CN113376642A - Laser-based airport runway foreign matter identification device and identification method - Google Patents
Laser-based airport runway foreign matter identification device and identification method Download PDFInfo
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- CN113376642A CN113376642A CN202110779757.5A CN202110779757A CN113376642A CN 113376642 A CN113376642 A CN 113376642A CN 202110779757 A CN202110779757 A CN 202110779757A CN 113376642 A CN113376642 A CN 113376642A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
本发明提供一种基于激光的机场跑道异物识别装置和识别方法，其中识别装置包括轨道系统，轨道系统设置在机场跑道的一侧，机场跑道的另一侧设置有反射墙；轨道系统平行机场跑道设置，轨道系统包括轨道槽，轨道槽的槽底设置轨道，轨道上滚动安装有滑轮小车，滑轮小车不凸出机场跑道的路面，滑轮小车上安装有动力组件、无线电控制芯片以及北斗系统定位器，动力组件连接无线电控制芯片，无线电控制芯片和北斗系统定位器分别无线连接终端平台；基座安装在小车上，基座上安装激光传感器和DTU设备，激光传感器通过DTU设备无线连接终端平台。基于上述装置给出的识别方法，使得本发明可以识别毫米级异物，且识别精度高，效率高，同时对机场交通影响小。
The invention provides a laser-based airport runway foreign object identification device and identification method, wherein the identification device includes a track system, the track system is arranged on one side of the airport runway, and a reflection wall is arranged on the other side of the airport runway; the track system is parallel to the airport runway Setting, the track system includes track grooves, the bottom of the track grooves is set with tracks, and a pulley trolley is installed on the track, the pulley trolley does not protrude from the road surface of the airport runway, and the pulley trolley is installed with power components, radio control chips and Beidou system locator , the power component is connected to the radio control chip, and the radio control chip and the Beidou system locator are wirelessly connected to the terminal platform respectively; the base is installed on the trolley, the laser sensor and DTU equipment are installed on the base, and the laser sensor is wirelessly connected to the terminal platform through the DTU equipment. Based on the identification method provided by the above device, the present invention can identify millimeter-level foreign objects, with high identification accuracy and high efficiency, and at the same time, it has little impact on airport traffic.
Description
Technical Field
The invention relates to the technical field of photoelectric information, in particular to an airport runway foreign matter identification device and an airport runway foreign matter identification method based on laser.
Background
FOD is an abbreviation for Foreign Object Debris, translates into some Foreign substance that may damage the aircraft, and is of various kinds and is generally used to represent Foreign matter on airport runways. The detection of foreign matters (FOD) on airport runways is of great importance for safe operation of airports, an FOD prevention manual is issued in 2009 by the national Central office of civil aviation airport security technology center, the necessity of an FOD detection system is provided, and the FOD monitoring of China airports is still incomplete at present. In the past, most of identification of FOD of airport runways depends on manual regular inspection, foreign matters are searched by human eyes, and the detection of the foreign matters is difficult to be carried out accurately in severe environments of the airport runways, particularly at night or under the condition of low visibility, so that the reliability is poor, and time and labor are consumed. For identifying FOD of an airport runway, the invention patent of China with the publication number of CN111562576A provides a foreign matter detection system and a method for the airport runway, wherein the patent application adopts radar scanning and image processing to identify FOD of an area, but the method has low identification precision of tiny foreign matters and low operation complexity and efficiency. In addition, chinese utility model patent with publication number CN 208255440U proposes an airport runway FOD detector, which utilizes the laser carried on the trolley to identify the foreign matter, but the biggest weakness of this kind of detector is that the traffic needs to be interrupted in the detection process, and it can not be used for busy airport runway transportation, resulting in the reduction of flight times and economic loss. Therefore, it is necessary to provide a millimeter-sized foreign object recognition device having high recognition accuracy and high efficiency and having little influence on airport traffic.
Disclosure of Invention
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a laser-based airport runway foreign matter recognition device comprises a track system, a base, a laser sensor, a reflecting wall, DTU equipment and a terminal platform, wherein the track system is arranged on one side of an airport runway, and the other side of the airport runway is provided with the reflecting wall; the track system is arranged in parallel to the airport runway and comprises a track groove, a track, a pulley trolley, a power assembly, a radio control chip and a Beidou system positioner, wherein the track groove is formed in the side surface of the airport runway, the notch of the track groove is flush with the road surface of the airport runway, the bottom of the track groove is provided with the track, the pulley trolley is arranged on the track in a rolling manner and does not protrude out of the road surface of the airport runway, the pulley trolley is provided with the power assembly, the radio control chip and the Beidou system positioner, the power assembly is used for driving the pulley trolley to run, the power assembly is connected with the radio control chip, and the radio control chip and the Beidou system positioner are respectively in wireless connection with the terminal platform; the base is installed on the dolly, install laser sensor and DTU equipment on the base, laser sensor's transmitting part is towards the reflection wall, laser sensor's transmitting part is a little higher than the road surface of airport runway, laser sensor passes through DTU equipment wireless connection terminal platform.
Preferably, the track is located on the outer side of the airport runway, and the distance between the track and the edge of the airport runway is 1-5 m.
Preferably, the opposite sides of the airport runway are provided with a track system and a reflecting wall, and the track system is close to the airport runway relative to the reflecting wall.
Preferably, the track is of a double-track structure, the pulley trolley is arranged between the double-track structures, pulleys of the pulley trolley are embedded in guide rail grooves of the double-track structure, and the guide rail grooves of the double-track structure are opposite to each other.
Preferably, the power assembly is a driving motor.
Preferably, the terminal platform comprises a control terminal, a Beidou system receiving terminal and an alarm module, and the control terminal is respectively connected with the alarm module, the Beidou system receiving terminal, the radio control chip and the DTU equipment.
Preferably, the base is provided with at least two laser sensors, and all the laser sensors are sequentially arranged at intervals along the height of the base from bottom to top.
In addition, the invention also provides a laser-based airport runway foreign matter identification method, which adopts the laser-based airport runway foreign matter identification device for identification, and the identification processing process comprises the following steps:
the method comprises the following steps: the method comprises the following steps that a pulley trolley is arranged on a track, a power assembly on the pulley trolley is connected with a radio control chip, the radio control chip and a Beidou system locator are respectively in wireless connection with a terminal platform, then a laser sensor is arranged on a base, the base is fixed to the top of the pulley trolley, the emitting part of the laser sensor faces an airport runway and is slightly higher than the pavement of the airport runway, the laser sensor is connected with DTU equipment, and the DTU equipment is in wireless connection with the terminal platform;
step two: starting a power assembly and a laser sensor, wherein the power assembly drives the pulley trolley to travel along the track, and the laser sensor scans an airport runway in the process of traveling along with the pulley trolley and transmits acquired data to a terminal platform through DTU equipment;
step three: the terminal platform judges whether foreign matters exist or not through the following formula:
wherein D is the path of the laser, and c is the speed of light 3X 108m/s, and delta t is the time from the emission to the reception of the laser sensor;
when D is W, the airport runway is indicated to have no foreign objects, and the step II is returned;
when D < W or D ∞, indicating that foreign matters exist on the airport runway, and entering a fourth step; wherein W is the distance between the laser sensor and the reflecting wall;
step four: the terminal platform controls the alarm module to give an alarm, and controls the Beidou system receiving terminal to display the positioning information transmitted by the Beidou system positioner, and the foreign bodies are manually confirmed and processed to corresponding positions according to the positioning information.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the foreign matter identification device and the identification method, the laser emitted by the laser sensor is used for detecting and identifying the road surface of the airport runway, when the foreign matter is identified, the position of the foreign matter is obtained through the Beidou system, the height of the foreign matter is obtained through the arrangement of the plurality of laser sensors on the same base, in addition, an alarm can be given out after the foreign matter is identified, so that related personnel can process the foreign matter in time, and the safety of the airport runway is further ensured.
2. Compared with the traditional device for detecting the millimeter-scale foreign matters, the identification device can accurately detect the tiny foreign matters on the runway on the premise of not influencing the airport traffic, and improves the accuracy and the precision of detecting and identifying the millimeter-scale foreign matters on the airport runway; meanwhile, the track system of the identification device can slide controllably, millimeter-sized foreign matters in the whole airport runway can be detected in a short time, and the detection efficiency is improved.
3. The invention can be suitable for various airport runways, and has the advantages of convenient construction, simple structure calculation, convenient operation and high popularization value.
Drawings
Fig. 1 is a schematic structural view of the present apparatus.
Fig. 2 is a track layout diagram in which (a) is a plan view of the track layout and (b) is a sectional view at a track groove.
Fig. 3 is a schematic structural view of the pulley trolley.
Fig. 4 shows the difference between the laser paths when there is a foreign object on the airport runway and when there is no foreign object, wherein (a) is the laser path when there is no foreign object on the airport runway, and (b) is the laser path when there is a foreign object on the airport runway.
Fig. 5 is a sectional view of fig. 4 taken along line 1-1.
Description of the main elements
In the figure: airport runway 1, track groove 2, track 3, pulley dolly 4, pulley 5, power component 6, radio control chip 7, beidou system locator 8, base 9, laser sensor 10, laser 11, reflection wall 12.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
Referring to fig. 1 to 3, in a preferred embodiment of the present invention, a laser-based airport runway foreign object recognition apparatus includes a rail 3 system, a base 9, a laser sensor 10, a reflective wall 12, a DTU device, and a terminal platform. The track 3 system is arranged on one side of the airport runway 1, and a reflecting wall 12 is arranged on the other side of the airport runway 1; the track 3 system is arranged parallel to the airport runway 1, the track 3 system comprises a track 3 groove 2, a track 3, a pulley trolley 4, a power component 6, a radio control chip 7 and a Beidou system locator 8, the track 3 groove 2 is arranged on the side surface of the airport runway 1, the notch of the track is flush with the road surface of the airport runway 1, the bottom of the groove 2 of the track 3 is provided with the track 3, the track 3 is provided with a pulley trolley 4 in a rolling way, the pulley trolley 4 does not protrude out of the road surface of the airport runway 1, the pulley trolley 4 is provided with a power component 6, a radio control chip 7 and a Beidou system locator 8, the power component 6 is used for driving the pulley trolley 4 to run, in the present embodiment, the power assembly 6 is a driving motor, the power assembly 6 is connected with a radio control chip 7, the radio control chip 7 and the Beidou system locator 8 are respectively in wireless connection with the terminal platform; the base 9 is installed on the pulley trolley 4, and the base 9 is installed on the pulley trolley 4 through bolts, so that the base 9 can be stably fixed on a track 3 system and does not fall off due to external force, the laser sensor 10 and the DTU equipment are installed on the base 9, the emitting part of the laser sensor 10 faces a reflecting wall 12, the emitting part of the laser sensor 10 is slightly higher than the road surface of the airport runway 1, so that tiny foreign matters on the airport runway 1 can be detected, and the laser sensor 10 is wirelessly connected with a terminal platform through the DTU equipment.
The invention installs a track 3 system on the side of an airport runway 1, a trolley 4 of the track 3 system can be driven by a power assembly 6 to run under the remote control of a terminal platform, so as to drive a laser sensor 10 to walk along the airport runway 1, thereby being convenient for the laser sensor 10 to detect the road surface of the airport runway 1, the laser sensor 10 sends the detected information to the terminal platform through a DTU device, thereby being convenient for monitoring the road surface condition of the airport runway 1, in particular to judge whether foreign matters exist on the road surface of the airport runway 1 or not by using the length from the sending time to the receiving time of laser 11 sent by the laser sensor 10, the DTU device sends the detected information to the terminal platform, a Beidou system locator 8 is used for sending the real-time positioning of the trolley 4 to the terminal platform, and a worker knows the detection condition of the laser sensor 10 through the terminal platform, and the situation and the position of the foreign body can be known in time when the laser sensor 10 emits the foreign body, so that the airport runway 1 can be monitored conveniently and accurately.
Further, in the present embodiment, the track 3 is located outside the airport runway 1, and the distance between the track 3 and the edge of the airport runway 1 is 1-5m, so as to avoid that the track 3 system is set too close to interfere with the normal takeoff of the airplane, thereby affecting the airport traffic, and simultaneously avoid that the track 3 system is set too far to cause low measurement accuracy. In order to further improve the measurement accuracy, it is preferable that the track 3 system and the reflecting wall 12 are respectively disposed on two opposite sides of the airport runway 1, the track 3 system is close to the airport runway 1 relative to the reflecting wall 12, and the measurement accuracy is improved by a bidirectional detection method. Furthermore, the track 3 is a double-track 3 structure, the pulley trolley 4 is arranged between the double-track 3 structure, the pulleys 5 of the pulley trolley 4 are embedded in the guide rail grooves of the double-track 3 structure, and the guide rail grooves of the double-track 3 structure are opposite to each other, so that the stability of the pulley trolley 4 during sliding is improved, the sliding trolley is prevented from being separated from the track 3 under the action of external load, and the sliding trolley can be ensured to slide smoothly. It should be noted that the material of the rail 3 of the present invention should be an alloy material or other materials that are less affected by temperature, so as to avoid the deformation of the rail 3 due to large temperature difference and the influence on the normal sliding of the pulley cart 4.
Further, the terminal platform includes control terminal, beidou system accepts terminal and alarm module, control terminal connects alarm module respectively, beidou system accepts terminal, radio control chip 7 and DTU equipment, alarm module calculates and judges that airport runway 1 sends alarm information when having the foreign matter according to the time delta t of laser 11 from launching to receiving of laser sensor 10 that DTU equipment transmitted comes at control terminal, thereby be convenient for the staff in time to learn, and can accept the locating information that beidou system locator 8 transmitted according to beidou system and judge the position that the foreign matter appears, and then be convenient for the staff to arrive fast and handle airport runway 1 interior foreign matter, guarantee the flight not delay.
Further, in the present embodiment, the laser sensor 10 selects the remote laser sensor 10 that emits the laser light 11 with a radius not less than 3mm and a measurement range greater than 100m, and the wavelength of the laser light 11 is greater than 1 micron, so as to identify the millimeter-sized foreign object on the airport runway 1 and accurately obtain the height information of the foreign object. The laser sensor 10 is fixedly connected with the base 9 through bolts so as to fix the laser sensor 10 on the base 9, and therefore the situation that the position of the laser sensor 10 is changed due to external reasons such as wind and the like to influence the identification accuracy is avoided in the process of identifying foreign matters. The length and width of the base 9 are determined according to the size of the selected laser sensor 10, as long as the laser sensor 10 can be firmly fixed on the base 9, the height of the base 9 should be smaller as much as possible, but in order to fix the laser sensor 10 better, a numerical value as small as possible is selected according to the fixing condition of the base 9. In order to facilitate the acquisition of the height of the foreign matter, the base 9 is provided with at least two laser sensors 10, all the laser sensors 10 are sequentially arranged at intervals along the height of the base 9 from bottom to top, and all the laser sensors 10 are positioned in the same vertical plane, so that the height of the foreign matter can be better detected.
In addition, the invention also provides a laser-based airport runway foreign matter identification method, which adopts the laser-based airport runway foreign matter identification device for identification, and the identification processing process comprises the following steps:
the method comprises the following steps: the method comprises the following steps that a pulley trolley 4 is installed on a track 3, a power assembly 6 on the pulley trolley 4 is connected with a radio control chip 7, the radio control chip 7 and a Beidou system locator 8 are respectively in wireless connection with a terminal platform, then a laser sensor 10 is installed on a base 9, the base 9 is fixed on the top of the pulley trolley 4, an emitting part of the laser sensor 10 faces an airport runway 1 and is slightly higher than the pavement of the airport runway 1, the laser sensor 10 is connected with DTU equipment, and the DTU equipment is in wireless connection with the terminal platform;
step two: starting the power assembly 6 and the laser sensor 10, wherein the power assembly 6 drives the pulley trolley 4 to walk along the track 3, and the laser sensor 10 scans the airport runway 1 in the process of walking along with the pulley trolley 4 and transmits the acquired data to the terminal platform through the DTU equipment;
step three: the terminal platform judges whether foreign matters exist or not through the following formula:
where D is the path of the laser light 11 and c is the speed of light 3X 108m/s,. DELTA.t is the time from emission to reception of the laser 11 by the laser sensor 10;
when D is equal to W, the airport runway 1 is indicated to have no foreign objects, and the process returns to the step two;
when D < W or D ∞, it indicates that there is a foreign object on the airport runway 1, and then the process goes to step four; wherein, W is the distance between the laser sensor 10 and the reflective wall 12;
step four: terminal platform control alarm module sends out the police dispatch newspaper, controls simultaneously beidou system and accepts the terminal and show the locating information of beidou system locator 8 transmission, and the foreign matter is handled to corresponding position according to locating information to the manual work affirmation.
Based on the above-mentioned identification method, fig. 4 shows the difference between the paths of the laser beam 11 when there is a foreign object on the airport runway 1 and when there is no foreign object, as can be seen from fig. 4,
when D is W, it indicates that the laser 11 emitted from the laser sensor 10 does not encounter any object to reflect the laser 11 before encountering the reflecting wall 12, and thus there is no foreign object on the runway 1.
When D < W, it indicates that the laser 11 emitted by the laser sensor 10 meets the object before reaching the reflecting wall 12 to reflect the laser 11 back, and there is a foreign object on the airport runway 1.
When D ∞, it indicates that the laser light 11 emitted from the laser sensor 10 encounters a light-absorbing object (foreign object) on the path, and the laser light 11 is absorbed and does not have sufficient energy to rebound back, so that Δ t ∞, and thus D ∞.
Therefore, when D is equal to W, it indicates that there is no foreign object on the airport runway 1.
When D < W or D ∞ indicates that there is a foreign object on the airport runway 1.
In addition, the height of the foreign matter can be judged in a mode that a plurality of laser sensors 10 are installed at intervals in the vertical direction of the same base 9, and the judgment principle is that when the terminal platform processes data collected by the plurality of laser sensors 10, calculation is carried out sequentially from bottom to top; when the data transmitted by the laser sensor 10 at the lower layer is calculated to show that no foreign matter exists, the whole laser sensor is free of foreign matters, and the data transmitted by other laser sensors 10 does not need to be calculated; when the data transmitted by the laser sensor 10 at the lower layer is calculated to indicate that a foreign object exists, the calculation is performed in the sequence from the top to the bottom until the data transmitted by the laser sensor 10 at a certain height indicates that no foreign object exists, and at this time, the height value of the foreign object falls between the height value of the laser sensor 10 and the height value of the next laser sensor 10 located on the laser sensor 10, as shown in fig. 5.
In the invention, the laser sensor is a YAG laser, and the DTU equipment is a wireless terminal device which is specially used for converting serial port data into IP data or converting the IP data into the serial port data and transmitting the serial port data through a wireless communication network.
The above description is intended to describe in detail the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.
Claims (8)
1. The utility model provides an airport runway foreign matter recognition device based on laser, includes rail system, base, laser sensor, reflection wall, DTU equipment and terminal platform, its characterized in that: the track system is arranged on one side of an airport runway, and a reflecting wall is arranged on the other side of the airport runway; the track system is arranged in parallel to the airport runway and comprises a track groove, a track, a pulley trolley, a power assembly, a radio control chip and a Beidou system positioner, wherein the track groove is formed in the side surface of the airport runway, the notch of the track groove is flush with the road surface of the airport runway, the bottom of the track groove is provided with the track, the pulley trolley is arranged on the track in a rolling manner and does not protrude out of the road surface of the airport runway, the pulley trolley is provided with the power assembly, the radio control chip and the Beidou system positioner, the power assembly is used for driving the pulley trolley to run, the power assembly is connected with the radio control chip, and the radio control chip and the Beidou system positioner are respectively in wireless connection with the terminal platform; the base is installed on the dolly, install laser sensor and DTU equipment on the base, laser sensor's transmitting part is towards the reflection wall, laser sensor's transmitting part is a little higher than the road surface of airport runway, laser sensor passes through DTU equipment wireless connection terminal platform.
2. A laser-based airport runway foreign object recognition apparatus as claimed in claim 1 wherein: the track is located on the outer side of the airport runway, and the distance between the track and the edge of the airport runway is 1-5 m.
3. A laser-based airport runway foreign object recognition apparatus as claimed in claim 1 wherein: and track systems and reflecting walls are arranged on two opposite sides of the airport runway, and the track systems are close to the airport runway relative to the reflecting walls.
4. A laser-based airport runway foreign object recognition apparatus as claimed in claim 1 wherein: the track is of a double-track structure, the pulley trolley is arranged between the double-track structures, pulleys of the pulley trolley are embedded in guide rail grooves of the double-track structures, and the guide rail grooves of the double-track structures are opposite to each other.
5. A laser-based airport runway foreign object recognition apparatus as claimed in claim 1 wherein: the power assembly is a driving motor.
6. A laser-based airport runway foreign object recognition apparatus as claimed in claim 1 wherein: the terminal platform comprises a control terminal, a Beidou system receiving terminal and an alarm module, wherein the control terminal is respectively connected with the alarm module, the Beidou system receiving terminal, a radio control chip and a DTU device.
7. A laser-based airport runway foreign object recognition apparatus as claimed in claim 1 wherein: at least two laser sensors are arranged on the base, and all the laser sensors are sequentially arranged at intervals along the height of the base from bottom to top.
8. A laser-based airport runway foreign matter identification method is characterized in that: the laser-based airfield runway foreign object recognition device according to any one of claims 1-7 is adopted for recognition, and the recognition processing process comprises the following steps:
the method comprises the following steps: the method comprises the following steps that a pulley trolley is arranged on a track, a power assembly on the pulley trolley is connected with a radio control chip, the radio control chip and a Beidou system locator are respectively in wireless connection with a terminal platform, then a laser sensor is arranged on a base, the base is fixed to the top of the pulley trolley, the emitting part of the laser sensor faces an airport runway and is slightly higher than the pavement of the airport runway, the laser sensor is connected with DTU equipment, and the DTU equipment is in wireless connection with the terminal platform;
step two: starting a power assembly and a laser sensor, wherein the power assembly drives the pulley trolley to travel along the track, and the laser sensor scans an airport runway in the process of traveling along with the pulley trolley and transmits acquired data to a terminal platform through DTU equipment;
step three: the terminal platform judges whether foreign matters exist or not through the following formula:
wherein D is the path of the laser, and c is the speed of light 3X 108m/s, and delta t is the time from the emission to the reception of the laser sensor;
when D is W, the airport runway is indicated to have no foreign objects, and the step II is returned;
when D < W or D ∞, indicating that foreign matters exist on the airport runway, and entering a fourth step; wherein W is the distance between the laser sensor and the reflecting wall;
step four: the terminal platform controls the alarm module to give an alarm, and controls the Beidou system receiving terminal to display the positioning information transmitted by the Beidou system positioner, and the foreign bodies are manually confirmed and processed to corresponding positions according to the positioning information.
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