JP7638859B2 - Foreign matter removal system, foreign matter collection device, and foreign matter removal method - Google Patents

Description

The present invention relates to a foreign object removal system that removes foreign objects detected by a radar device.

An example of a radar device using microwaves or millimeter waves is an FMCW (Frequency Modulated Continuous-Wave) radar device having a structure as shown in FIG.
The radar device 100 in Fig. 1 amplifies a frequency-modulated radar signal from an FMCW transmission source 101 by a transmission power amplifier 103 and emits it from a transmission antenna 104. When an object T (reflector) is present within the detection range of the radar device 100, the radar transmission wave is reflected by the object T. The reflected wave from the object T is received by a receiving antenna 105 of the radar device 100, amplified by a receiving power amplifier 106, and then mixed with a transmitted radar signal component from a power distributor 102 by a mixer 107 and converted into an IF signal. The IF signal output from the mixer 107 is A/D converted and signal processed by a signal processing unit 108. As a result, radar detection results such as the reflected reception power (reflected wave power) by the object T, the distance to the object T, the direction of the object T, and the speed (relative speed to the radar device 100) of the object T when it is moving can be obtained.

The following are examples of prior art in the technical field related to the present invention. For example, Patent Document 1 discloses an invention in which a detection device detects position information of a fallen object and transmits it to an object search device, and the object search device displays the position information of the fallen object in an augmented reality space in a specific display (such as an arrow or a wavy shape) based on the position information of the fallen object and its own position information.

International Publication No. 2019/065045

One application of radar equipment is to detect objects on roads, runways, and other surfaces. For example, a system to detect foreign objects on airport runways uses a linear cell radar system in which multiple radar equipment are arranged in a line along the runway.

Conventionally, the discovery and removal of foreign objects on airport runways is carried out according to the procedure shown in Figure 2. That is, (1) a radar device scans the runway surface to detect objects on the runway. As a result, (2) when an object is detected by the radar device, (3) the object detection information is displayed on a monitor in the control tower. (4) A monitor who sees the display on the monitor determines whether the object is a foreign object (an object that should be removed), and then issues instructions to a worker to remove the foreign object. (5) The worker who received the instructions goes to the site and removes the foreign object, and (6) records the details of the work.

In this way, the personnel required to detect and collect foreign objects consisted of observers in the control tower who would determine whether an object was a foreign object and give instructions to collect it, and workers who would actually collect the object as instructed. In this case, the observer in the control tower would check the object once and then instruct the worker to collect it, so it took time to collect it. Also, a large number of personnel were required to deploy observers and workers.

The present invention was made in consideration of the above-mentioned conventional circumstances, and aims to reduce the time and manpower required to collect foreign objects detected by radar equipment.

In order to achieve the above object, a foreign object removal system according to one aspect of the present invention is configured as follows. That is, the foreign object removal system according to the present invention includes a radar device that detects an object present within a predetermined detection range, a radar monitoring device that controls the radar device, and a foreign object collection device that, when an object detected by the radar device is determined to be a foreign object, moves to the location where the object is present based on the object's position information and collects the object, and after collecting the object, the foreign object collection device transmits a foreign object collection notification to the radar monitoring device indicating that collection of the object has been completed, and when the radar monitoring device confirms that the radar device can no longer detect the object from within the detection range after receiving the foreign object collection notification, the radar monitoring device transmits a collection confirmation notification to the foreign object collection device indicating that collection of the object has been confirmed, and the foreign object collection device withdraws from the scene after receiving the collection confirmation notification.

Here, the foreign object removal system according to the present invention may further include a camera device that photographs the object based on the position information of the object detected by the radar device, and the foreign object collection device may be configured to receive the image photographed by the camera device and determine whether the object shown in the image is a foreign object or not.

In addition, in the foreign object removal system according to the present invention, the foreign object collection device can be configured to photograph the object on-site before collecting the object, and to transmit the image of the object photographed on-site to the radar monitoring device after collecting the object.

In addition, in the foreign object removal system of the present invention, the radar monitoring device can be configured to periodically acquire object position information and transmit it to the foreign object collection device, and the foreign object collection device can be configured to move to the location where the object is located based on the object position information periodically received from the radar monitoring device.

In addition, a foreign object collection device according to another aspect of the present invention is configured as follows. That is, the foreign object collection device according to the present invention is a foreign object collection device that communicates with a radar monitoring device that controls a radar device that detects objects present within a predetermined detection range, and when an object detected by the radar device is determined to be a foreign object, moves to the location where the object is located based on the object's position information, and after collecting the object, transmits a foreign object collection notification to the radar monitoring device indicating that the collection of the object has been completed, and withdraws from the scene after receiving a collection confirmation notification from the radar monitoring device indicating that the collection of the object has been confirmed.

In addition, a foreign object removal method according to yet another aspect of the present invention is configured as follows. That is, the foreign object removal method according to the present invention is characterized in that a radar device detects an object present within a predetermined detection range under the control of a radar monitoring device, and when the object detected by the radar device is determined to be a foreign object, the foreign object collection device moves to the location where the object is present based on the object's position information, and after collecting the object, transmits a foreign object collection notification to the radar monitoring device indicating that the object collection has been completed, and when the radar monitoring device confirms that the radar device can no longer detect the object from within the detection range after receiving the foreign object collection notification, it transmits a collection confirmation notification to the foreign object collection device indicating that the object has been collected, and the foreign object collection device withdraws from the scene after receiving the collection confirmation notification.

The present invention can reduce the time and manpower required to collect foreign objects detected by radar equipment.

FIG. 1 is a diagram illustrating an example of the configuration of a radar device. FIG. 1 is a diagram showing a conventional procedure for detecting and collecting foreign objects. 1 is a diagram showing an overview of a foreign matter removal system according to an embodiment of the present invention. 4 is a diagram showing a procedure for detecting and collecting foreign matter by the foreign matter removal system of FIG. 3. 4 is a diagram showing an example of the configuration of a foreign matter recovery device in the foreign matter removal system of FIG. 3 . 4 is a diagram showing an example of a process flow for collecting foreign matter by the foreign matter removal system of FIG. 3 .

One embodiment of the present invention will be described with reference to the drawings. FIG. 3 shows an overview of a foreign object removal system according to one embodiment of the present invention. The foreign object removal system of this example includes a radar device 100 and a camera device 120 installed facing a predetermined detection range R such as a runway, a radar monitoring device 200 and a display device 220 installed in a control room or monitoring room in a control tower, and a foreign object collection device 300 which is an autonomous robot. Although FIG. 3 shows only one radar device 100 and one camera device 120, multiple radar devices 100 and multiple camera devices 120 may be deployed.

The radar device 100 receives reflected waves of the radar transmission waves transmitted within the detection range R, and outputs the results of signal processing to the radar monitoring device 200. Based on the data output from the radar device 100, the radar monitoring device 200 displays the position information of an object (foreign object X such as a fallen object or an abandoned object) present within the detection range R on the display device 220. The radar monitoring device 200 further controls the camera device 120 based on the position information so as to photograph the object detected by the radar device 100, and displays the photographed image on the display device 220. This allows a monitor looking at the display on the display device 220 to confirm the position and appearance of the object detected by the radar device 100.

The position information of an object detected by the radar device 100 can be calculated based on the coordinates (e.g., latitude and longitude information) of the installation position of the radar device 100 and the distance and angle (azimuth) of the object relative to the radar device 100. The distance from the radar device 100 to the object can be calculated, for example, based on the reception strength of the reflected wave from the object. In addition, the angle of the object relative to the radar device 100 can be determined based on the rotation angle information of the antenna at the time the object is detected if the antenna of the radar device 100 is mechanically rotated, or can be determined based on the scanning angle information of the beam at the time the object is detected if the angle of the radar transmission wave beam emitted from the antenna of the radar device 100 is electronically scanned.

Conventionally, a monitor who saw the display on the display device 220 confirmed the presence of an object within the detection range R, and when the monitor determined that the object was a foreign object that should be collected, he/she issued a collection instruction to a worker. In contrast, in the foreign object removal system of this example, a single robot (foreign object collection device 300) is configured to perform a series of steps from determining whether or not an object is a foreign object to collecting the object. That is, as shown in FIG. 4, (1) the radar device 100 scans the runway surface to detect objects on the runway. As a result, (2) when the radar device 100 detects an object, the camera device 120 takes an image, and the image is transmitted to the foreign object collection device 300 via the radar monitoring device 200. (3) The foreign object collection device 300 determines whether the detected object is a foreign object based on the received image, and then (4) automatically moves to the location of the foreign object and collects the foreign object.

Figure 5 shows an example of the configuration of a foreign object collection device 300 that automatically determines whether an object is a foreign object and collects it. The foreign object collection device 300 in this example is assumed to be a vehicle-type robot that travels automatically, but an unmanned aerial vehicle such as a drone may also be used. As shown in Figure 5, the foreign object collection device 300 includes a wireless transceiver 301, a GPS (Global Positioning System) receiver 302, a travel control unit 303, a foreign object discrimination unit 304, a foreign object collection machine 305, a camera 306, and a control unit 307.

The wireless transceiver 301 wirelessly transmits and receives data to and from the radar monitoring device 200. The wireless transceiver 301 receives data from the radar monitoring device 200, such as position information of an object detected by the radar device 100 and images captured by the camera device 120. The wireless transceiver 301 also transmits various notifications, which will be described later, to the radar monitoring device 200.

The GPS receiver 302 receives radio waves from GPS satellites and acquires the current location information (e.g., latitude and longitude information) of the foreign object collection device 300. The travel control unit 303 autonomously controls the travel of the foreign object collection device 300. More specifically, the travel control unit 303 periodically calculates the direction and distance to the location where the target object is located based on the location information of the object (foreign object) to be collected and the current location information of the foreign object collection device 300, and moves the foreign object collection device 300 toward that location.

The foreign object discrimination unit 304 discriminates whether or not an object detected by the radar device 100 is a foreign object based on an image captured by the camera device 120. The foreign object discrimination unit 304 may be realized, for example, using AI (Artificial Intelligence) technology. In other words, the foreign object discrimination unit 304 can determine whether or not an object captured in an image is a foreign object by AI analysis using data (learning model) that has been modeled in advance by machine learning.

The foreign object collection machine 305 operates after the foreign object collection device 300 has moved to the location where the foreign object is located, and collects the foreign object from the runway surface. The camera 306 photographs the foreign object on the spot before the foreign object collection machine 305 collects the foreign object. The image of the foreign object taken by the camera 306 is transmitted to the radar monitoring device 200 together with a foreign object collection notification after the collection of the foreign object is completed. The foreign object collection machine 305 and camera 306 are attached, for example, to the underside of the foreign object collection device 300. The control unit 307 provides overall control over the operation of each unit (301 to 306) of the foreign object collection device 300.

The flow of foreign matter recovery by the foreign matter removal system of this embodiment will be described with reference to the example of the process flow of FIG.
The radar monitoring device 200 controls the radar device 100 to periodically repeat scanning of the runway (step S11), and when an object on the runway is detected, the radar monitoring device 200 controls the camera device 120 based on the position information of the object to capture an image of the detected object (step S12). The image captured by the camera device 120 is transmitted to the foreign object collection device 300 via the radar monitoring device 200 (step S13). At this timing, the position information of the object may also be transmitted to the foreign object collection device 300.

When the foreign object collection device 300 receives an image captured by the camera device 120, the foreign object discrimination unit 304 determines whether the object captured in the image is a foreign object (step S14). If it is determined that the object is not a foreign object (step S14; No), the foreign object collection device 300 transmits a non-foreign object notification to the radar monitoring device 200 indicating that the object was not a foreign object. When the radar monitoring device 200 receives the non-foreign object notification from the foreign object collection device 300, it causes the display device 220 to display information that the detected object is not a foreign object.

On the other hand, if it is determined that the object shown in the image captured by the camera device 120 is a foreign object (step S14; Yes), the foreign object collection device 300 begins the following collection action. The foreign object collection device 300 first receives object position information from the radar monitoring device 200, and based on the object position information, moves toward the location (site) where the object is located under the control of the travel control unit 303 (step S15). If a possible route within the runway has been determined in advance, the foreign object collection device moves without deviating from that route. Note that since the detected object may move due to wind, etc., the object position information may be periodically reacquired and the movement direction of the foreign object collection device 300 may be appropriately corrected.

Thereafter, when the foreign object collection device 300 arrives at the scene, it determines whether a foreign object is actually present at the location (step S16). Whether a foreign object is actually present at the scene can be determined, for example, by photographing the scene with the on-board camera 306 and analyzing the images.

As a result, if it is determined that no foreign object is present at the site (step S16; No), the foreign object collection device 300 transmits a foreign object absence notification to the radar monitoring device 200 indicating that no foreign object was present at the site, and returns to its original position. When the foreign object absence notification is received from the foreign object collection device 300, information indicating that no foreign object was present at the site is displayed on the display device 220. Note that an example of a situation in which a foreign object is detected but not present at the site is when the foreign object is naturally removed from the runway by the wind while the foreign object collection device 300 is moving.

On the other hand, if it is determined that a foreign object is present at the site (step S16; Yes), the foreign object collection device 300 photographs the foreign object with the on-board camera 306, and then operates the foreign object collection machine 305 to collect the foreign object (step S17). After that, the foreign object collection device 300 transmits a foreign object collection notification indicating that collection of the foreign object has been completed to the radar monitoring device 200 together with a collected object image taken at the site. When the radar monitoring device 200 receives the foreign object collection notification from the foreign object collection device 300, it checks whether the radar device 100 can no longer detect the foreign object that was present on the runway. As a result, when it is confirmed that the foreign object that was present on the runway can no longer be detected (i.e., the foreign object has been collected), the radar monitoring device 200 transmits a collection confirmation notification indicating that the collection of the foreign object has been confirmed to the foreign object collection device 300. After receiving the collection confirmation notification from the radar monitoring device 200, the foreign object collection device 300 returns to its original location (step S18).

As described above, the foreign object removal system of this example includes a radar device 100 that detects an object present within a predetermined detection range R, a radar monitoring device 200 that controls the radar device 100, and a foreign object collection device 300 that, when an object detected by the radar device 100 is determined to be a foreign object, moves to the location where the object is present based on the object's position information and collects the object. After collecting the object, the foreign object collection device 300 transmits a foreign object collection notification to the radar monitoring device 200 indicating that the object collection has been completed. After receiving the foreign object collection notification, if the radar monitoring device 200 confirms that the radar device 100 can no longer detect the object from within the detection range R, the radar monitoring device 200 transmits a collection confirmation notification to the foreign object collection device 300 indicating that the object has been collected. After receiving the collection confirmation notification, the foreign object collection device 300 retreats from the scene.

With this configuration, foreign objects detected by the radar device can be removed automatically, without manual intervention. This makes it possible to significantly reduce the time and manpower required to collect foreign objects.

In addition, in the foreign object removal system of this example, the foreign object collection device 300 photographs the object on-site before collecting the object, and after collecting the object, transmits the image of the object photographed on-site to the radar monitoring device 200. Therefore, it is possible to keep a record of the image of the object actually collected by the foreign object collection device 300. Also, for example, it is possible to have the monitor confirm the object that was actually collected by displaying the image of the object photographed by the foreign object collection device 300 on the display device 220.

In addition, in the foreign object removal system of this example, the radar monitoring device 200 periodically acquires object position information and transmits it to the foreign object collection device 300, and the foreign object collection device 300 moves to the location of the object based on the object position information periodically received from the radar monitoring device 200. Therefore, even if the object moves due to wind or the like, the movement direction of the foreign object collection device 300 can be appropriately corrected, so that the foreign object can be reliably moved to the location of the object.

In the foreign object removal system of this example, the foreign object collection device 300 determines whether an object detected by the radar device 100 is a foreign object based on an image captured by the camera device 120, but such a determination may also be performed by another device (e.g., the radar monitoring device 200).

The result of the judgment made by the foreign object collection device 300 may be displayed on the display device 220 for the monitor to confirm. In this case, if the monitor determines that the judgment made by the foreign object collection device 300 is incorrect, the operation of the foreign object collection device 300 may be corrected. That is, an operation unit may be provided that receives an instruction from the monitor to cause the foreign object collection device 300 to start a collection action or an instruction to cancel the collection action of the foreign object collection device 300, and a control signal may be sent to the foreign object collection device 300 via the radar monitoring device 200 in response to receiving such an instruction.

In the above explanation, whether or not an object detected by the radar device 100 is a foreign object is determined based on one image captured from a specific direction by one camera device 120, but multiple images captured from different directions by multiple camera devices 120 may also be used for the determination. This allows for a more accurate determination of whether or not an object detected by the radar device 100 is a foreign object.

Although the embodiments of the present invention have been described above, these embodiments are merely illustrative and do not limit the technical scope of the present invention. The present invention can take various other embodiments, and various modifications such as omissions and substitutions can be made without departing from the gist of the present invention. These embodiments and their modifications are included in the scope and gist of the invention described in this specification, etc., and are included in the scope of the invention described in the claims and their equivalents.

The present invention can be provided not only as the devices described above or as systems composed of these devices, but also as methods executed by these devices, programs for implementing the functions of these devices using a processor, and storage media for storing such programs in a computer-readable format.

The present invention can be used in a foreign object removal system that removes foreign objects detected by a radar device.

100: Radar device, 101: FMCW transmission source, 102: Power distributor, 103: Transmission power amplifier, 104: Transmission antenna, 105: Receiving antenna, 106: Receiving power amplifier, 107: Mixer, 108: Signal processing unit, 120: Camera device, 200: Radar monitoring device, 220: Display device, 300: Foreign object collection device, 301: Wireless transceiver, 302: GPS receiver, 303: Travel control unit, 304: Foreign object discrimination unit, 305: Foreign object collection machine, 306: Camera, 307: Control unit

Claims (6)

A radar device that detects an object present within a predetermined detection range;
a radar monitoring device for controlling the radar device;
a foreign object recovery device that, when the object detected by the radar device is determined to be a foreign object, moves to a location where the object is present based on position information of the object and recovers the object,
After collecting the object, the foreign object collection device transmits a foreign object collection notification indicating that collection of the object has been completed to the radar monitoring device;
when it is confirmed that the radar device is no longer able to detect the object within the detection range after receiving the foreign object collection notification, the radar monitoring device transmits a collection confirmation notification indicating that collection of the object has been confirmed to the foreign object collection device;
The foreign object removal system is characterized in that the foreign object recovery device withdraws from the site after receiving the recovery confirmation notice. 2. The foreign matter removal system according to claim 1,
The vehicle further includes a camera device that photographs the object based on position information of the object detected by the radar device,
The foreign body removal system is characterized in that the foreign body collection device receives an image captured by the camera device and determines whether the object captured in the image is a foreign body or not. 3. The foreign matter removal system according to claim 1,
A foreign object removal system characterized in that the foreign object collection device photographs the object on site before collecting the object, and transmits the image of the object taken on site to the radar monitoring device after collecting the object. 4. The foreign matter removal system according to claim 1,
the radar monitoring device periodically acquires position information of the object and transmits it to the foreign object recovery device;
A foreign object removal system characterized in that the foreign object collection device moves to a location where the object is located based on position information of the object periodically received from the radar monitoring device. A foreign object collection device that communicates with a radar monitoring device that controls a radar device that detects objects present within a predetermined detection range,
A foreign object recovery device characterized in that, when the object detected by the radar device is determined to be a foreign object, the device moves to the location where the object is located based on the object's position information, and after recovering the object, it transmits a foreign object recovery notification to the radar monitoring device indicating that the recovery of the object has been completed, and then withdraws from the scene after receiving a recovery confirmation notification from the radar monitoring device indicating that the recovery of the object has been confirmed. The radar device detects an object present within a predetermined detection range under the control of the radar monitoring device,
a foreign object collection device, when the object detected by the radar device is determined to be a foreign object, moves to a location where the object is present based on position information of the object, collects the object, and then transmits a foreign object collection notification to the radar monitoring device indicating that collection of the object has been completed;
when the radar monitoring device confirms that the object can no longer be detected within the detection range by the radar device after receiving the foreign object collection notification, the radar monitoring device transmits a collection confirmation notification indicating that collection of the object has been confirmed to the foreign object collection device;
The foreign object removal method, characterized in that the foreign object recovery device withdraws from the site after receiving the recovery confirmation notice.

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