Induction self-dumping type atmospheric transmissometer

Abstract

The invention provides an induction self-dumping type atmospheric transmissometer, and relates to the technical field of atmospheric transmissometers. The invention provides an induction self-dumping type atmospheric transilluminator. The induction self-dumping type atmospheric transilluminator comprises an atmospheric transilluminator body, a support, a turnover mechanism for driving the support to turn over relative to a first base, a rotating mechanism for driving the first base to rotate relative to a second base, a processor in signal connection with the turnover mechanism and the rotating mechanism, and an optical fiber fence surrounding the atmospheric transilluminator. The turnover mechanism is used for adjusting the included angle between the support and the plane where the first base is located, so that the atmospheric transmissometer body can be located at a working position and one or more dumping positions; the rotating mechanism is used for integrally rotating the atmospheric transmissometer body, the bracket and the first base, so that the avoiding direction of the bracket during overturning is adjusted; the optical fiber fence is used for acquiring a vibration signal and sending the vibration signal to the processor; the processor generates an active avoidance strategy based on the vibration signal and provides an active avoidance instruction for the turnover mechanism and the rotating mechanism.

Description

Technical Field

[0001] This specification relates to the technical field of atmospheric transmissometers, and particularly to an inductive self - tipping atmospheric transmissometer. Background Art

[0002] An atmospheric transmissometer is an optical device that calculates visibility by measuring the atmospheric transmittance between two points. The atmospheric transmissometer can adopt a double - end opposed - beam layout. It emits a parallel beam from the transmitting end of the atmospheric transmissometer, detects the degree of light intensity attenuation through the receiving end of the atmospheric transmissometer, and calculates the meteorological optical range (MOR) and runway visual range (RVR) in combination with the extinction coefficient. The atmospheric transmissometer can be installed in the touchdown zone, stop end, and middle zone of the airport runway. The installation position of the atmospheric transmissometer can be no more than 120 meters but no less than 90 meters from one side of the runway centerline, about 300 meters inward from the runway entrance and the runway stop end respectively, and in the middle zone of the runway to ensure a safe distance from the aircraft operation path.

[0003] In special operating scenarios, such as when the braking fails due to the hydrodynamic hydroplaning phenomenon of a heavy - load aircraft landing on a wet runway, when there is a lateral positioning deviation during a visual approach under low - visibility conditions, or when there is an abnormal over - run distance caused by a reverse - thrust device failure during an emergency landing, the aircraft may break through the runway - end safety zone limit and collide with the atmospheric transmissometer, resulting in damage to the aircraft and / or the atmospheric transmissometer. Summary of the Invention

[0004] One or more embodiments of this specification provide an inductive self - tipping atmospheric transmissometer, including: an atmospheric transmissometer body, a bracket supporting the atmospheric transmissometer body, a flipping mechanism for driving the bracket to flip relative to a first base, a rotating mechanism for driving the first base to rotate relative to a second base, a processor respectively signal - connected to the flipping mechanism and the rotating mechanism, and an optical - fiber fence disposed around the atmospheric transmissometer; the flipping mechanism is used to adjust the angle between the plane where the bracket is located and the first base, so that the atmospheric transmissometer body can be in a working position and one or more tipping positions; the rotating mechanism is used to integrally rotate the atmospheric transmissometer body, the bracket, and the first base, so as to adjust the avoidance direction of the bracket during flipping; the optical - fiber fence is used to acquire vibration signals and send the vibration signals to the processor; the processor generates an active avoidance strategy based on the vibration signals and provides active avoidance instructions to the flipping mechanism and the rotating mechanism based on the active avoidance strategy.

[0005] In some embodiments, the rotation mechanism includes: a rotation motor, the second base is fixedly arranged, the housing of the rotation motor is fixedly connected to the second base, and the drive shaft of the rotation motor penetrates through the second base and is in transmission connection with the first base; the rotation motor and the second base are arranged below the ground, and the first base is arranged above the ground.

[0006] In some embodiments, the flipping mechanism includes: a flipping linear motor, the housing of the flipping linear motor is rotatably connected to the first base, and the drive shaft of the flipping linear motor is rotatably connected to a flipping fixing member on the bracket.

[0007] In some embodiments, it further includes: an auxiliary sensor, the auxiliary sensor is used to obtain an auxiliary judgment signal and send the auxiliary judgment signal to the processor; the processor generates an active avoidance strategy based on the vibration signal and the auxiliary judgment signal; the auxiliary sensor includes: a millimeter-wave reflection radar and / or a vision sensor, and the auxiliary judgment signal includes one or more of a millimeter-wave reflection signal and an optical image signal.

[0008] In some embodiments, the processor performs a joint judgment through a dynamic weight fusion model based on the vibration signal and one or more of the auxiliary judgment signals to generate the active avoidance strategy; the active avoidance strategy includes: instructing the rotation mechanism to drive the first base to rotate relative to the second base so that the atmospheric transmissometer body faces the avoidance direction, and / or instructing the flipping mechanism to drive the bracket to flip relative to the first base so that the atmospheric transmissometer body is in the tipping position.

[0009] In some embodiments, the processor adjusts the weights of the vibration signal and one or more of the auxiliary judgment signals according to environmental parameters to obtain the confidence level of the judgment result, and generates the active avoidance strategy when the confidence level of the judgment result meets the preset confidence range; wherein, the environmental parameters include one or more of a wind speed parameter, a temperature parameter, a time parameter, and a weather parameter.

[0010] In some embodiments, the optical fiber fence includes a plurality of optical fiber fence defense zones. The optical fiber fence is further configured to obtain the trigger time difference of vibration signals within the plurality of optical fiber fence defense zones. The processor obtains first velocity information of a target object that causes the vibration signals based on the trigger time difference and the distance between the defense zones. The optical fiber fence is further configured to obtain the frequency change characteristics, waveform duration, and propagation distance of the vibration signals. The processor obtains second velocity information of the target object that causes the vibration signals based on the frequency change characteristics, the waveform duration, and the propagation distance. The auxiliary sensor includes a millimeter-wave sensor, and the auxiliary judgment signal includes third velocity information of the target object. The processor generates the active avoidance strategy based on the first velocity information, the second velocity information, and the third velocity information. The active avoidance strategy includes: adjusting the flipping speed of the bracket based on the velocity information of the target object.

[0011] In some embodiments, the auxiliary judgment signal further includes distance information, horizontal azimuth angle information, vertical azimuth angle information, and height information of the target object. The processor predicts the possible collision direction and the first possible collision height based on the vibration signal and the auxiliary judgment signal, and generates the active avoidance strategy based on the possible collision direction and the first possible collision height. The active avoidance strategy includes: adjusting the avoidance direction of the bracket based on the possible collision direction, and / or adjusting the angle between the bracket and the plane where the first base is located based on the first possible collision height.

[0012] In some embodiments, the auxiliary sensor includes a vision sensor, and the auxiliary judgment signal includes consecutive frame images of the target object and the timestamps corresponding to the consecutive frame images. The processor obtains the instantaneous motion vector of the target object and predicts the second possible collision height based on the vibration signal and the auxiliary judgment signal, and generates the active avoidance strategy based on the first possible collision height and the second possible collision height.

[0013] In some embodiments, the active avoidance strategy includes: adjusting the angle between the bracket and the plane where the first base is located based on the lower height value of the first possible collision height and the second possible collision height.

[0014] In some embodiments, it further includes: a protective cage, the atmospheric transmissometer body is fixed inside the protective cage, and the protective cage is detachably and fixedly connected to the bracket. The protective cage includes: a cage body, a cover body rotatably connected to the cage body, and a closing motor for driving the cover body to rotate relative to the cage body; the cover body is configured such that when the atmospheric transmissometer body is in the working position, the cover body is in an open state; when the atmospheric transmissometer body is in the dumping position, the cover body is in a closed state; the closing motor drives the cover body to rotate relative to the cage body based on the active avoidance strategy.

[0015] In some embodiments, one end of the protective cage is flush with the side surface of the bracket, a bracket shock-absorbing device is provided on the side surface of the bracket, and a protective cage shock-absorbing device is provided outside the protective cage. Description of the Drawings

[0016] This specification will further illustrate by way of exemplary embodiments, and these exemplary embodiments will be described in detail through the drawings. The same numbers in the drawings represent the same structures or steps.

[0017] Figure 1 It is a schematic diagram of an inductive self-dumping atmospheric transmissometer shown in some embodiments of this specification.

[0018] Figure 2 It is a schematic structural diagram of an inductive self-dumping atmospheric transmissometer shown in some embodiments of this specification.

[0019] Figure 3 It is a schematic diagram of the optical fiber fence of an inductive self-dumping atmospheric transmissometer shown in some embodiments of this specification.

[0020] Figure 4 It is a schematic diagram of the flipping of an inductive self-dumping atmospheric transmissometer shown in some embodiments of this specification.

[0021] Figure 5 It is a schematic diagram of the rotation of an inductive self-dumping atmospheric transmissometer shown in some embodiments of this specification.

[0022] Figure 6 It is a schematic diagram of the protective cage of an inductive self-dumping atmospheric transmissometer shown in some embodiments of this specification.

[0023] Figure 7 It is a schematic diagram of the defense area of the optical fiber fence of an inductive self-dumping atmospheric transmissometer shown in some embodiments of this specification.

[0024] Markings in the figure: 1 Main body of the atmospheric transmissometer; 2 Bracket; 31 Flipping mechanism; 32 Rotating mechanism; 41 First base; 42 Second base; 5 Processor; 6 Optical fiber fence; 61 First optical fiber fence protection zone; 62 Second optical fiber fence protection zone; 7 Auxiliary sensor; 8 Protection cage; 81 Cage body; 82 Cover body; 83 Closing motor; 84 Bird repelling structure. Detailed implementation manners

[0025] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the embodiments will be introduced in detail below with reference to the accompanying drawings. Obviously, the content described below is some examples or embodiments of this specification. For those of ordinary skill in the art, without creative efforts, the technical solutions or means disclosed in this specification can also be applied to other scenarios based on this technical content.

[0026] It should be understood that the terms "system", "device", "equipment", "part" and / or "component", "unit" and / or "module" used in this specification are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the described terms can be replaced by other expressions.

[0027] Unless otherwise specified, the technical terms describing components, elements, etc. in this specification do not specifically refer to the singular number, but may also include the plural. Generally speaking, terms such as "including" and "comprising" only indicate the inclusion of the clearly identified steps, elements or components, and these steps, elements and components do not constitute an exclusive list. For example, the described method or device may also include other steps or components.

[0028] In the description of this specification, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this application. In the description of this specification, unless otherwise clearly defined, terms such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in this specification in combination with the specific content of the technical solution.

[0029] An atmospheric transmissometer is an optical device that calculates visibility by measuring the atmospheric transmittance between two points. The atmospheric transmissometer can adopt a double-ended opposed layout. It emits a parallel light beam from the transmitting end of the atmospheric transmissometer and detects the degree of light intensity attenuation through the receiving end of the atmospheric transmissometer. By combining the extinction coefficient, it calculates the meteorological optical range (MOR) and the runway visual range (RVR). In some embodiments, the atmospheric transmissometer can be used for the real-time monitoring of the runway visual range at an airport, providing key meteorological data for the takeoff and landing of aircraft (such as airplanes). Especially under low visibility conditions such as low clouds, fog, and rain, its value directly affects flight scheduling and flight safety.

[0030] In some embodiments, the atmospheric transmissometer (such as the transmitting end and / or the receiving end of the atmospheric transmissometer) can be installed in the touchdown zone, stop end, and middle zone of the airport runway. In some embodiments, the installation position of the atmospheric transmissometer can be no more than 120 meters but no less than 90 meters from one side of the runway centerline, about 300 meters inward from the runway entrance and the runway stop end respectively, and in the middle zone of the runway, to ensure that it maintains a safe distance from the aircraft operation path. In some embodiments, the layout spacing between the transmitting end and the receiving end of the atmospheric transmissometer can be 25 - 75 meters.

[0031] However, in special operation scenarios, there are still certain potential safety hazards in the aforementioned layout mode. In some embodiments, due to the hydrodynamic hydroplaning phenomenon of heavy aircraft during landing on a wet runway resulting in brake failure, due to the lateral positioning deviation during visual approach under low visibility conditions, or due to abnormal overrun distance caused by the failure of the thrust reverser during an emergency landing, etc., the aircraft may break through the runway end safety area limit and collide with the atmospheric transmissometer, thereby causing damage to the aircraft and / or the atmospheric transmissometer.

[0032] Based on this, one or more embodiments of this specification provide an induction self - tipping atmospheric transmissometer, which can avoid damage to the aircraft and / or the atmospheric transmissometer by tipping the atmospheric transmissometer based on the vibration generated when the aircraft lands or approaches.

[0033] Figure 1 is a schematic diagram of the induction self - tipping atmospheric transmissometer shown in some embodiments of this specification, Figure 2 is a structural schematic diagram of the induction self - tipping atmospheric transmissometer shown in some embodiments of this specification. Refer to Figures 1 to 2 As shown, the induction self - tipping atmospheric transmissometer can include: an atmospheric transmissometer body 1, a bracket 2 for supporting the atmospheric transmissometer body 1, a tipping mechanism 31 for driving the bracket 2 to flip relative to the first base 41, a rotating mechanism 32 for driving the first base 41 to rotate relative to the second base 42, a processor 5 respectively signal - connected to the tipping mechanism 31 and the rotating mechanism 32, and an optical fiber fence 6 surrounding the outside of the atmospheric transmissometer.

[0034] In some embodiments, the main body 1 of the atmospheric transmissometer can be the transmitting end of the atmospheric transmissometer or the receiving end of the atmospheric transmissometer. In some embodiments, the transmitting end and the receiving end of the atmospheric transmissometer can each have an independent bracket 2, a first base 41, a second base 42, a flipping mechanism 31, and a rotating mechanism 32 to separately drive the transmitting end and the receiving end of the atmospheric transmissometer. In some embodiments, the transmitting end and the receiving end of the atmospheric transmissometer can be respectively signal-connected to independent processors 5 for independent control. In other embodiments, the transmitting end and the receiving end of the atmospheric transmissometer can be signal-connected to the same processor 5 for synchronous control or independent control based on the same processor 5.

[0035] In some embodiments, the processor 5 can be a combination of one or more of the following processors: central processing unit (CPU), application-specific integrated circuit (ASIC), application-specific instruction set processor (ASIP), graphics processing unit (GPU), physics processing unit (PPU), digital signal processor (DSP), field-programmable gate array (FPGA), programmable logic device (PLD), programmable logic controller (PLC), reduced instruction set computer (RISC), microprocessor, etc. In some embodiments, the processor 5 can be disposed in the atmospheric transmissometer, for example, disposed in the main body 1 or the bracket 2 of the atmospheric transmissometer. In some embodiments, the processor 5 can be disposed outside the atmospheric transmissometer and signal-connected to the flipping mechanism 31, the rotating mechanism 32, and the optical fiber fence 6 by wired / wireless means.

[0036] In one or more embodiments of this specification, the optical fiber fence 6 is used to acquire vibration signals (such as changes in optical signals generated by the vibration of the optical fiber) and send the vibration signals to the processor 5. In some embodiments, refer to Figure 3As shown, the optical fiber fence 6 may include a laser emitting device, a laser receiving device, an optical fiber connecting the laser emitting device and the laser receiving device, and a vibration detection module for monitoring the optical signal acquired by the laser receiving device. In some embodiments, the laser emitting device is used to generate a laser. In some embodiments, the laser receiving device is used to receive the backscattered light of the laser. In some embodiments, the optical fiber may include one or more cores, a cladding covering the one or more cores, and a coating layer coated on the core, wherein the core may be used to transmit an optical signal, and the cladding and the coating layer may be used to provide mechanical protection. In some embodiments, the optical fiber may be laid on the ground and / or underground. In some embodiments, the processor 5 is used to determine the position where the optical fiber vibrates, is disturbed, or is damaged. In some embodiments, when an aircraft touches the optical fiber or causes the optical fiber to vibrate, due to the influence of vibration and / or pressure on the optical fiber, the optical signal changes, and the processor 5 determines the position where the optical fiber vibrates, is disturbed, or is damaged based on the change in the optical signal.

[0037] In some embodiments, the main body 1 of the atmospheric transmissometer is configured to be able to be in one or more working positions and one or more dumping positions, and the flipping mechanism 31 and the rotating mechanism 32 are configured to be able to drive the main body 1 of the atmospheric transmissometer to be in the working position or in one or more dumping positions.

[0038] In some embodiments, both the transmitting end and the receiving end of the atmospheric transmissometer can be in one or more working positions. In some embodiments, the heights of the multiple working positions are different. In some embodiments, the heights of the transmitting end and the receiving end of the atmospheric transmissometer are adjusted so that the receiving end of the atmospheric transmissometer can accurately acquire the parallel light beam emitted by the transmitting end of the atmospheric transmissometer.

[0039] In some embodiments, both the transmitting end and the receiving end of the atmospheric transmissometer can be in one or more dumping positions. In some embodiments, the heights of the multiple dumping positions are different to meet different avoidance requirements.

[0040] In some embodiments, the transmitting end and the receiving end of the atmospheric transmissometer can be in the dumping position to implement avoidance and can return to the working position after the dumping.

[0041] Exemplarily, in the initial state, the transmitting end and the receiving end of the atmospheric transmissometer are in the working position; when the aircraft approaches, the transmitting end or the receiving end of the atmospheric transmissometer rotates to a higher first dumping position or a lower second dumping position according to the avoidance requirement; after the avoidance is completed, the transmitting end and the receiving end of the atmospheric transmissometer return to the working position.

[0042] In one or more embodiments of the present specification, the atmospheric transmissometer may include a flipping mechanism 31 configured to adjust the angle between the support 2 and the plane where the first base 41 is located, so that the atmospheric transmissometer body 1 can be in a working position and one or more dumping positions.

[0043] In one or more embodiments of the present specification, the atmospheric transmissometer may include a flipping mechanism 31 and a rotating mechanism 32. In some embodiments, the flipping mechanism 31 is configured to adjust the angle between the support 2 and the plane where the first base 41 is located, so that the atmospheric transmissometer body 1 can be in a working position and one or more dumping positions. In some embodiments, the rotating mechanism 32 is configured to rotate the atmospheric transmissometer body 1, the support 2, and the first base 41 as a whole, so as to adjust the avoidance direction of the support 2 during flipping.

[0044] In one or more embodiments of the present specification, referring to Figure 1 , Figure 4 as shown, the flipping mechanism 31 may include a flipping linear motor. The housing of the flipping linear motor is rotatably connected to the first base 41, and the drive shaft of the flipping linear motor is rotatably connected to a flipping fixing member on the support 2. In some embodiments, the flipping fixing member may be a member arranged on the support 2, such as an ear plate or the like, for realizing the rotatable connection between the drive shaft of the flipping linear motor and the support 2. In some other embodiments, the flipping fixing member may also be a rotating shaft extending outward from the side surface of the support 2, or a rotating shaft hole provided on the support 2 and provided with a rotating shaft, for realizing the rotatable connection between the drive shaft of the flipping linear motor and the support 2.

[0045] In some embodiments, the first base 41 may be arranged on the ground. In some embodiments, the first base 41 may be arranged above the ground. In some embodiments, there may be a gap between the first base 41 and the ground. In some embodiments, the first base 41 is configured to be rotatable relative to the ground. In some embodiments, a foundation pit may be arranged on the ground, and the first base 41 is arranged in the foundation pit and configured to be rotatable relative to the foundation pit. In some embodiments, the lower part of the housing of the flipping linear motor is rotatably connected to the upper surface of the first base 41 through structures such as a pivot shaft and a bearing seat. In some embodiments, there is a gap between the lower part of the housing of the flipping linear motor and the support 2.

[0046] In some embodiments, the tilting linear motor controls the tilting of the bracket 2 through the linear displacement of the drive shaft. For example, when the drive shaft of the tilting linear motor extends, the bracket 2 tilts or moves in the direction of tilting. For example, when the drive shaft of the tilting linear motor shortens, the bracket 2 becomes upright or moves in the direction of becoming upright. In some embodiments, the tilting position of the bracket 2 can be controlled by controlling the linear displacement of the drive shaft of the tilting linear motor.

[0047] In some embodiments, the tilting position can be determined based on the length of the bracket 2 and the angle between the bracket 2 and the plane where the first base 41 is located. In some embodiments, the tilting linear motor controls the angle between the bracket 2 and the plane where the first base 41 is located through the linear displacement of the drive shaft, so as to control the atmospheric transmissometer body 1 to be in multiple tilting positions. In some embodiments, the angle between the bracket 2 and the plane where the first base 41 is located can be 0° to 90°, such as 0°, 15°, 20°, 25°, 30°, 33.5°, 45°, 60°, 76.6°, 90°, etc.

[0048] In some embodiments, the tilting mechanism 31 can be implemented in other ways. For example, the tilting mechanism 31 can include: a steel cable, one end of the steel cable is fixedly connected to the first base 41, the other end of the steel cable passes through a ring structure arranged on the upper part of the bracket 2 and is fixedly connected to a winch arranged on the ground or on the second base 42, and the tilting of the bracket 2 is realized by the winch taking in or paying out the cable.

[0049] In one or more embodiments of this specification, refer to Figure 1 、 Figure 5As shown, the rotating mechanism 32 may include: a rotating motor. The second base 42 is fixedly arranged relative to the ground. The housing of the rotating motor is fixedly connected to the second base 42. The drive shaft of the rotating motor penetrates through the second base 42 and is in transmission connection with the first base 41. In some embodiments, the second base 42 is annular, and the drive shaft of the rotating motor penetrates through the central hole of the second base 42 and is in transmission connection with the first base 41. In some embodiments, the drive shaft of the rotating motor may be fixedly connected to the first base 41. In some embodiments, the drive shaft of the rotating motor may be in transmission connection with the first base 41 through a transmission mechanism. In some embodiments, the transmission mechanism may be a gear transmission mechanism. In some embodiments, a driving gear is arranged on the drive shaft of the rotating motor, a driven gear is arranged on the first base 41, and the driving gear is in transmission connection with the driven gear. In some embodiments, the driving gear and the driven gear are in transmission connection through one or more transmission gears. In some embodiments, a clutch may be provided between the drive shaft of the rotating motor and the first base 41. In some embodiments, a clutch is provided between the driving gear and the driven gear. In other embodiments, the transmission mechanism may be a belt transmission mechanism or a chain belt transmission mechanism.

[0050] In some embodiments, the second base 42 may be arranged on the ground. In some embodiments, the second base 42 is fixed to the ground, the first base 41 is rotatably arranged on the upper surface or above the second base 42, and the rotating motor is arranged below the second base 42. In some embodiments, the second base may be formed with a receiving cavity, the rotating motor is arranged in the receiving cavity, and the housing of the rotating motor is fixedly connected to the bottom or inner wall of the receiving cavity. In some embodiments, the rotating motor and the second base 42 may be arranged below the ground, and the first base 41 may be arranged above the ground.

[0051] In some embodiments, the rotating motor controls the overall rotation of the bracket 2 and the first base 41 through the rotation of the drive shaft, so as to adjust the avoidance direction of the bracket 2 during flipping. In some embodiments, the avoidance direction refers to the orientation of the top end of the bracket 2 during flipping. In some embodiments, the avoidance direction is adjusted by the rotating motor so that the bracket 2 is in a suitable position during flipping and tipping. For example, the bracket 2 and the atmospheric transmissometer body 1 on the bracket 2 are made to tip towards a direction away from the aircraft, so that the atmospheric transmissometer body 1 moves towards a direction away from the aircraft when the aircraft approaches, thereby avoiding collision or delaying the time of collision.

[0052] In some embodiments, the rotating motor drives the bracket 2 and the first base 41 to rotate integrally so that when the bracket 2 is tilted, its avoidance direction can face one or more sectors. In some embodiments, the processor 5 can divide multiple sectors into safe sectors and warning sectors according to the aircraft approach direction. In some embodiments, the safe sector is configured such that when the bracket 2 is tilted towards the safe sector, it will not or is not likely to collide with the aircraft. In some embodiments, the warning sector is configured such that when the bracket 2 is tilted towards the safe sector, it will or is likely to collide with the aircraft. In some embodiments, the rotating motor drives the bracket 2 and the first base 41 to rotate integrally so that the avoidance direction can move out of the warning sector and into the safe sector. Exemplarily, the number of sectors can be four, five, six, seven. In some embodiments, the number of sectors can also be more than ten. In other embodiments, the rotating motor drives the bracket 2 and the first base 41 to rotate integrally so that the avoidance direction faces an angle away from the aircraft approach direction. Exemplarily, if the aircraft approach direction is the horizontal angle 0°, the rotating motor rotates so that the avoidance direction faces between the horizontal angles 160° and 200°, such as 180°. Exemplarily, if the aircraft approach direction is the horizontal angle 90°, the rotating motor rotates so that the avoidance direction faces between the horizontal angles 180° and 360°, such as 270°.

[0053] In some embodiments, the bracket 2 can be a rod-shaped structure. In other embodiments, the bracket 2 can also be a truss structure. In some embodiments, the bracket 2 can include multiple bracket units (such as units in a cylindrical or frustum shape, or truss units for example), and the multiple bracket units are fixedly connected by connecting members. In some embodiments, the connecting members of the bracket units can be bolts. In some embodiments, the connecting members of the bracket units are arranged along the axial direction of the bracket 2, facilitating fracture when subjected to shear force, so that one or more bracket units are separated from each other, avoiding damage to the aircraft.

[0054] In one or more embodiments of this specification, the processor 5 generates an active avoidance strategy based on the vibration signal and provides an active avoidance instruction to the flipping mechanism 31 and the rotating mechanism 32 based on the active avoidance strategy.

[0055] In some embodiments, the active avoidance strategy includes: instructing the flipping mechanism 31 to drive the bracket 2 to flip relative to the first base 41 so that the atmospheric transmissometer body 1 is in a tilted position. In some embodiments, the active avoidance strategy includes the stroke of the flipping mechanism 31 (such as the stroke of the flipping linear motor) so that a specific included angle is formed between the bracket 2 and the plane where the first base 41 is located, thereby making the atmospheric transmissometer body 1 in a working position or a specific tilted position. In some embodiments, the active avoidance strategy further includes the working speed of the flipping mechanism 31 (such as the telescopic speed of the flipping linear motor).

[0056] In some embodiments, the active avoidance strategy includes: instructing the rotation mechanism 32 to drive the first base 41 to rotate relative to the second base 42 so that the main body of the atmospheric transmissometer faces the avoidance direction. In some embodiments, the active avoidance strategy includes the rotation angle of the rotation mechanism 32 (such as the rotation angle of the rotation motor) so that the bracket 2 and the main body of the atmospheric transmissometer 1 face a specific avoidance direction when flipping or tipping over. In some embodiments, the active avoidance strategy further includes the operating speed of the rotation mechanism 32 (such as the rotation speed of the rotation motor).

[0057] In some embodiments, the active avoidance strategy further includes the motion strategies of the flipping mechanism 31 and the rotation mechanism 32. In some embodiments, the rotation mechanism 32 is configured to act prior to the flipping mechanism 31. In some embodiments, the flipping mechanism 31 starts to act after the rotation mechanism 32 finishes acting. In some embodiments, the rotation mechanism 32 starts to act first, and during the action of the rotation mechanism 32, the flipping mechanism 31 starts to act. In some embodiments, the rotation mechanism 32 and the flipping mechanism 31 are configured to start acting simultaneously.

[0058] In one or more embodiments of this specification, the atmospheric transmissometer further includes: an auxiliary sensor 7, and the auxiliary sensor 7 is used to obtain an auxiliary judgment signal and send the auxiliary judgment signal to the processor 5. In some embodiments, the processor 5 generates an active avoidance strategy based on the vibration signal and the auxiliary judgment signal. In some embodiments, the auxiliary sensor 7 includes: a millimeter-wave reflection radar and / or a vision sensor, and the auxiliary judgment signal includes one or more of a millimeter-wave reflection signal and an optical image signal. In some embodiments, the auxiliary sensor 7 can be disposed on the outer surface of the atmospheric transmissometer. In some embodiments, the auxiliary sensor 7 can be disposed at the top of the main body 1 of the atmospheric transmissometer.

[0059] In one or more embodiments of this specification, the processor 5 generates an active avoidance strategy based on the vibration signal and the auxiliary judgment signal, and provides an active avoidance instruction to the flipping mechanism 31 and the rotating mechanism 32 based on the active avoidance strategy. In some embodiments, the processor 5 performs a joint judgment through a dynamic weight fusion model based on the vibration signal and one or more auxiliary judgment signals to generate an active avoidance strategy. In some embodiments, the dynamic weight fusion model can be obtained based on AI training. In some embodiments, the active avoidance strategy includes controlling the flipping mechanism 31 and the rotating mechanism 32 to drive the main body 1 of the atmospheric transmissometer to move to a dumping position or one of multiple dumping positions. In some embodiments, the active avoidance strategy may include one or more of the dumping positions of the support 2 and the main body 1 of the atmospheric transmissometer, the stroke of the flipping mechanism 31, the working speed of the flipping mechanism 31, the avoidance direction of the support 2 and the main body 1 of the atmospheric transmissometer, the rotation angle of the rotating mechanism 32, the working speed of the rotating mechanism 32, and the movement strategy of the flipping mechanism 31 and the rotating mechanism 32, which will not be elaborated here.

[0060] In some embodiments, the processor 5 performing a joint judgment through a dynamic weight fusion model based on the vibration signal and one or more auxiliary judgment signals to generate an active avoidance strategy may include: the processor 5 adjusts the weights of the vibration signal and one or more auxiliary judgment signals according to environmental parameters to obtain the confidence level of the judgment result, and when the confidence level of the judgment result meets the preset confidence range, an active avoidance strategy is generated. In some embodiments, the environmental parameters may include one or more of wind speed parameters, temperature parameters, time parameters, weather parameters, etc.

[0061] In some embodiments, the processor 5 adjusts the confidence level of the vibration judgment result based on the vibration signal and the weights of the confidence levels of each auxiliary judgment result based on each auxiliary judgment signal to obtain the confidence level of the judgment result.

[0062] Exemplarily, the processor 5 obtains the confidence level of the vibration judgment result based on the vibration signal, and obtains the confidence level of the auxiliary judgment result based on each auxiliary judgment signal. In some embodiments, the confidence level of the judgment result is used to represent the possibility that the main body 1 of the atmospheric transmissometer needs to avoid based on the corresponding signal. For example, the confidence level of the vibration judgment result A 振动 is used to represent the possibility that the main body 1 of the atmospheric transmissometer needs to avoid judged based on the vibration signal. Similarly, the confidence level of the auxiliary judgment result may include the confidence level of the millimeter wave judgment result B 毫米波 and the confidence level of the visual judgment result C 视觉 . In some implementations, the confidence level of the judgment result can be expressed as a percentage.

[0063] In some embodiments, each confidence level of the judgment result has its corresponding weight. For example, the confidence level of the vibration judgment result A振动 The weight of A , the confidence level B of the millimeter-wave judgment result 毫米波 The weight of B , the confidence level C of the visual judgment result 视觉 The weight of C .

[0064] In some embodiments, the processor 5 may adjust the weight C based on environmental parameters A , weight C B , weight C C , and obtain the confidence level of the judgment result. In some embodiments, the confidence level C of the judgment result result = C A A 振动 + C B B 毫米波 + C C C 视觉 . In some embodiments, the confidence level C of the judgment result result may be expressed as a percentage.

[0065] In some embodiments, the processor 5 may obtain environmental parameters and adjust the weight C based on the environmental parameters A , weight C B , weight C C .

[0066] Exemplarily, the environmental parameters may include a wind speed parameter, and the processor 5 may adjust the weight based on the wind speed parameter. For example, when the environmental wind speed is greater than the preset wind speed, since the wind speed will affect the vibration of the optical fiber fence 6, the processor 5 may reduce the confidence level A of the vibration judgment result through the dynamic weight fusion model 振动 The weight C of A , while increasing the confidence level B of the millimeter-wave judgment result 毫米波 The weight C of B and the confidence level C of the visual judgment result 视觉 The weight C of C .

[0067] Exemplarily, the environmental parameters may include a time parameter, and the processor 5 may adjust the weight based on the time parameter. For example, when the current time is night, since the lighting conditions will affect the acquisition of the optical signal of the visual sensor, the processor 5 may reduce the confidence level C of the visual judgment result through the dynamic weight fusion model 视觉 The weight C of C , while increasing the confidence level B of the millimeter-wave judgment result 毫米波 The weight C of B .

[0068] In some embodiments, the processor 5 may also obtain multiple environmental parameters and jointly adjust the weight C based on the multiple environmental parametersA and weight C B and weight C C .

[0069] Exemplarily, during the day in rainy or snowy weather, the processor 5 can adjust (such as increasing or decreasing according to other weights) the confidence level A of the vibration judgment result within a certain range through the dynamic weight fusion model 振动 of weight C A , and reduce the confidence level C of the visual judgment result affected by the visual limitation of rain and snow 视觉 of weight C C , and increase the confidence level B of the millimeter wave judgment result 毫米波 of weight C B .

[0070] Exemplarily, at night in windy weather, the processor 5 can reduce the confidence level A of the vibration judgment result affected by vibration through the dynamic weight fusion model 振动 of weight C A and the confidence level C of the visual judgment result affected by the visual limitation at night 视觉 of weight C C , and increase the confidence level B of the millimeter wave judgment result 毫米波 of weight C B .

[0071] Exemplarily, during the day in strong wind and heavy rainfall weather (such as typhoon weather), the processor 5 can reduce the confidence level B of the millimeter wave judgment result significantly affected by signal attenuation through the dynamic weight fusion model 毫米波 of weight C B and the confidence level A of the vibration judgment result affected by vibration 振动 of weight C A , and increase the confidence level C of the visual judgment result 视觉 of weight C C .

[0072] Exemplarily, during the day in general weather conditions, the processor 5 can make the weight C of the confidence level A of the vibration judgment result 振动 account for the main weight, and make the weight C of the confidence level B of the millimeter wave judgment result A and the weight C of the confidence level C of the visual judgment result 毫米波 equally divide the remaining weights B . 视觉 of weight C C In some embodiments, when the confidence level of the judgment result meets the preset confidence level range, the processor 5 generates an active avoidance strategy. For example, the confidence level C of the judgment result

[0073] of the judgment result resultWhen it is greater than 80%, 85%, 88%, 90% or 92%, the processor 5 generates an active avoidance strategy. In some embodiments, the processor 5 can generate an active avoidance strategy based on one or more of the vibration signal, the millimeter wave reflection signal, and the optical image signal.

[0074] In one or more embodiments of the present specification, the optical fiber fence 6 may include a plurality of optical fiber fence zones. The optical fiber fence 6 is further configured to obtain the trigger time difference of the vibration signals in the plurality of optical fiber fence zones. The processor 5 obtains the first speed information of the target object that causes the vibration signal based on the trigger time difference and the distance between the zones, and generates an active avoidance strategy based on the first speed information. In some embodiments, the target object may be an aircraft. In some embodiments, the aircraft may include a passenger aircraft, a cargo aircraft, a military aircraft, a helicopter, a glider, a drone, a balloon, an airship, etc. In some embodiments, the target object may include movable ground maintenance equipment, such as a runway maintenance vehicle, a lift platform vehicle, a gas supply vehicle, etc.

[0075] In some embodiments, referring to Figure 7 as shown, the optical fiber fence 6 may include a first optical fiber fence zone 61 (for example, Figure 7 the dotted line part located on the outer side in Figure 7 and a second optical fiber fence zone 62 (for example,

[0076] the dotted line part located in the middle in

[0077] When an aircraft approaches the atmospheric transmissometer body 1, the first optical fiber fence zone 61 generates vibration earlier than the second optical fiber fence zone 62. Therefore, there is a trigger time difference between the two. The processor calculates the first speed information of the aircraft based on the trigger time difference and the distance between the first optical fiber fence zone 61 and the second optical fiber fence zone 62, and generates an active avoidance strategy based on the first speed information.

[0076] In some embodiments, the optical fiber fence 6 may include more optical fiber fence zones, such as four optical fiber fence zones, four to ten optical fiber fence zones, or more than ten optical fiber fence zones. In some embodiments, the optical fiber fence zones of the optical fiber fence 6 may be arranged in an array, such as a rectangular array, a circular array, etc. In some embodiments, the multi-zone collaborative detection can reduce the speed measurement error.

[0077] In some other embodiments, the optical fiber fence 6 can obtain the frequency change characteristics of the vibration signal (the vibration signal generated by an aircraft engine or rotor has specific frequency modulation characteristics. For example, the helicopter rotor frequency is about 100 - 500 Hz), the waveform duration, and the propagation distance. The processor 5 obtains the second speed information of the target object that causes the vibration signal based on the frequency change characteristics, the waveform duration, and the propagation distance, and generates an active avoidance strategy based on the second speed information.

[0078] In the above embodiments, the processor 5 can generate an active avoidance strategy based on one or both of the first speed information and the second speed information.

[0079] In some embodiments, the auxiliary sensor 7 can include a millimeter-wave sensor, and the millimeter-wave sensor can at least be used to obtain the third speed information of the target object. In some embodiments, the processor 5 generates an active avoidance strategy based on one or more of the first speed information, the second speed information, and the third speed information.

[0080] In one or more embodiments of this specification, the active avoidance strategy includes: adjusting the flipping speed of the bracket 2 based on the speed information of the target object.

[0081] In some embodiments, after the first optical fiber fence protection zone 61 of the optical fiber fence 6 is triggered, the millimeter-wave sensor continuously tracks the coordinates of the target object, and calculates the possible collision time based on one or more of the first speed information, the second speed information, and the third speed information. In some embodiments, if the possible collision time is less than a preset value, for example, less than 10 s, the processor 5 provides an active avoidance instruction to the flipping mechanism 31, so that the flipping mechanism 31 drives the bracket 2 and the atmospheric transmissometer body 1 to flip or fall down at a preset speed, thereby reducing the height of the atmospheric transmissometer body 1 and avoiding a collision. In some other embodiments, if the possible collision time is less than the first preset value but greater than the second preset value, the processor 5 provides an active avoidance instruction to the flipping mechanism 31, so that the flipping mechanism 31 drives the bracket 2 and the atmospheric transmissometer body 1 to flip or fall down at the first preset speed; if the possible collision time is less than the second preset value, the processor 5 provides an active avoidance instruction to the flipping mechanism 31, so that the flipping mechanism 31 drives the bracket 2 and the atmospheric transmissometer body 1 to flip or fall down at the second preset speed, and the second preset speed is greater than the first preset speed.

[0082] In one or more embodiments of the present specification, the auxiliary sensor includes a millimeter-wave sensor, and the auxiliary judgment signal includes the distance information, azimuth information, altitude information, and third speed information of the target object. The processor 5 predicts the possible collision direction and the first possible collision altitude based on the vibration signal and the auxiliary judgment signal, and generates an active avoidance strategy based on the possible collision direction and the first possible collision altitude. In some embodiments, the active avoidance strategy may include: adjusting the avoidance direction of the bracket based on the possible collision direction, and / or adjusting the angle between the bracket and the plane where the first base is located based on the first possible collision altitude.

[0083] In some embodiments, the auxiliary sensor includes a vision sensor, and the auxiliary judgment signal includes the continuous frame images of the target object and the timestamps corresponding to the continuous frame images. The processor 5 obtains the instantaneous motion vector of the target object and predicts the second possible collision altitude based on the vibration signal and the auxiliary judgment signal, and generates an active avoidance strategy based on the first possible collision altitude and the second possible collision altitude. In some embodiments, the active avoidance strategy may include: adjusting the avoidance direction of the bracket based on the possible collision direction, and / or adjusting the angle between the bracket and the plane where the first base is located based on the first possible collision altitude. In other embodiments, the active avoidance strategy may include: adjusting the angle between the bracket and the plane where the first base is located based on the lower altitude value of the first possible collision altitude and the second possible collision altitude.

[0084] In some embodiments, the processor 5 may calculate the relative position of the target object with respect to the ground projection of the atmospheric transmissometer body 1 according to the azimuth and distance of the target object. In some embodiments, the processor 5 may predict the possible collision altitude range within a future time range based on the altitude information of the target object (such as an aircraft, etc.) and the current altitude of the atmospheric transmissometer body 1, and control the flipping mechanism 31 to drive the bracket 2 and the atmospheric transmissometer body 1 to flip or tilt to a certain tilting position based on the possible collision altitude range, so as to reduce the altitude of the atmospheric transmissometer body 1 and thus get out of the possible collision altitude range. In some embodiments, the processor 5 may further correct the model based on the vibration information provided by the optical fiber fence 6 and / or the optical image information provided by the vision sensor. For example, strong vibration corresponds to a large mass of the target object, so as to expand the range of the possible collision altitude range, or adjust the range of the possible collision altitude range based on the optical image information.

[0085] In some embodiments, the processor 5 may calculate the possible collision direction of the target object relative to the ground projection of the atmospheric transmissometer body 1 according to the azimuth of the target object. In some embodiments, the processor 5 may predict the possible collision direction based on the azimuth, the change amount of the azimuth, and the change rate of the azimuth, and control the rotation mechanism 32 to drive the bracket 2 and the atmospheric transmissometer body to rotate based on the possible collision direction so that the avoidance direction gets out of the warning sector and faces the safe sector.

[0086] In one or more embodiments of this specification, the active avoidance strategy may specifically include the flipping speed of the main body 1 of the atmospheric transmissometer. In some embodiments, the processor 5 may adjust the flipping speeds of the bracket 2 and the main body 1 of the atmospheric transmissometer based on the signals provided by the optical fiber fence 6 and one or more auxiliary sensors.

[0087] Exemplarily, the active avoidance strategy may include: placing the main body 1 of the atmospheric transmissometer at a second dumping position below the height of the first dumping position based on a possible collision height or a range of possible collision heights. Here, the first dumping position places the main body 1 of the atmospheric transmissometer at the possible collision height. In some embodiments, the second dumping position may be set considering the volume of the target object. In some embodiments, the second dumping position may also be set considering the speed of the main body 1 of the atmospheric transmissometer at the first dumping position.

[0088] In some embodiments, during the flipping or dumping process of the bracket 2 and the main body 1 of the atmospheric transmissometer, when the bracket 2 and the main body 1 of the atmospheric transmissometer are above the first dumping position, the flipping speed of the bracket 2 and the main body 1 of the atmospheric transmissometer is increased so as to reach the first dumping position as soon as possible.

[0089] In some embodiments, during the descending process of the bracket 2 and the main body 1 of the atmospheric transmissometer, when the bracket 2 and the main body 1 of the atmospheric transmissometer are between the first dumping position and the second dumping position, the descending speed of the bracket 2 and the main body 1 of the atmospheric transmissometer is gradually reduced. Since the bracket 2 and the main body 1 of the atmospheric transmissometer accelerate during the descent, they may reach the maximum speed near the first dumping position. To prevent the main body 1 of the atmospheric transmissometer from being damaged due to vibrations generated by the high speed or directly colliding with the ground or the underground surface, the descending speed of the main body 1 of the atmospheric transmissometer can be reduced between the first dumping position and the second dumping position until its speed finally becomes zero.

[0090] In one or more embodiments of this specification, the atmospheric transmissometer further includes: a protective cage 8, the main body 1 of the atmospheric transmissometer is fixed inside the protective cage 8, and the protective cage 8 is detachably and fixedly connected to the bracket 2. The protective cage is used to protect the main body 1 of the atmospheric transmissometer and prevent the main body 1 of the atmospheric transmissometer from directly colliding with other objects such as aircraft and the ground. In some embodiments, the protective cage 8 includes: a cage body 81, a cover body 82 rotatably connected to the cage body 81, and a closing motor 83 for driving the cover body 82 to rotate relative to the cage body 81. In some embodiments, the closing motor 83 may be disposed inside the cage body 81. In some embodiments, the housing of the closing motor 83 is rotatably connected to the cage body 81, and the drive shaft of the closing motor 83 is rotatably connected to the cover body 82. In some embodiments, the closing motor 83 is a linear motor. In some embodiments, a battery is further included inside the cage body 81, and the battery is used to supply power to the closing motor 83.

[0091] In some embodiments, the cover 82 is configured such that when the main body 1 of the atmospheric transmissometer is in the working position, the cover 82 is in the open state so that the main body 1 of the atmospheric transmissometer (such as the transmitting end or the receiving end of the atmospheric transmissometer) can work properly. In some embodiments, when the main body 1 of the atmospheric transmissometer is in the flipped or tilted position, the cover 82 is in the closed state to protect the main body 1 of the atmospheric transmissometer.

[0092] In some embodiments, the closing motor 83 drives the cover 82 to rotate relative to the cage 81 based on an active avoidance strategy. In some embodiments, the active avoidance strategy includes: instructing the flipping mechanism 31 to drive the bracket 2 to flip relative to the first base 41 so that the main body 1 of the atmospheric transmissometer is in the tilted position, instructing the rotating mechanism 32 to drive the first base 41 to rotate relative to the second base 42 so that the main body of the atmospheric transmissometer faces the avoidance direction, and instructing the closing motor 83 to operate so that the cover 82 closes relative to the cage 81.

[0093] In some embodiments, both the cage 81 and the cover 82 are made of non-metallic materials to avoid electromagnetic shielding. In some embodiments, one end of the protective cage 8 is flush with the side surface of the bracket 2 to avoid the collision between the protective cage 8 and the ground when the side surface of the bracket 2 is in contact with the ground. In some embodiments, a bracket shock-absorbing device is provided on the side surface of the bracket 2, and the bracket shock-absorbing device can be a polyurethane shock-absorbing layer coated on the bracket 2. In some embodiments, a protective cage shock-absorbing device is provided outside the protective cage 8, and the protective cage shock-absorbing device can be a polyurethane shock-absorbing layer coated on the rod of the cage 81.

[0094] In some embodiments, one or more bird repelling structures 84 are further provided on the cage 81. In some embodiments, the bird repelling structure 84 can be a rod. In other embodiments, the bird repelling structure 84 can be a conical structure. In some embodiments, one or more bird repelling structures 84 are arranged vertically. In some embodiments, one or more bird repelling structures 84 can be arranged above the main body 1 of the atmospheric transmissometer. In some embodiments, one or more bird repelling structures 84 are arranged at the lens of the main body 1 of the atmospheric transmissometer to prevent birds from staying at the lens of the main body 1 of the atmospheric transmissometer and avoid feces falling on the lens, which may affect the emission or reception of parallel light beams by the main body 1 of the atmospheric transmissometer.

[0095] The beneficial effects that may be brought about by the embodiments of this specification include, but are not limited to: (1) The main body of the atmospheric transmissometer is configured to be able to be in a working position and a dumping position, and can implement avoidance when an aircraft approaches, so as to avoid damaging the aircraft; (2) The optical fiber fence is used to monitor whether the aircraft approaches, having a large detection range and a high judgment accuracy rate; (3) Based on the auxiliary sensor, an auxiliary judgment is made on whether the aircraft approaches to further improve the judgment accuracy rate; (4) A variety of different auxiliary sensors are used to provide a variety of different auxiliary judgment signals to avoid the large error problem of a single sensor in a special environment; (5) The vibration signal and multiple auxiliary sensing signals are jointly judged through the dynamic weight fusion model to obtain a more accurate judgment result; (6) The processor can adjust the weights of the vibration signal and one or more auxiliary judgment signals according to environmental parameters, thereby improving the judgment accuracy rate; (7) The processor can adjust the weights according to the wind speed parameter, temperature parameter, time parameter, and weather parameter, reduce the weights of the vibration signal or auxiliary sensing signal that is greatly affected, and increase the weights of the vibration signal or auxiliary sensing signal that is little affected, thereby improving the judgment accuracy rate; (8) Provide an active avoidance strategy through the speed information of the target object, so as to adjust the flipping speed and rotation speed of the main body of the atmospheric transmissometer; (9) Jointly judge through a variety of speed information to improve the judgment accuracy rate; (10) Obtain the height information of the target object through the auxiliary sensor and provide an active avoidance strategy, so as to adjust the dumping angle and avoidance direction of the main body of the atmospheric transmissometer; (11) Arrange a protective cage to protect the main body of the atmospheric transmissometer inside it.

[0096] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation to this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are taught in this specification, so such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this specification.

Claims

1. An induction self-inverting atmospheric transmissometer, characterized in that, Comprising: An atmospheric transmissometer body, a bracket for supporting the atmospheric transmissometer body, a flipping mechanism for driving the bracket to flip relative to a first base, a rotating mechanism for driving the first base to rotate relative to a second base, a processor respectively signal-connected to the flipping mechanism and the rotating mechanism, and an optical fiber fence disposed around the atmospheric transmissometer; The flipping mechanism is used to adjust the angle between the plane where the bracket is located and the first base, so that the atmospheric transmissometer body can be in a working position and one or more dumping positions; The rotating mechanism is used to rotate the atmospheric transmissometer body, the bracket and the first base as a whole, so as to adjust the avoidance direction when the bracket flips; The optical fiber fence is used to acquire vibration signals and send the vibration signals to the processor; The processor generates an active avoidance strategy based on the vibration signals, and provides active avoidance instructions to the flipping mechanism and the rotating mechanism based on the active avoidance strategy.

2. The self-inverting atmospheric transmissometer according to claim 1, wherein The rotating mechanism includes: a rotating motor, the second base is fixedly arranged, the housing of the rotating motor is fixedly connected to the second base, and the driving shaft of the rotating motor penetrates through the second base and is in transmission connection with the first base; The rotating motor and the second base are arranged below the ground, and the first base is arranged above the ground.

3. The self-inverting atmospheric transmissometer according to claim 2, wherein The flipping mechanism includes: a flipping linear motor, the housing of the flipping linear motor is rotatably connected to the first base, and the driving shaft of the flipping linear motor is rotatably connected to a flipping fixing member on the bracket.

4. The self-inductive inverted atmospheric transmissometer according to claim 1, characterized in that, Further comprising: An auxiliary sensor, the auxiliary sensor is used to acquire an auxiliary judgment signal and send the auxiliary judgment signal to the processor; The processor generates an active avoidance strategy based on the vibration signals and the auxiliary judgment signals; The auxiliary sensor includes: a millimeter-wave reflection radar and / or a vision sensor, and the auxiliary judgment signal includes one or more of a millimeter-wave reflection signal and an optical image signal.

5. The atmospheric transmissometer according to claim 4, characterized in that, The processor performs joint judgment through a dynamic weight fusion model based on the vibration signals and one or more of the auxiliary judgment signals to generate the active avoidance strategy; The active avoidance strategy includes: instructing the rotating mechanism to drive the first base to rotate relative to the second base so that the atmospheric transmissometer body faces the avoidance direction, and / or instructing the flipping mechanism to drive the bracket to flip relative to the first base so that the atmospheric transmissometer body is in the dumping position.

6. The atmospheric transmissometer according to claim 5, characterized in that, The processor adjusts the weights of the vibration signals and one or more of the auxiliary judgment signals according to environmental parameters to obtain the confidence level of the judgment result, and generates the active avoidance strategy when the confidence level of the judgment result meets the preset confidence level range; Wherein, the environmental parameters include one or more of a wind speed parameter, a temperature parameter, a time parameter, and a weather parameter.

7. The atmospheric transmissometer according to claim 4, characterized in that, The optical fiber fence includes a plurality of optical fiber fence defense zones, and the optical fiber fence is further configured to obtain the trigger time difference of vibration signals in the plurality of optical fiber fence defense zones. The processor obtains first velocity information of a target object that causes the vibration signals based on the trigger time difference and the distance between defense zones; The optical fiber fence is further configured to obtain the frequency change characteristic, waveform duration, and propagation distance of the vibration signals. The processor obtains second velocity information of the target object that causes the vibration signals based on the frequency change characteristic, the waveform duration, and the propagation distance; The auxiliary sensor includes a millimeter-wave sensor, and the auxiliary judgment signal includes third velocity information of the target object; The processor generates the active avoidance strategy based on the first velocity information, the second velocity information, and the third velocity information; The active avoidance strategy includes: adjusting the flipping speed of the bracket based on the velocity information of the target object.

8. The atmospheric transmissometer according to claim 7, characterized in that, The auxiliary judgment signal further includes distance information, horizontal azimuth angle information, vertical azimuth angle information, and height information of the target object. The processor predicts the possible collision direction and the first possible collision height based on the vibration signal and the auxiliary judgment signal, and generates the active avoidance strategy based on the possible collision direction and the first possible collision height; The active avoidance strategy includes: adjusting the avoidance direction of the bracket based on the possible collision direction, and / or adjusting the angle between the bracket and the plane where the first base is located based on the first possible collision height.

9. The atmospheric transmissometer according to claim 8, wherein, The auxiliary sensor includes a vision sensor, and the auxiliary judgment signal includes consecutive frame images of the target object and time stamps corresponding to the consecutive frame images. The processor obtains the instantaneous motion vector of the target object and predicts the second possible collision height based on the vibration signal and the auxiliary judgment signal, and generates the active avoidance strategy based on the first possible collision height and the second possible collision height.

10. The atmospheric transmissometer according to claim 9, characterized in that, The active avoidance strategy includes: adjusting the angle between the bracket and the plane where the first base is located based on the lower height value of the first possible collision height and the second possible collision height.

11. The self-inverting atmospheric transmissometer according to claim 1, characterized in that, Further included: A protective cage, the atmospheric transmissometer body is fixed inside the protective cage, and the protective cage is detachably and fixedly connected to the bracket; The protective cage includes: a cage body, a cover body rotatably connected to the cage body, and a closing motor for driving the cover body to rotate relative to the cage body; The cover body is configured to: when the atmospheric transmissometer body is in the working position, the cover body is in the open state; when the atmospheric transmissometer body is in the dumping position, the cover body is in the closed state; The closing motor drives the cover body to rotate relative to the cage body based on the active avoidance strategy.

12. The induction self-inverting atmospheric transmissometer according to claim 11, wherein, One end of the protective cage is flush with the side surface of the bracket, and a bracket shock-absorbing device is provided on the side surface of the bracket, and a protective cage shock-absorbing device is provided outside the protective cage.

Images