Foreign matter laser radar detection device

Abstract

The foreign matter laser radar detection device comprises an L-shaped supporting plate, a main body fixed at the top of the L-shaped supporting plate, a visual camera and a laser radar, wherein the visual camera and the laser radar are respectively arranged at the left end and the right end of the main body; the T-shaped sliding rail is fixed to the surface of the vertical rod, and the rectangular sliding sleeve is fixed to the surface of the right side of the L-shaped supporting plate and slidably arranged on the T-shaped sliding rail in a sleeving mode; the adjusting mechanism is arranged between the L-shaped supporting plate and the T-shaped sliding rail and comprises an end block, a limiting inserting rod and a limiting clamping groove; according to the foreign matter laser radar detection device, the foreign matter laser radar detection device in the prior art is improved and optimized, the device is fixed on the L-shaped supporting plate, and the rectangular sliding sleeve, the T-shaped sliding rail and the adjusting mechanism are designed, so that the mounting height of the device can be adaptively adjusted up and down according to subsequent actual detection requirements and detection environments; and the use flexibility and the installation universality of the whole device are improved.

Description

Technical Field

[0001] This utility model belongs to the technical field, specifically relating to a foreign object lidar detection device. Background Technology

[0002] In the aviation industry, runway safety is a crucial aspect of ensuring flight safety. (FOD - Foreign Air Traffic Control) Foreign object debris (FOD) poses a serious threat to airport runway safety as foreign matter that can damage aircraft or systems. These foreign objects include, but are not limited to, aircraft and engine connectors (such as nuts, screws, washers, fuses, etc.), machine tools, items that may fall during flight (such as nails, personal documents, pens, pencils, etc.), wild animals, leaves, stones, and sand. They can not only cause mechanical failures during takeoff and landing but also lead to serious safety accidents. Therefore, FOD detection is particularly crucial in the daily management of airports. According to relevant civil aviation standards (see the "Airport Foreign Object Management Regulations," AP-140-CA-2011-2), airports are required to conduct regular runway pavement inspections to ensure that there is no FOD on the runway. Typically, airports conduct 3 to 4 pavement inspections per day, with each inspection lasting less than 10 minutes. However, this manual inspection method has obvious limitations, especially at night or in conditions of poor visibility such as rain, snow, or fog, where small FODs are often difficult to detect with the naked eye, thus increasing safety hazards.

[0003] To address this issue, the industry has been exploring integrated applications of LiDAR and visual cameras to improve the efficiency and accuracy of FOD detection. This approach combines the high-precision ranging capabilities of LiDAR with the intuitiveness of visual detection algorithms, aiming to achieve accurate and efficient FOD detection. By measuring the terrain data from LiDAR in the absence of foreign objects, a road surface model is constructed, and LiDAR detection data is sampled in real time. This allows for precise calculation of the distance between the current detection point and the road surface model, and the presence of FOD is determined based on set distance and point thresholds. Furthermore, for suspected FOD locations, image magnification and visual detection algorithms are used for further confirmation, thereby ensuring the accuracy of alarms.

[0004] As disclosed in the existing patent with publication number "CN215173743U", "A foreign object monitoring platform and monitoring device based on lidar, including a gimbal mid-section, a gimbal base, a first adjustment chamber, a second adjustment chamber and a controller, the gimbal mid-section includes a shell, a first drive mechanism, a second drive mechanism and a third drive mechanism, the first adjustment chamber and the second adjustment chamber are respectively constructed with internal cavities for accommodating the radar and the camera, and the first adjustment chamber and the second adjustment chamber are respectively constructed with a first opening and a second opening, the first adjustment chamber and the second adjustment chamber are respectively rotatably constrained to both ends of the shell", it can be seen that the application describes an integrated foreign object monitoring platform that uses a combination of lidar and a visual camera, which can achieve accurate detection of foreign objects;

[0005] In existing technologies, integrated foreign object detection devices that combine lidar and visual cameras are mostly fixed directly to a pole with bolts during actual use. Due to the lack of a corresponding adjustment structure, the installation height of such foreign object lidar detection devices cannot be adaptively adjusted according to actual usage needs, reducing the flexibility and versatility of the entire device. Therefore, this utility model aims to improve and optimize existing foreign object lidar detection devices. Utility Model Content

[0006] The purpose of this invention is to provide a foreign object lidar detection device to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a foreign object lidar detection device, comprising...

[0008] L-shaped support plate, main body fixed on top of L-shaped support plate, visual camera and lidar respectively set on the left and right ends of the main body;

[0009] A T-shaped slide rail fixed to the surface of the upright, and a rectangular slide sleeve fixed to the right side surface of the L-shaped support plate and slidably fitted onto the T-shaped slide rail;

[0010] The adjustment mechanism, located between the L-shaped support plate and the T-shaped slide rail, includes an end block, a limit rod, and a limit slot.

[0011] Preferably, the limiting rod is welded and fixed to the end block, and the left side surface of the T-shaped slide rail is evenly provided with a plurality of limiting slots corresponding to the limiting rod. The end block is attached to the left side surface of the L-shaped support plate, and the limiting rod passes through the L-shaped support plate and the rectangular slide sleeve and is inserted into one of the limiting slots.

[0012] Preferably, the surfaces of the L-shaped support plate and the rectangular sliding sleeve are both perforated with two holes corresponding to the limiting rod.

[0013] Preferably, the adjustment mechanism further includes a cylindrical side rod fixed to the left side surface of the L-shaped support plate and located between the two end blocks, a pressure plate movably sleeved on the surface of the cylindrical side rod, a circular plate fixed to the left end surface of the cylindrical side rod, and a spring sleeved on the surface of the cylindrical side rod and located between the circular plate and the pressure plate, wherein the two ends of the pressure plate press against the sides of the two end blocks respectively.

[0014] Preferably, the right end of the spring abuts against the left side surface of the pressure plate, and the left end of the spring abuts against the right side surface of the circular plate.

[0015] Preferably, a strip-shaped locking block is fixed on the left side surface of the end block, and two rectangular slots corresponding to the strip-shaped locking block are opened on the right side surface of the pressure plate, and the strip-shaped locking block is inserted into the rectangular slots.

[0016] Preferably, a circular hole adapted to a cylindrical side rod is provided through the center of the pressure plate.

[0017] Preferably, a positioning rubber block is embedded in the inner wall of the rectangular sliding sleeve, and the side of the positioning rubber block is provided with an integrated positioning arc protrusion, which is squeezed into one of the limiting slots.

[0018] Compared with the prior art, the beneficial effects of this utility model are: by improving and optimizing the foreign object lidar detection device in the prior art, this utility model fixes the device on the L-shaped support plate and designs a rectangular sliding sleeve, a T-shaped sliding rail and an adjustment mechanism, so that the installation height of the device can be adaptively adjusted up and down according to the actual detection needs and detection environment, thereby improving the overall flexibility of use and the versatility of installation of the device. Attached Figure Description

[0019] Figure 1 It is a structural diagram of the utility model;

[0020] Figure 2 For this utility model Figure 1 A magnified view of a portion of region A in the middle;

[0021] Figure 3 This is a cross-sectional view of the adjustment mechanism of this utility model;

[0022] In the diagram: 1. Main body; 2. L-shaped support plate; 3. Vision camera; 4. LiDAR; 5. Rectangular sliding sleeve; 6. T-shaped slide rail; 7. Adjustment mechanism; 71. Cylindrical side rod; 72. Pressure plate; 721. Rectangular slot; 73. End block; 731. Strip-shaped block; 74. Spring; 75. Round plate; 76. Limiting rod; 77. Limiting slot; 78. Positioning rubber block; 79. Positioning arc-shaped protrusion; 8. Upright pole. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Example 1

[0025] Please see Figures 1 to 3 This is the first embodiment of the present invention, which provides a technical solution: a foreign object lidar detection device, comprising...

[0026] The L-shaped support plate 2, the main body 1 fixed to the top of the L-shaped support plate 2 by bolts, the visual camera 3 and the lidar 4 respectively set at the left and right ends of the main body 1 are all technologies that have been disclosed in the prior art. For details, please refer to the existing patent with publication number "CN215173743U". We will not go into too much detail here.

[0027] T-shaped slide rail 6 fixed to the surface of pole 8, and rectangular slide sleeve 5 welded and fixed to the right side surface of L-shaped support plate 2 and slidably sleeved on T-shaped slide rail 6;

[0028] The adjustment mechanism 7, which is located between the L-shaped support plate 2 and the T-shaped slide rail 6, includes an end block 73, a limit rod 76, and a limit slot 77.

[0029] In this embodiment, preferably, the limiting rod 76 is welded and fixed to the end block 73. The left side surface of the T-shaped slide rail 6 is evenly provided with a plurality of limiting slots 77 corresponding to the limiting rod 76. The end block 73 is attached to the left side surface of the L-shaped support plate 2, and the limiting rod 76 passes through the L-shaped support plate 2 and the rectangular slide sleeve 5 and is inserted into one of the limiting slots 77, which can limit the L-shaped support plate 2 and the rectangular slide sleeve 5 to ensure the installation stability of the main body 1 during daily use.

[0030] In this embodiment, preferably, the surfaces of the L-shaped support plate 2 and the rectangular sliding sleeve 5 are both provided with two through holes corresponding to the limiting rod 76, so that the limiting rod 76 can pass through smoothly.

[0031] In this embodiment, preferably, the adjustment mechanism 7 further includes a cylindrical side rod 71 fixed to the left side surface of the L-shaped support plate 2 and located between the two end blocks 73, a pressure plate 72 movably sleeved on the surface of the cylindrical side rod 71, a circular plate 75 welded and fixed to the left end surface of the cylindrical side rod 71, and a spring 74 sleeved on the surface of the cylindrical side rod 71 and located between the circular plate 75 and the pressure plate 72. The two ends of the pressure plate 72 press against the sides of the two end blocks 73 respectively, which can stably limit the end blocks 73 and ensure that the limiting insertion rod 76 is stably inserted into the limiting slot 77.

[0032] In this embodiment, preferably, the right end of the spring 74 abuts against the left side surface of the pressure plate 72, and the left end of the spring 74 abuts against the right side surface of the circular plate 75.

[0033] In this embodiment, preferably, a strip-shaped locking block 731 is welded and fixed to the left side surface of the end block 73, and two rectangular slots 721 corresponding to the strip-shaped locking block 731 are opened on the right side surface of the pressure plate 72. The strip-shaped locking block 731 is inserted into the rectangular slots 721, which can prevent the pressure plate 72 from rotating away from the side of the end block 73 during daily use, ensuring the pressing stability of the pressure plate 72 on the end block 73 and the limiting rod 76. When it is necessary to adjust the installation height of the main body 1 laterally, simply pull the pressure plate 72 forcefully to the side, so that the spring 74 is gradually compressed until the strip-shaped locking block 731 moves out of the rectangular slot 721. At this time, the pressure plate 72 can be rotated ninety degrees around the cylindrical side rod 71, so that the two ends of the pressure plate 72 are no longer aligned with the two... When end block 73 obstructs the path, the strip-shaped locking block 731 can be pinched and the end block 73 pulled to the side, causing the limiting rod 76 to be pulled out. Without the limiting rod 76, the L-shaped support plate 2 can be slid up and down on the side of the T-shaped slide rail 6 to change the installation height of the main body 1. After adjusting to a suitable installation height, the limiting rod 76 can be inserted back in, so that the end of the limiting rod 76 can be inserted into the limiting slot 77 in another position, thus limiting the L-shaped support plate 2 and the rectangular slide sleeve 5 again. Then, the pressure plate 72 is pulled to the side and rotated, so that the two ends of the pressure plate 72 can be pressed against the sides of the two end blocks 73 again, and the strip-shaped locking block 731 can be inserted into the rectangular slot 721, thus achieving stable limiting of the height adjustment of the main body 1 and the L-shaped support plate 2.

[0034] In this embodiment, preferably, a circular hole adapted to the cylindrical side rod 71 is provided through the center of the pressure plate 72, so that the pressure plate 72 can not only move laterally on the cylindrical side rod 71, but also rotate around the cylindrical side rod 71.

[0035] The procedure for using this device is as follows:

[0036] 1. Measure the terrain data of LiDAR 4 in the absence of foreign objects.

[0037] 2. Open the video channel of the visual camera 3.

[0038] 3. Use a quadratic surface fitting algorithm to construct a road surface model.

[0039] 4. Sample real-time lidar detection data.

[0040] 5. Calculate the distance between the current detection point and the curved surface detection point.

[0041] 6. Set a distance threshold to determine the number of points that are not on the surface.

[0042] 7. Set a threshold for the number of points and report any locations where the number of points exceeds the threshold.

[0043] 8. Enlarge the image of the reported location and detect whether there are any abnormalities in the road surface using a visual detection algorithm.

[0044] 9. By combining image analysis and lidar data analysis, accurate anomaly alarms can be obtained.

[0045] Example 2

[0046] Please see Figures 1 to 3 This is the second embodiment of the present invention. Based on the previous embodiment, the difference is that a positioning rubber block 78 is embedded in the inner wall of the rectangular sliding sleeve 5, and the side of the positioning rubber block 78 has an integrated positioning arc-shaped protrusion 79. Both are made of rubber and will undergo elastic deformation when compressed. The positioning arc-shaped protrusion 79 is squeezed into one of the limiting slots 77. When the operator subsequently slides the L-shaped tray 2 up and down to adjust its height, the positioning arc-shaped protrusion 79 will first be squeezed out of the limiting slot 77 at its initial position. As the rectangular sliding sleeve 5 slides, the positioning arc protrusion 79 is continuously squeezed into the limiting slots 77 at other positions. Whenever the positioning arc protrusion 79 is squeezed into a limiting slot 77, two limiting slots 77 will be aligned with the through holes on the surface of the L-shaped support plate 2 and the rectangular sliding sleeve 5, which facilitates the operator to insert the limiting rod 76 and plays an auxiliary positioning role. The positioning rubber block 78 is embedded in a rectangular mounting groove on the inner wall of the rectangular sliding sleeve 5, so that the positioning rubber block 78 itself does not affect the up and down sliding of the rectangular sliding sleeve 5.

[0047] Although embodiments of the present invention have been shown and described (see the detailed description above), it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A foreign object lidar detection device, characterized in that: include L-shaped tray (2), main body (1) fixed on top of L-shaped tray (2), visual camera (3) and laser radar (4) respectively set on the left and right ends of main body (1); T-shaped slide rail (6) fixed to the surface of the upright (8), and rectangular slide sleeve (5) fixed to the right side surface of the L-shaped support plate (2) and slidably sleeved on the T-shaped slide rail (6). The adjustment mechanism (7) set between the L-shaped tray (2) and the T-shaped slide rail (6) includes an end block (73), a limit rod (76) and a limit slot (77).

2. The foreign object lidar detection device according to claim 1, characterized in that: The limiting rod (76) is welded and fixed to the end block (73). The left side surface of the T-shaped slide rail (6) is evenly provided with multiple limiting slots (77) corresponding to the limiting rod (76). The end block (73) is attached to the left side surface of the L-shaped support plate (2), and the limiting rod (76) passes through the L-shaped support plate (2) and the rectangular slide sleeve (5) and is inserted into one of the limiting slots (77).

3. The foreign object lidar detection device according to claim 2, characterized in that: The surfaces of the L-shaped support plate (2) and the rectangular sliding sleeve (5) are both perforated with two holes corresponding to the limiting rod (76).

4. The foreign object lidar detection device according to claim 2, characterized in that: The adjustment mechanism (7) further includes a cylindrical side rod (71) fixed on the left side surface of the L-shaped support plate (2) and located between the two end blocks (73), a pressure plate (72) movably sleeved on the surface of the cylindrical side rod (71), a circular plate (75) fixed on the left end surface of the cylindrical side rod (71), and a spring (74) sleeved on the surface of the cylindrical side rod (71) and located between the circular plate (75) and the pressure plate (72). The two ends of the pressure plate (72) press against the sides of the two end blocks (73) respectively.

5. The foreign object lidar detection device according to claim 4, characterized in that: The right end of the spring (74) abuts against the left side surface of the pressure plate (72), and the left end of the spring (74) abuts against the right side surface of the circular plate (75).

6. The foreign object lidar detection device according to claim 4, characterized in that: The left side surface of the end block (73) is fixed with a strip-shaped card block (731), and the right side surface of the pressure plate (72) is provided with two rectangular slots (721) corresponding to the strip-shaped card block (731), and the strip-shaped card block (731) is inserted into the rectangular slots (721).

7. The foreign object lidar detection device according to claim 6, characterized in that: The pressure plate (72) has a through hole at its center that is adapted to the cylindrical side rod (71).

8. The foreign object lidar detection device according to claim 4, characterized in that: A positioning rubber block (78) is embedded in the inner wall of the rectangular sliding sleeve (5), and the side of the positioning rubber block (78) is provided with an integrated positioning arc protrusion (79), which is squeezed into one of the limiting slots (77).

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