transmitting unit configured to move along the airport runway is defined as the first radar transmitting unit, and the remaining radar transmitting units besides the first radar transmitting unit are defined as the second radar transmitting unit. Similarly, the radar receiving unit configured to move along the airport runway is defined as the first radar receiving unit, and the remaining radar receiving units besides the first radar receiving unit are defined as the second radar receiving unit.

[0155] The second radar transmitting unit and the first radar transmitting unit can be located on the same side or different sides of the airport runway. Similarly, the second radar receiving unit and the first radar receiving unit can be located on the same side or different sides of the airport runway. The echo signal from the radar detection signal emitted by the second radar transmitting unit, acting on the detection area, can be received by either the first or second radar receiving unit. The echo signal from the radar detection signal emitted by the first radar transmitting unit, acting on the detection area, can also be received by either the first or second radar receiving unit; this embodiment does not specifically limit this.

[0156] Next, the technical solutions provided in the embodiments of this application will be described in conjunction with specific examples.

[0157] Figure 3a This is a schematic diagram of a radar layout for foreign object imaging detection provided in an embodiment of this application. Figure 3a As shown, this radar is a transceiver integrated radar. Its operating range is the entire length of the runway, meaning the length of its operating range can be equal to the length of the airport runway. During foreign object imaging detection, the radar moves along one side of the airport runway. Simultaneously, it transmits detection signals to the target ground at a predetermined location. The radar receives the echo signals scattered from the target ground. It then uses the echo signals obtained at different locations for imaging processing to obtain a radar image of the detection area. Finally, it detects the presence of foreign objects on the runway within the radar image.

[0158] As can be seen from the schematic diagram, when performing foreign object imaging detection, the narrow beam used by existing millimeter-wave FOD detection radar is not required. A wide beam can be used instead (therefore the radar can operate in the microwave band, which has good weather adaptability). Although a wide beam is used, the area of ​​the resolution cell can be reduced after imaging the data collected from different locations, thereby reducing the clutter intensity by orders of magnitude.

[0159] Understandably, the radar movement range can be set according to the actual application. For example, the radar movement range can be a range along part of the runway length, or a range along the entire runway length, or a range along the entire runway length with an additional range corresponding to half the radar beam illumination width at both ends.

[0160] Figure 3b This is a schematic diagram of another radar layout for foreign object imaging detection provided in an embodiment of this application. For example... Figure 3b As shown, the radar's movement range is the entire length of the runway, with additional ranges at both ends corresponding to half the radar beam width.

[0161] Figure 4a This is a schematic diagram of a radar layout with separate transmit and receive terminals for foreign object imaging detection, provided in an embodiment of this application. Figure 4a As shown, the radar is mainly divided into a radar transmitting section and a radar receiving section. The radar transmitting section contains radar transmitting units, and the radar receiving section contains radar receiving units. The radar transmitting section is mobile, and its movement range is the entire length of the runway. The radar receiving section is fixedly located on one side of the runway in the middle area. The radar transmitting section and the radar receiving section are located on opposite sides of the runway, but it can be understood that the radar transmitting section and the radar receiving section can also be on the same side of the runway.

[0162] For use Figure 4aWhen the radar shown is performing foreign object imaging detection, as the radar transmitting part moves, its radar beam sweeps across the radar runway. The radar receiving part's radar beam follows the transmitting part's radar beam, receiving the radar scattered signal from the corresponding area illuminated by the transmitting part's radar beam. It can be understood that... Figure 4a The positions of the radar receiver and radar transmitter are interchanged, as shown below. Figure 4b As shown, Figure 4b This is a schematic diagram of another radar layout with separate transmit and receive terminals for foreign object imaging detection provided in this application embodiment.

[0163] Figure 5a This is a schematic diagram of a radar layout with separate transmitter and receiver for foreign object imaging detection, provided in an embodiment of this application. During foreign object imaging detection, the radar can be mainly divided into a radar transmitting section and a radar receiving section. The radar transmitting section moves, and the range of movement of the radar transmitting section is a portion of the runway length. The radar receiving sections are distributed at intervals along the runway length on one side of the runway. The radar transmitting section and the radar receiving section can be on the same side of the runway or on opposite sides of the runway.

[0164] When the radar's movement area is a portion of the runway's length, one approach is to illuminate the runway with a fixed beam during movement. This means a single movement can only cover a portion of the runway area, requiring multiple reciprocating movements to cover different areas of the runway each time, eventually covering the entire area. Another approach is to achieve full runway coverage in a single movement. The radar transmitter performs multiple beam scans at each detection position, transmitting an independent detection signal at each scan location. The radar receivers at different locations synchronize with the beam scans, synchronously receiving the scattered signals generated by the detection signals illuminating the runway area, thus achieving full runway coverage in a single movement. Alternatively, the radar transmitter can use a wide beam to transmit the detection signal, covering the entire runway area. The radar receivers then receive the scattered signals from the corresponding runway areas covered by the receiving beam, also achieving full runway coverage in a single movement.

[0165] Specifically, regarding the first or second method mentioned above, for the use of Figure 5aWhen the radar shown is performing foreign object imaging detection, as the radar transmitting section moves, when the radar beam of the transmitting section sweeps across a portion of the radar runway, the radar beam of the nearest radar receiving section corresponding to that portion of the runway follows the radar beam of the transmitting section, receiving the radar scattered signal from the area illuminated by the radar beam of the transmitting section. Alternatively, the radar beams of multiple nearest radar receiving sections corresponding to that portion of the runway follow the radar beam of the transmitting section, receiving the radar scattered signal from the area illuminated by the radar beam of the transmitting section. Or, the radar beams of all radar receiving sections follow the radar beam of the transmitting section, receiving the radar scattered signal from the area illuminated by the radar beam of the transmitting section.

[0166] Understandably, it is also possible to... Figure 5a The positions of the radar receiver and radar transmitter are interchanged, as shown below. Figure 5b As shown, Figure 5b This is a schematic diagram of another radar layout with separate transmit and receive terminals for foreign object imaging detection provided in this application embodiment.

[0167] Figure 6 This is a schematic diagram of a multi-radar layout for foreign object imaging detection provided in an embodiment of this application. Figure 6 As shown, N radars move along segmented areas along the length of the runway (N is a positive integer greater than 1). During the movement, each radar transmits and receives data in its corresponding segmented area and uses the radar echo data obtained from the corresponding segmented area to perform imaging, thereby obtaining radar images of the corresponding segmented area.

[0168] Figure 7 This is a schematic diagram of the structure of a foreign object imaging detection system provided in an embodiment of this application. Figure 7 As shown, the system may include:

[0169] Radar transmitter: configured to generate transmitted signals;

[0170] Radar receiver: configured to receive radar echo signals;

[0171] Radar antenna: configured to convert electrical signals into spatial electromagnetic waves and transmit them to the detection area, or to convert spatial electromagnetic waves scattered back from the detection area into electrical signals;

[0172] Radar data acquisition unit: configured to digitize echo signals obtained from different locations to obtain radar echo data;

[0173] 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.

[0174] A radar image detection unit is used to detect whether there are foreign objects in the radar image of the detection area;

[0175] Radar data recording unit: configured to record radar echo data and motion attitude information obtained from different locations;

[0176] A connection and rotation mechanism is configured to be mounted on a carrier vehicle to connect to, carry, and rotate a radar or a portion thereof.

[0177] The transport vehicle is configured to carry and drive a portion of the connecting and rotating mechanism and radar along the length of the runway on one side of the airport runway.

[0178] The motion attitude measurement unit is configured to acquire position and speed data of the carrier vehicle, as well as angle data of the connection and rotation mechanism;

[0179] The track is configured to support and guide the movement of the transport vehicle;

[0180] The support structure is configured to support and secure the track.

[0181] A controller is configured to control and monitor the operation of a device.

[0182] For different foreign object imaging detection methods, the various components of the foreign object imaging detection system, including radar transmitter, radar receiver, radar antenna, radar data acquisition unit, radar data processing unit, radar data recording unit, connection and rotation mechanism, transport vehicle, motion attitude measurement unit, track, support structure and controller, can be one or more. These components can be integrated together to form a structure or placed in different structures.

[0183] for Figure 3a and Figure 3b The radar layout shown is for foreign object imaging detection. The components of the foreign object imaging detection system form a structure and are placed on one side of the runway. The track and support structure are parallel to the runway. Depending on the actual layout of the airport, the track is spaced at a fixed distance from the runway and is higher than the runway level.

[0184] Figure 8 This is a schematic diagram of another foreign object imaging detection system provided in an embodiment of this application. (Targeting...) Figure 4a The radar layout shown is for foreign object imaging detection. Foreign object imaging detection systems can refer to this layout. Figure 8As shown. The radar transmitter, radar antenna, connecting and rotating mechanism, transport vehicle, motion attitude measurement unit, track, and support structure can form a single structure (Structure 1), placed on one side of the runway. The track and support structure are parallel to the runway, and, depending on the actual layout of the airport, are spaced at a fixed distance from the runway. The track is above the runway's horizontal plane. The radar receiver, radar antenna, motion attitude measurement unit, radar data acquisition unit, radar imaging unit, radar image detection unit, radar data recording unit, connecting and rotating mechanism, and support structure can form another structure (Structure 2), placed on one side of the runway (on the same side as or opposite to Structure 1). Depending on the actual layout of the airport, Structure 2 is preferably placed at the midpoint of the runway's length, with the connecting and rotating mechanism and radar antenna above the runway's horizontal plane. The controller can be placed on one side or split into two parts, depending on the actual situation; no specific limitations are made here.

[0185] Figure 9 This is a schematic diagram of another foreign object imaging detection system provided in an embodiment of this application. (Targeting...) Figure 4b The radar layout shown is for foreign object imaging detection. Foreign object imaging detection systems can refer to this layout. Figure 9 As shown. Comparison Figure 9 and Figure 8 In structure 1 and mechanism 2, the radar's transmitting and receiving positions are interchanged, and the corresponding acquisition, storage, processing, and detection units are also repositioned.

[0186] Figure 10 This is a schematic diagram of another foreign object imaging detection system provided in an embodiment of this application. (Targeting...) Figure 5a The radar layout shown is for foreign object imaging detection. Foreign object imaging detection systems can refer to this layout. Figure 10 As shown. The radar transmitter, radar antenna, connecting and rotating mechanism, transport vehicle, motion attitude measurement unit, track, and support structure can form a single structure (the transmitting structure), placed on one side of the runway. The track and support structure are parallel to the runway, and are spaced at a fixed distance from the runway, depending on the actual layout of the airport. The track is higher than the runway's horizontal plane, and the midpoint of the track is preferably placed at the midpoint of the runway's length. The radar receiver, radar antenna, motion attitude measurement unit, radar data acquisition unit, connecting and rotating mechanism, and support structure can form a receiving structure. Depending on the actual layout of the airport, the device of this application can have multiple receiving structures, arranged in a straight line, parallel to one side of the runway (on the same side as or opposite to the transmitting structure). The connecting and rotating mechanism and radar antenna of each receiving structure are higher than the runway's horizontal plane. The controller can be placed together with the transmitting structure. The radar imaging unit, radar image detection unit, and radar data recording unit can be centrally located.

[0187] Figure 11 This is a schematic diagram of another foreign object imaging detection system provided in an embodiment of this application. (Targeting...) Figure 5b The radar layout shown is for foreign object imaging detection. Foreign object imaging detection systems can refer to this layout. Figure 11 As shown. Comparison Figure 11 and Figure 10 In the receiving structure and the transmitting structure, the positions of the radar's transceiver components are interchanged. The transmitting structure becomes multiple and fixed, while the receiving structure becomes one and movable. The corresponding acquisition, storage, processing, and detection units are also repositioned.

[0188] against Figure 6 The diagram shows a multi-radar layout for foreign object imaging detection. The components of the foreign object imaging detection system form a structure. The system can have multiple structures, which are arranged in a straight line and placed on one side of the runway. The tracks and support structures are parallel to the runway. Depending on the actual layout within the airport, the tracks are spaced at a fixed distance from the runway, and the tracks are higher than the runway's horizontal plane.

[0189] In summary, the radar motion-based foreign object imaging detection system provided in this application 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.

[0190] This application also relates to a foreign object imaging detection method applied to the aforementioned foreign object imaging detection system.

[0191] Figure 12 This is a flowchart illustrating a foreign object imaging detection method provided in an embodiment of this application. This method is applicable to the foreign object imaging detection system described in any of the above embodiments. For detailed descriptions of related content, please refer to the content section of the foreign object imaging detection system above, which will not be repeated here.

[0192] Reference Figure 12 As shown, the foreign object imaging detection method based on radar motion can include:

[0193] S11, the motion position forming mechanism of the foreign object imaging detection system moves the radar transmitting unit and / or the radar receiving unit, moves the radar transmitting unit to or fixes it at one or more preset transmitting positions, and moves the radar receiving unit to or fixes it at one or more preset receiving positions.

[0194] S12, the radar transmitting unit transmits radar detection signals to the detection area on the airport runway from one or more preset transmission positions;

[0195] S13, the radar receiving unit receives the echo signal scattered by the radar detection signal acting on the detection area at one or more preset receiving positions;

[0196] S14, the radar imaging unit uses the echo signals corresponding to different preset transmission and reception combinations to perform imaging processing and obtain a radar image of the detection area.

[0197] S15, the radar image detection unit uses radar images to detect foreign objects and detect whether there are foreign objects in the detection area.

[0198] In one embodiment, the movement range of the radar transmitting unit is located on either side of the airport runway, and the movement range of the radar transmitting unit is one of the following ranges:

[0199] The length of the radar transmitting unit's movement range is less than the length of the airport runway;

[0200] The length of the radar transmitting unit's movement range is equal to the length of the airport runway;

[0201] The length of the radar transmitting unit's movement range is equal to the sum of the airport runway length and the radar beam's illumination width.

[0202] In one embodiment, the distance between any two preset launch positions is less than or equal to half the radar imaging resolution.

[0203] In one embodiment, when the radar receiving unit is configured to move along the airport runway, the movement range of the radar receiving unit is located on either side of the airport runway, and the movement range of the radar receiving unit is one of the following ranges:

[0204] The length of the radar receiving unit's operating range is less than the length of the airport runway;

[0205] The length of the radar receiving unit's operating range is equal to the length of the airport runway;

[0206] The length of the radar receiving unit's operating range is equal to the sum of the airport runway length and the radar beam width.

[0207] In one embodiment, transmitting radar detection signals to the detection area on the airport runway is achieved by using the connection and rotation mechanism of the motion position forming mechanism to adjust the radar transmission beam direction of the radar transmitting antenna of the radar transmitting unit, so that the radar transmission beam illuminates the detection area on the airport runway.

[0208] In one embodiment, receiving the echo signal scattered by the radar detection signal acting on the detection area is achieved by adjusting the radar receiving beam direction of the radar receiving antenna of the radar receiving unit using the connection and rotation mechanism of the motion position forming mechanism, so that the radar receiving beam covers the detection area on the airport runway.

[0209] In one embodiment, 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 motion position forming mechanism is located, or a movable position formed by the movement of the carrier vehicle of the motion position forming mechanism.

[0210] When the preset receiving position is located on either side of the airport runway, the preset receiving position is either a fixed position where the support structure of the motion position forming mechanism is located, or a movable position formed by the movement of the carrier vehicle of the motion position forming mechanism.

[0211] In one embodiment, the line connecting the moving position to the adjacent moving position is located on either side of the airport runway, and the lines are combined to form a straight line or a broken line.

[0212] In one embodiment, 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.

[0213] In one embodiment, the method further includes:

[0214] When the radar receiving unit is configured to move along the airport runway, the radar receiving unit receives the echo signal scattered by the radar detection signal emitted by the radar transmitting unit during its movement in the detection area when it reaches one or more preset receiving positions.

[0215] Alternatively, if there is only one radar receiving unit, and it is located on either side of the airport runway, the radar receiving unit can rotate to receive the echo signal scattered by the radar detection signal emitted by the radar transmitting unit during its movement at different receiving angles.

[0216] Alternatively, if there are multiple radar receiving units, and all of them are located on either side of the airport runway, the multiple radar receiving units receive the echo signals scattered in the detection area by the radar detection signals emitted by the radar transmitting unit during its movement.

[0217] In one embodiment, the method further includes:

[0218] When a radar transmitting unit is located on either side of the airport runway, the radar transmitting unit transmits a first radar beam toward the airport runway, or can rotatably transmit a second radar beam toward the detection area at different transmission angles. There is one radar transmitting unit, the beam coverage area of ​​the first radar beam is the entire airport runway, and the beam coverage area of ​​the second radar beam is less than or equal to the detection area.

[0219] When the radar receiving unit is configured to move along the airport runway, it receives echo signals scattered by a first radar beam in the detection area at one or more preset receiving positions reached during the movement, or receives echo signals scattered by multiple second radar beams with different transmission angles in the detection area.

[0220] In one embodiment, the method further includes:

[0221] When multiple radar transmitting units are set up on either side of the airport runway, each radar transmitting unit transmits radar detection signals toward the detection area.

[0222] When the radar receiving unit is configured to move along the airport runway, the radar receiving unit receives echo signals scattered in the detection area by multiple radar beams with the same transmission angle at one or more preset receiving positions reached during the movement, using a first receiving beam or a second receiving beam. The beam coverage area of ​​the first receiving beam is the entire airport runway, and the beam coverage area of ​​the second receiving beam is less than or equal to the detection area.

[0223] In one embodiment, the spacing between any two preset receiving positions is less than or equal to half the radar imaging resolution.

[0224] In one embodiment, the number of radar transmitting units is one, and the length of the movement range of one radar transmitting unit is less than the length of the airport runway; the method further includes:

[0225] The radar transmitting unit moves back and forth along the airport runway multiple times. The radar detection signal emitted by the radar transmitting unit during the different back and forth movements covers different detection areas on the airport runway.

[0226] Alternatively, the radar transmitting unit moves along the airport runway once and transmits a first radar beam to the airport runway during the single movement. The coverage area of ​​the first radar beam is the entire airport runway.

[0227] Alternatively, the radar transmitting unit moves along the airport runway in a single motion and rotatably transmits a second radar beam at different transmission angles at each preset transmission position during the single motion. The detection area covered by the second radar beam transmitted at different preset transmission positions is different, and the beam coverage area of ​​the second radar beam is less than or equal to the detection area.

[0228] In one embodiment, the number of radar receiving units is one, and the length of the movement range of one radar receiving unit is less than the length of the airport runway. The method further includes:

[0229] The radar receiving unit moves back and forth along the airport runway multiple times. During these different movements, the radar receiving unit receives multiple radar detection signals that cover different detection areas on the airport runway.

[0230] Alternatively, the radar receiving unit moves along the airport runway once, and during that single movement, it receives multiple echo signals with the first receiving beam covering the entire airport runway.

[0231] Alternatively, the radar receiving unit moves along the airport runway in a single motion, and at each preset receiving position in the single motion, it can rotatably receive multiple echo signals with a second receiving beam at different receiving angles. The detection area covered by the second receiving beam at different preset receiving positions is different, and the beam coverage area of ​​the second receiving beam is less than or equal to the detection area.

[0232] In one embodiment, there are multiple radar transmitting units. When different radar transmitting units are configured to move along different segment areas along the airport runway, the radar detection signals emitted by the different radar transmitting units during their movement in the different segment areas cover different detection areas.

[0233] And / or, if there are multiple radar receiving units, and different radar receiving units are configured to move along different segment areas along the airport runway, the detection areas covered by the multiple radar detection signals received by the different radar receiving units during their movement in different segment areas will be different.

[0234] In one embodiment, there are multiple radar transmitting units, and only some of the radar transmitting units are configured to move along the airport runway; and / or, there are multiple radar receiving units, and only some of the radar receiving units are configured to move along the airport runway.

[0235] Figure 13a This is a flowchart illustrating another foreign object imaging detection method provided in this application embodiment. This method is applicable to the foreign object imaging detection system of any of the above embodiments. For detailed descriptions of related content, please refer to the content section of the foreign object imaging detection system above, which will not be repeated here.

[0236] Reference Figure 13a As shown, the foreign object imaging detection method based on radar motion can include:

[0237] S21 transmits multiple radar detection signal beams to the detection area on the airport runway through the radar transmitting unit;

[0238] S22, when the radar receiving unit is configured to move along the airport runway, the radar receiving unit receives the echo signal scattered by the radar detection signal beam in the detection area at one or more preset receiving positions reached during the movement.

[0239] S23, the radar imaging unit, through imaging processing, performs imaging processing based on multiple received echo signals to generate a radar image for detecting the presence of foreign objects in the detection area.

[0240] S24, the radar image detection unit performs foreign object detection on the radar image to detect whether there are foreign objects in the detection area.

[0241] Figure 13b This is a flowchart illustrating another foreign object imaging detection method provided in this application embodiment. This method is applicable to the foreign object imaging detection system of any of the above embodiments. For detailed descriptions of related content, please refer to the content section of the foreign object imaging detection system above, which will not be repeated here.

[0242] S31, when the radar transmitting unit is configured to move along the airport runway, the radar transmitting unit transmits radar beams to the detection area on the airport runway at one or more preset transmitting positions reached during the movement.

[0243] S32 receives the echo signal scattered by the radar beam in the detection area through the radar receiving unit;

[0244] S33, the imaging processing unit performs imaging processing based on the received multiple echo signals to generate a radar image for detecting whether there are foreign objects in the detection area;

[0245] S34 uses a radar image detection unit to detect foreign objects in radar images and detect whether there are foreign objects in the detection area.

[0246] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of units is only a logical functional division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or they can be integrated into another system, or some features can be ignored or not executed.

[0247] It should be noted that, in order to make the embodiments of this application easier to understand, the above description omits some more specific technical details that are well known to those skilled in the art and may be necessary for the implementation of the embodiments of this application. For example, the above description omits a general description of existing radars or radar systems. It should be understood that, in addition to the radar transmitter, radar receiver, radar antenna, etc., described above, the foreign object imaging detection system according to the embodiments of this application may also have other components or parts found in existing radars or radar systems, such as frequency references and timing synchronization devices. The above description is merely illustrative and not restrictive.

[0248] The specification provided in this application is for illustrative and descriptive purposes only, and is not intended to be exhaustive or to limit the application to the disclosed form. Many modifications and variations will be possible to those skilled in the art.

[0249] The above embodiments further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above are merely specific embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A foreign object imaging detection system based on radar motion, characterized in that, Includes a radar and a motion position forming mechanism, the radar comprising: A radar transmitting unit is configured at one or more preset transmitting positions to transmit radar detection signals to a detection area on an airport runway; wherein the distance between any two preset transmitting positions is less than or equal to half the radar imaging resolution; A radar receiving unit is configured at one or more preset receiving positions to receive radar echo signals scattered by the detection area; wherein the distance between any two preset receiving positions is less than or equal to half of the radar imaging resolution. 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 motion position forming mechanism is used to carry the radar transmitting unit and form a relative movement between the radar transmitting unit and the airport runway or to fix the radar transmitting unit at a preset transmission position on one side of the airport runway; wherein, the motion position forming mechanism enables the radar transmitting unit to transmit radar signals at the fixed preset transmission position or to move to the preset preset transmission position. The motion position forming mechanism is also used to carry the radar receiving unit, forming a relative movement between the radar receiving unit and the airport runway or fixing the radar receiving unit at a preset receiving position on one side of the airport runway; wherein, the motion position forming mechanism enables the radar receiving unit to receive radar echo signals at the fixed preset receiving position or the preset receiving position reached by the movement. The movement range of the radar transmitting unit and / or radar receiving unit formed by the movement of the movement position forming mechanism is located on either side of the airport runway, and the movement range is one of the following ranges: The length of the running zone is less than the length of the airport runway; The length of the running zone is equal to the length of the airport runway; The length of the movement zone is equal to the sum of the length of the airport runway and the width of the radar beam.

2. The system according to claim 1, characterized in that, The radar includes one or more radar transmitting units and one or more radar receiving units.

3. 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.

4. 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.

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

6. The system according to claim 5, characterized in that, The translational mechanism of the structural unit includes a carrier vehicle and / or a track.

7. A method for detecting foreign objects based on radar motion imaging, characterized in that, The method includes: The motion position forming mechanism of the foreign object imaging detection system moves the radar transmitting unit and / or the radar receiving unit, moving the radar transmitting unit to or fixing it at one or more preset transmitting positions, and moving the radar receiving unit to or fixing it at one or more preset receiving positions; wherein the distance between any two preset transmitting positions is less than or equal to half of the radar imaging resolution; and the distance between any two preset receiving positions is less than or equal to half of the radar imaging resolution. The radar transmitting unit transmits radar detection signals to the detection area on the airport runway from one or more preset transmission positions; The radar receiving unit receives the echo signal scattered by the radar detection signal acting on the detection area at one or more 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 in the detection area. The movement range of the radar transmitting unit and / or radar receiving unit formed by the movement of the movement position forming mechanism is located on either side of the airport runway, and the movement range is one of the following ranges: The length of the running zone is less than the length of the airport runway; The length of the running zone is equal to the length of the airport runway; The length of the movement zone is equal to the sum of the length of the airport runway and the width of the radar beam.

8. The method according to claim 7, 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.

9. The method according to claim 7, 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 motion position forming mechanism, so that the radar receiving beam covers the detection area on the airport runway.

10. The method according to claim 7, characterized in that, When the preset launch position is located on either side of the airport runway, the preset launch position is either a fixed position where the support structure of the motion position forming mechanism is located, or a movable position formed by the movement of the carrier vehicle of the motion position forming mechanism. When the preset receiving position is located on either side of the airport runway, the preset receiving position is either a fixed position where the support structure of the motion position forming mechanism is located, or a movable position formed by the movement of the carrier vehicle of the motion position forming mechanism.

11. The method according to claim 10, characterized in that, The moving position, and the line connecting the moving position to the adjacent moving position, is located on either side of the airport runway, and the connecting lines are combined to form a straight line or a broken line.

12. The method according to claim 10, 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