CN106193999A - Rectangular Concrete pouring pile hole machine - Google Patents
Rectangular Concrete pouring pile hole machine Download PDFInfo
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- CN106193999A CN106193999A CN201610589145.9A CN201610589145A CN106193999A CN 106193999 A CN106193999 A CN 106193999A CN 201610589145 A CN201610589145 A CN 201610589145A CN 106193999 A CN106193999 A CN 106193999A
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- Prior art keywords
- hammer body
- displacement
- square hammer
- hydraulic driving
- driving machine
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B1/00—Percussion drilling
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B1/00—Percussion drilling
- E21B1/02—Surface drives for drop hammers or percussion drilling, e.g. with a cable
Abstract
The invention discloses Rectangular Concrete pouring pile hole machine, including containment vessel, hydraulic driving machine, link chain mechanism, upper square hammer body and under square hammer body；Described hydraulic driving machine and link chain mechanism are arranged in containment vessel; described square hammer body and under square hammer body connect hydraulic driving machine by link chain mechanism, described link chain mechanism for the downward drive force of hydraulic driving machine is converted into order about upper square hammer body and under the impulsive force impacted downwards of square hammer body.The present invention by arrange hydraulic driving machine, link chain mechanism, upper square hammer body and under square hammer body, make square hammer body and under square hammer body energy repeated stock stratum, grooving efficiency improves a lot, thus solves the manufacturing issue of the cast-in-place concrete pile of rectangle.
Description
Technical field
The present invention relates to rig design field, be specifically related to Rectangular Concrete pouring pile hole machine.
Background technology
In correlation technique, the pore-forming equipment that cast-in-place concrete pile is used mostly is into the rig of a circular hole, some engineering
The cast-in-place concrete pile needing construction section to be rectangle, the rig of circular hole can not be suitable for, cast-in-place concrete pile hole forming machine in addition
Self structure and work may be impacted by the vibration caused during work.
Summary of the invention
For solving the problems referred to above, it is desirable to provide Rectangular Concrete pouring pile hole machine.
The purpose of the present invention realizes by the following technical solutions:
Rectangular Concrete pouring pile hole machine, including containment vessel, hydraulic driving machine, link chain mechanism, upper square hammer body and under
Square hammer body；Described hydraulic driving machine and link chain mechanism are arranged in containment vessel, described square hammer body and under square hammer body lead to
Crossing link chain mechanism and connect hydraulic driving machine, described link chain mechanism orders about for being converted into by the downward drive force of hydraulic driving machine
Square hammer body and under the impulsive force impacted downwards of square hammer body.
The invention have the benefit that by arrange hydraulic driving machine, link chain mechanism, upper square hammer body and under square hammer
Body, make square hammer body and under square hammer body energy repeated stock stratum, grooving efficiency improves a lot, thus solves rectangle
The manufacturing issue of cast-in-place concrete pile.
Accompanying drawing explanation
The invention will be further described to utilize accompanying drawing, but the application scenarios in accompanying drawing does not constitute any limit to the present invention
System, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain according to the following drawings
Other accompanying drawing.
Fig. 1 is the simplification structural representation of the present invention.
Fig. 2 is the operation workflow schematic diagram of health monitoring device of the present invention.
Reference:
Containment vessel 1, upper square hammer body 2, under square hammer body 3, display screen 4.
Detailed description of the invention
In conjunction with following application scenarios, the invention will be further described.
Application scenarios 1
Rectangular Concrete pouring pile hole machine, including containment vessel 1, hydraulic driving machine, link chain mechanism, upper square hammer body 2 and
Under square hammer body 3；Described hydraulic driving machine and link chain mechanism are arranged in containment vessel 1, described square hammer body 2 and under square hammer
Body 3 connects hydraulic driving machine by link chain mechanism, and described link chain mechanism is for being converted into the downward drive force of hydraulic driving machine
Order about square hammer body and under the impulsive force impacted downwards of square hammer body.
The above embodiment of the present invention by arrange hydraulic driving machine, link chain mechanism, upper square hammer body 2 and under square hammer body 3,
Make square hammer body 2 and under square hammer body 3 can repeated stock stratum, grooving efficiency improves a lot, thus solves rectangle
The manufacturing issue of cast-in-place concrete pile.
Preferably, the health monitoring device for detecting hydraulic driving machine, described healthy prison are installed in described containment vessel 1
Survey device and completed the health monitoring of hydraulic vibration machine by the vibration displacement of detection hydraulic vibration machine.
The vibration that this preferred embodiment causes when working for cast-in-place concrete pile hole forming machine may to self structure and
Work impacts problem, and the vibration to hydraulic driving machine is monitored, and improves the peace of cast-in-place concrete pile hole forming machine work
Quan Xing.
Preferably, described containment vessel 1 is provided with the display screen 4 for showing hydraulic driving machine health status, described aobvious
Display screen 4 connects described health monitoring device by wireless network.
This preferred embodiment is easy to staff and is understood the health of hydraulic driving machine in cast-in-place concrete pile hole forming machine in real time
State.
Preferably, described health monitoring device includes being sequentially connected with data preprocessing module, data analysis module, data
Evaluation module and data disaply moudle, described data preprocessing module for gather hydraulic-driven machine vibration video image, general
Video image is transformed into gray space, and makes the image after conversion be filtered processing by Gaussian filter；Described data are divided
Analysis mould 2 is for being analyzed pretreated video image and processing, to obtain following the tracks of the vibration displacement curve of target；Described
Data evaluation module for carrying out health analysis and judging whether the vibration displacement following the tracks of target is located to described vibration displacement curve
In health status, output hydraulic pressure drives machine health status result；Described data disaply moudle is used for showing described hydraulic driving machine
Health status result.
This preferred embodiment constructs the module that hydraulic driving machine health status is monitored analyzing by health monitoring device
Framework, improves the safety of system.
Preferably, described data analysis module include algorithms selection submodule, main algorithm submodule, secondary algorithm submodule,
Displacement correction submodule and display sub-module, particularly as follows:
(1) algorithms selection submodule: be connected with main algorithm submodule, secondary algorithm submodule, for hardwood figure each in video
The displacement extraction algorithm of picture selects, and its selection principle followed is: current frame image is unsatisfactory for compared with previous hardwood image
Brightness constancy, space one make peace between hardwood displacement difference less than setting threshold value T1Any one condition time, choose main algorithm submodule and enter
Row follows the trail of the extraction of the moving displacement of target；Current frame image meets brightness constancy compared with previous hardwood image, make peace in space one
Between hardwood, displacement difference is less than setting threshold value T1During condition, choose the extraction that secondary algorithm submodule is tracked the moving displacement of target, T1
Span be (0,1mm]；
(2) main algorithm submodule: for extracting the moving displacement following the trail of target, setting video by the way of image registration
Total n hardwood image, the tracking target image in the first frame in selecting video is as template image P (σ), and subsequent frame image is Ij
(σ), j=2 ... n, repeatedly distort described subsequent frame image Ij(σ) institute after so that it is align with template image P (σ), every time distorting
State subsequent frame image Ij(σ) increment Delta δ and between template image P (σ)jFor:
Wherein, ψ (σ；δj) it is that (x y) is mapped to subsequent frame image I for the pixel coordinate σ of template image P (σ)j(σ) Asia picture
Element coordinate, δjRepresent the parameter vector of Skewed transformation, Ij(ψ(σ；δj)) it is from subsequent frame image Ij(σ) twist part intercepted in
Point,For wreath piece at subpixel coordinates ψ (σ；δj) gradient at place；
Described main algorithm submodule is by continuous iterative computation increment Delta δjUpdate δj, gradually to realize image registration, more
New process is: δj←δj+Δδj, to transformation parameter δ every time after updatingjOne decimal place carry out round, stop
Update condition be | | Δ δj||≤T2, T2For the threshold value set, T2Span be [0.4,0.5], the conversion of final updating
Parameter δjIt is subsequent frame image Ij(σ) the compound movement displacement of tracking target to be extracted in；
(3) secondary algorithm submodule: for extracting the moving displacement following the trail of target, setting video by the way of template matching
Total n hardwood image, the first two field picture in selecting video is coupling image, and the effective coverage of subsequent frame is template image Pi, i=
2 ... n, follows the trail of the simple motion displacement (x of target in each hardwood imagei,yi) it is:
Wherein, (x0,y0) it is by calculation template image PiObtain with the NCC correlation matrix of the first two field picture
The coordinate of big location point, m1,m2,m3,m4,m5For (x0,y08 coordinate points (x around)k,yk) correlation coefficient, k=1 ..., 8,
(x0,y0) it is c (x with the relation of described correlation coefficientk,yk)=m0+m1xk+m2yk+m3xk 2+m4xkyk+m5yk 2；
(4) displacement correction submodule, it is contemplated that the local temperature impact on bridge displacement, introduces temperature correction coefficient L pair
The moving displacement of said extracted is modified, and the span of empirical value L is [0.95,1.05]:
Revised compound movement displacement: δ 'j=δj×L
Revised simple motion displacement: (xi,yi) '=(xi,yi)×L；
(5) display sub-module, is connected with main algorithm submodule, secondary algorithm submodule, for processing and showing and follow the trail of mesh
The moving displacement data that mark is correlated with and the vibration displacement curve following the tracks of target.
This preferred embodiment arranges secondary algorithm submodule, and to meeting brightness constancy, space one displacement difference between hardwood of making peace is less than
Set threshold value T1The adjacent hardwood image of condition carries out displacement extraction, only template image need to be selected to calculate, simple, directly perceived, from
Dynamicization ability is strong, and proposes simple motion displacement (xi,yi) computing formula, improve the speed of calculating；By arranging main calculation
Method submodule, to being unsatisfactory for brightness constancy, space one make peace between hardwood displacement difference less than setting threshold value T1Any one condition adjacent
Hardwood image carries out displacement extraction, extracts process relatively simple, can quickly be performed, it is possible to achieve the real-time displacement of high-speed camera
Extract；By arranging algorithms selection submodule, the displacement extraction algorithm of hardwood image each in video is in optimized selection, decreases
Dependence to image procossing, improves the efficiency that displacement is extracted, and the displacement extraction time of every hardwood image can be reduced to by algorithm
Below 0.1ms；By arranging displacement correction submodule, eliminating the temperature impact on displacement, result of calculation is the most accurate.
Preferably, described data evaluation module includes main assessment submodule and secondary assessment submodule:
A, main assessment submodule: the vibration displacement curve in display sub-module is estimated, if vibration displacement curve is commented
It is qualified to estimate, and is the most no longer estimated moving displacement data；
B, secondary assessment submodule: when vibration displacement curve assessment is defective, to the moving displacement number in display sub-module
According to being estimated, find out abnormal data.
This preferred embodiment improves the precision of health state evaluation.
This application scene above-described embodiment takes T1=0.1, T2=0.5, the analysis speed to the health status of hydraulic driving machine
Relatively improve 5%, analysis precision improves 4.2% relatively.
Application scenarios 2
Rectangular Concrete pouring pile hole machine, including containment vessel 1, hydraulic driving machine, link chain mechanism, upper square hammer body 2 and
Under square hammer body 3；Described hydraulic driving machine and link chain mechanism are arranged in containment vessel 1, described square hammer body 2 and under square hammer
Body 3 connects hydraulic driving machine by link chain mechanism, and described link chain mechanism is for being converted into the downward drive force of hydraulic driving machine
Order about square hammer body and under the impulsive force impacted downwards of square hammer body.
The above embodiment of the present invention by arrange hydraulic driving machine, link chain mechanism, upper square hammer body 2 and under square hammer body 3,
Make square hammer body 2 and under square hammer body 3 can repeated stock stratum, grooving efficiency improves a lot, thus solves rectangle
The manufacturing issue of cast-in-place concrete pile.
Preferably, the health monitoring device for detecting hydraulic driving machine, described healthy prison are installed in described containment vessel 1
Survey device and completed the health monitoring of hydraulic vibration machine by the vibration displacement of detection hydraulic vibration machine.
The vibration that this preferred embodiment causes when working for cast-in-place concrete pile hole forming machine may to self structure and
Work impacts problem, and the vibration to hydraulic driving machine is monitored, and improves the peace of cast-in-place concrete pile hole forming machine work
Quan Xing.
Preferably, described containment vessel 1 is provided with the display screen 4 for showing hydraulic driving machine health status, described aobvious
Display screen 4 connects described health monitoring device by wireless network.
This preferred embodiment is easy to staff and is understood the health of hydraulic driving machine in cast-in-place concrete pile hole forming machine in real time
State.
Preferably, described health monitoring device includes being sequentially connected with data preprocessing module, data analysis module, data
Evaluation module and data disaply moudle, described data preprocessing module for gather hydraulic-driven and the video image of vibration, general
Video image is transformed into gray space, and makes the image after conversion be filtered processing by Gaussian filter；Described data are divided
Analysis mould 2 is for being analyzed pretreated video image and processing, to obtain following the tracks of the vibration displacement curve of target；Described
Data evaluation module for carrying out health analysis and judging whether the vibration displacement following the tracks of target is located to described vibration displacement curve
In health status, output hydraulic pressure drives machine health status result；Described data disaply moudle is used for showing described hydraulic driving machine
Health status result.
This preferred embodiment constructs the module that hydraulic driving machine health status is monitored analyzing by health monitoring device
Framework, improves the safety of system.
Preferably, described data analysis module include algorithms selection submodule, main algorithm submodule, secondary algorithm submodule,
Displacement correction submodule and display sub-module, particularly as follows:
(1) algorithms selection submodule: be connected with main algorithm submodule, secondary algorithm submodule, for hardwood figure each in video
The displacement extraction algorithm of picture selects, and its selection principle followed is: current frame image is unsatisfactory for compared with previous hardwood image
Brightness constancy, space one make peace between hardwood displacement difference less than setting threshold value T1Any one condition time, choose main algorithm submodule and enter
Row follows the trail of the extraction of the moving displacement of target；Current frame image meets brightness constancy compared with previous hardwood image, make peace in space one
Between hardwood, displacement difference is less than setting threshold value T1During condition, choose the extraction that secondary algorithm submodule is tracked the moving displacement of target, T1
Span be (0,1mm]；
(2) main algorithm submodule: for extracting the moving displacement following the trail of target, setting video by the way of image registration
Total n hardwood image, the tracking target image in the first frame in selecting video is as template image P (σ), and subsequent frame image is Ij
(σ), j=2 ... n, repeatedly distort described subsequent frame image Ij(σ) institute after so that it is align with template image P (σ), every time distorting
State subsequent frame image Ij(σ) increment Delta δ and between template image P (σ)jFor:
Wherein, ψ (σ；δj) it is that (x y) is mapped to subsequent frame image I for the pixel coordinate σ of template image P (σ)j(σ) Asia picture
Element coordinate, δjRepresent the parameter vector of Skewed transformation, Ij(ψ(σ；δj)) it is from subsequent frame image Ij(σ) twist part intercepted in
Point,For wreath piece at subpixel coordinates ψ (σ；δj) gradient at place；
Described main algorithm submodule is by continuous iterative computation increment Delta δjUpdate δj, gradually to realize image registration, more
New process is: δj←δj+Δδj, to transformation parameter δ every time after updatingjOne decimal place carry out round, stop
Update condition be | | Δ δj||≤T2, T2For the threshold value set, T2Span be [0.4,0.5], the conversion of final updating
Parameter δjIt is subsequent frame image Ij(σ) the compound movement displacement of tracking target to be extracted in；
(3) secondary algorithm submodule: for extracting the moving displacement following the trail of target, setting video by the way of template matching
Total n hardwood image, the first two field picture in selecting video is coupling image, and the effective coverage of subsequent frame is template image Pi, i=
2 ... n, follows the trail of the simple motion displacement (x of target in each hardwood imagei,yi) it is:
Wherein, (x0,y0) it is by calculation template image PiObtain with the NCC correlation matrix of the first two field picture
The coordinate of big location point, m1,m2,m3,m4,m5For (x0,y08 coordinate points (x around)k,yk) correlation coefficient, k=1 ..., 8,
(x0,y0) it is c (x with the relation of described correlation coefficientk,yk)=m0+m1xk+m2yk+m3xk 2+m4xkyk+m5yk 2；
(4) displacement correction submodule, it is contemplated that the local temperature impact on bridge displacement, introduces temperature correction coefficient L pair
The moving displacement of said extracted is modified, and the span of empirical value L is [0.95,1.05]:
Revised compound movement displacement: δ 'j=δj×L
Revised simple motion displacement: (xi,yi) '=(xi,yi)×L；
(5) display sub-module, is connected with main algorithm submodule, secondary algorithm submodule, for processing and showing and follow the trail of mesh
The moving displacement data that mark is correlated with and the vibration displacement curve following the tracks of target.
This preferred embodiment arranges secondary algorithm submodule, and to meeting brightness constancy, space one displacement difference between hardwood of making peace is less than
Set threshold value T1The adjacent hardwood image of condition carries out displacement extraction, only template image need to be selected to calculate, simple, directly perceived, from
Dynamicization ability is strong, and proposes simple motion displacement (xi,yi) computing formula, improve the speed of calculating；By arranging main calculation
Method submodule, to being unsatisfactory for brightness constancy, space one make peace between hardwood displacement difference less than setting threshold value T1Any one condition adjacent
Hardwood image carries out displacement extraction, extracts process relatively simple, can quickly be performed, it is possible to achieve the real-time displacement of high-speed camera
Extract；By arranging algorithms selection submodule, the displacement extraction algorithm of hardwood image each in video is in optimized selection, decreases
Dependence to image procossing, improves the efficiency that displacement is extracted, and the displacement extraction time of every hardwood image can be reduced to by algorithm
Below 0.1ms；By arranging displacement correction submodule, eliminating the temperature impact on displacement, result of calculation is the most accurate.
Preferably, described data evaluation module includes main assessment submodule and secondary assessment submodule:
A, main assessment submodule: the vibration displacement curve in display sub-module is estimated, if vibration displacement curve is commented
It is qualified to estimate, and is the most no longer estimated moving displacement data；
B, secondary assessment submodule: when vibration displacement curve assessment is defective, to the moving displacement number in display sub-module
According to being estimated, find out abnormal data.
This preferred embodiment improves the precision of health state evaluation.
This application scene above-described embodiment takes T1=0.09, T2When=0.5, analyze speed and relatively improve 4.5%, analyze
Precision improves 4.5% relatively.
Application scenarios 3
Rectangular Concrete pouring pile hole machine, including containment vessel 1, hydraulic driving machine, link chain mechanism, upper square hammer body 2 and
Under square hammer body 3；Described hydraulic driving machine and link chain mechanism are arranged in containment vessel 1, described square hammer body 2 and under square hammer
Body 3 connects hydraulic driving machine by link chain mechanism, and described link chain mechanism is for being converted into the downward drive force of hydraulic driving machine
Order about square hammer body and under the impulsive force impacted downwards of square hammer body.
The above embodiment of the present invention by arrange hydraulic driving machine, link chain mechanism, upper square hammer body 2 and under square hammer body 3,
Make square hammer body 2 and under square hammer body 3 can repeated stock stratum, grooving efficiency improves a lot, thus solves rectangle
The manufacturing issue of cast-in-place concrete pile.
Preferably, the health monitoring device for detecting hydraulic driving machine, described healthy prison are installed in described containment vessel 1
Survey device and completed the health monitoring of hydraulic vibration machine by the vibration displacement of detection hydraulic vibration machine.
The vibration that this preferred embodiment causes when working for cast-in-place concrete pile hole forming machine may to self structure and
Work impacts problem, and the vibration to hydraulic driving machine is monitored, and improves the peace of cast-in-place concrete pile hole forming machine work
Quan Xing.
Preferably, described containment vessel 1 is provided with the display screen 4 for showing hydraulic driving machine health status, described aobvious
Display screen 4 connects described health monitoring device by wireless network.
This preferred embodiment is easy to staff and is understood the health of hydraulic driving machine in cast-in-place concrete pile hole forming machine in real time
State.
Preferably, described health monitoring device includes being sequentially connected with data preprocessing module, data analysis module, data
Evaluation module and data disaply moudle, described data preprocessing module for gather hydraulic-driven and the video image of vibration, general
Video image is transformed into gray space, and makes the image after conversion be filtered processing by Gaussian filter；Described data are divided
Analysis mould 2 is for being analyzed pretreated video image and processing, to obtain following the tracks of the vibration displacement curve of target；Described
Data evaluation module for carrying out health analysis and judging whether the vibration displacement following the tracks of target is located to described vibration displacement curve
In health status, output hydraulic pressure drives machine health status result；Described data disaply moudle is used for showing described hydraulic driving machine
Health status result.
This preferred embodiment constructs the module that hydraulic driving machine health status is monitored analyzing by health monitoring device
Framework, improves the safety of system.
Preferably, described data analysis module include algorithms selection submodule, main algorithm submodule, secondary algorithm submodule,
Displacement correction submodule and display sub-module, particularly as follows:
(1) algorithms selection submodule: be connected with main algorithm submodule, secondary algorithm submodule, for hardwood figure each in video
The displacement extraction algorithm of picture selects, and its selection principle followed is: current frame image is unsatisfactory for compared with previous hardwood image
Brightness constancy, space one make peace between hardwood displacement difference less than setting threshold value T1Any one condition time, choose main algorithm submodule and enter
Row follows the trail of the extraction of the moving displacement of target；Current frame image meets brightness constancy compared with previous hardwood image, make peace in space one
Between hardwood, displacement difference is less than setting threshold value T1During condition, choose the extraction that secondary algorithm submodule is tracked the moving displacement of target, T1
Span be (0,1mm]；
(2) main algorithm submodule: for extracting the moving displacement following the trail of target, setting video by the way of image registration
Total n hardwood image, the tracking target image in the first frame in selecting video is as template image P (σ), and subsequent frame image is Ij
(σ), j=2 ... n, repeatedly distort described subsequent frame image Ij(σ) institute after so that it is align with template image P (σ), every time distorting
State subsequent frame image Ij(σ) increment Delta δ and between template image P (σ)jFor:
Wherein, ψ (σ；δj) it is that (x y) is mapped to subsequent frame image I for the pixel coordinate σ of template image P (σ)j(σ) Asia picture
Element coordinate, δjRepresent the parameter vector of Skewed transformation, Ij(ψ(σ；δj)) it is from subsequent frame image Ij(σ) twist part intercepted in
Point,For wreath piece at subpixel coordinates ψ (σ；δj) gradient at place；
Described main algorithm submodule is by continuous iterative computation increment Delta δjUpdate δj, gradually to realize image registration, more
New process is: δj←δj+Δδj, to transformation parameter δ every time after updatingjOne decimal place carry out round, stop
Update condition be | | Δ δj||≤T2, T2For the threshold value set, T2Span be [0.4,0.5], the conversion of final updating
Parameter δjIt is subsequent frame image Ij(σ) the compound movement displacement of tracking target to be extracted in；
(3) secondary algorithm submodule: for extracting the moving displacement following the trail of target, setting video by the way of template matching
Total n hardwood image, the first two field picture in selecting video is coupling image, and the effective coverage of subsequent frame is template image Pi, i=
2 ... n, follows the trail of the simple motion displacement (x of target in each hardwood imagei,yi) it is:
Wherein, (x0,y0) it is by calculation template image PiObtain with the NCC correlation matrix of the first two field picture
The coordinate of big location point, m1,m2,m3,m4,m5For (x0,y08 coordinate points (x around)k,yk) correlation coefficient, k=1 ..., 8,
(x0,y0) it is c (x with the relation of described correlation coefficientk,yk)=m0+m1xk+m2yk+m3xk 2+m4xkyk+m5yk 2；
(4) displacement correction submodule, it is contemplated that the local temperature impact on bridge displacement, introduces temperature correction coefficient L pair
The moving displacement of said extracted is modified, and the span of empirical value L is [0.95,1.05]:
Revised compound movement displacement: δ 'j=δj×L
Revised simple motion displacement: (xi,yi) '=(xi,yi)×L；
(5) display sub-module, is connected with main algorithm submodule, secondary algorithm submodule, for processing and showing and follow the trail of mesh
The moving displacement data that mark is correlated with and the vibration displacement curve following the tracks of target.
This preferred embodiment arranges secondary algorithm submodule, and to meeting brightness constancy, space one displacement difference between hardwood of making peace is less than
Set threshold value T1The adjacent hardwood image of condition carries out displacement extraction, only template image need to be selected to calculate, simple, directly perceived, from
Dynamicization ability is strong, and proposes simple motion displacement (xi,yi) computing formula, improve the speed of calculating；By arranging main calculation
Method submodule, to being unsatisfactory for brightness constancy, space one make peace between hardwood displacement difference less than setting threshold value T1Any one condition adjacent
Hardwood image carries out displacement extraction, extracts process relatively simple, can quickly be performed, it is possible to achieve the real-time displacement of high-speed camera
Extract；By arranging algorithms selection submodule, the displacement extraction algorithm of hardwood image each in video is in optimized selection, decreases
Dependence to image procossing, improves the efficiency that displacement is extracted, and the displacement extraction time of every hardwood image can be reduced to by algorithm
Below 0.1ms；By arranging displacement correction submodule, eliminating the temperature impact on displacement, result of calculation is the most accurate.
Preferably, described data evaluation module includes main assessment submodule and secondary assessment submodule:
A, main assessment submodule: the vibration displacement curve in display sub-module is estimated, if vibration displacement curve is commented
It is qualified to estimate, and is the most no longer estimated moving displacement data；
B, secondary assessment submodule: when vibration displacement curve assessment is defective, to the moving displacement number in display sub-module
According to being estimated, find out abnormal data.
This preferred embodiment improves the precision of health state evaluation.
This application scene above-described embodiment takes T1=0.06, T2When=0.45, analyze speed and relatively improve 3.5%, analyze
Precision improves 4% relatively.
Application scenarios 4
Rectangular Concrete pouring pile hole machine, including containment vessel 1, hydraulic driving machine, link chain mechanism, upper square hammer body 2 and
Under square hammer body 3；Described hydraulic driving machine and link chain mechanism are arranged in containment vessel 1, described square hammer body 2 and under square hammer
Body 3 connects hydraulic driving machine by link chain mechanism, and described link chain mechanism is for being converted into the downward drive force of hydraulic driving machine
Order about square hammer body and under the impulsive force impacted downwards of square hammer body.
The above embodiment of the present invention by arrange hydraulic driving machine, link chain mechanism, upper square hammer body 2 and under square hammer body 3,
Make square hammer body 2 and under square hammer body 3 can repeated stock stratum, grooving efficiency improves a lot, thus solves rectangle
The manufacturing issue of cast-in-place concrete pile.
Preferably, the health monitoring device for detecting hydraulic driving machine, described healthy prison are installed in described containment vessel 1
Survey device and completed the health monitoring of hydraulic vibration machine by the vibration displacement of detection hydraulic vibration machine.
The vibration that this preferred embodiment causes when working for cast-in-place concrete pile hole forming machine may to self structure and
Work impacts problem, and the vibration to hydraulic driving machine is monitored, and improves the peace of cast-in-place concrete pile hole forming machine work
Quan Xing.
Preferably, described containment vessel 1 is provided with the display screen 4 for showing hydraulic driving machine health status, described aobvious
Display screen 4 connects described health monitoring device by wireless network.
This preferred embodiment is easy to staff and is understood the health of hydraulic driving machine in cast-in-place concrete pile hole forming machine in real time
State.
Preferably, described health monitoring device includes being sequentially connected with data preprocessing module, data analysis module, data
Evaluation module and data disaply moudle, described data preprocessing module for gather hydraulic-driven and the video image of vibration, general
Video image is transformed into gray space, and makes the image after conversion be filtered processing by Gaussian filter；Described data are divided
Analysis mould 2 is for being analyzed pretreated video image and processing, to obtain following the tracks of the vibration displacement curve of target；Described
Data evaluation module for carrying out health analysis and judging whether the vibration displacement following the tracks of target is located to described vibration displacement curve
In health status, output hydraulic pressure drives machine health status result；Described data disaply moudle is used for showing described hydraulic driving machine
Health status result.
This preferred embodiment constructs the module that hydraulic driving machine health status is monitored analyzing by health monitoring device
Framework, improves the safety of system.
Preferably, described data analysis module include algorithms selection submodule, main algorithm submodule, secondary algorithm submodule,
Displacement correction submodule and display sub-module, particularly as follows:
(1) algorithms selection submodule: be connected with main algorithm submodule, secondary algorithm submodule, for hardwood figure each in video
The displacement extraction algorithm of picture selects, and its selection principle followed is: current frame image is unsatisfactory for compared with previous hardwood image
Brightness constancy, space one make peace between hardwood displacement difference less than setting threshold value T1Any one condition time, choose main algorithm submodule and enter
Row follows the trail of the extraction of the moving displacement of target；Current frame image meets brightness constancy compared with previous hardwood image, make peace in space one
Between hardwood, displacement difference is less than setting threshold value T1During condition, choose the extraction that secondary algorithm submodule is tracked the moving displacement of target, T1
Span be (0,1mm]；
(2) main algorithm submodule: for extracting the moving displacement following the trail of target, setting video by the way of image registration
Total n hardwood image, the tracking target image in the first frame in selecting video is as template image P (σ), and subsequent frame image is Ij
(σ), j=2 ... n, repeatedly distort described subsequent frame image Ij(σ) institute after so that it is align with template image P (σ), every time distorting
State subsequent frame image Ij(σ) increment Delta δ and between template image P (σ)jFor:
Wherein, ψ (σ；δj) it is that (x y) is mapped to subsequent frame image I for the pixel coordinate σ of template image P (σ)j(σ) Asia picture
Element coordinate, δjRepresent the parameter vector of Skewed transformation, Ij(ψ(σ；δj)) it is from subsequent frame image Ij(σ) twist part intercepted in
Point,For wreath piece at subpixel coordinates ψ (σ；δj) gradient at place；
Described main algorithm submodule is by continuous iterative computation increment Delta δjUpdate δj, gradually to realize image registration, more
New process is: δj←δj+Δδj, to transformation parameter δ every time after updatingjOne decimal place carry out round, stop
Update condition be | | Δ δj||≤T2, T2For the threshold value set, T2Span be [0.4,0.5], the conversion of final updating
Parameter δjIt is subsequent frame image Ij(σ) the compound movement displacement of tracking target to be extracted in；
(3) secondary algorithm submodule: for extracting the moving displacement following the trail of target, setting video by the way of template matching
Total n hardwood image, the first two field picture in selecting video is coupling image, and the effective coverage of subsequent frame is template image Pi, i=
2 ... n, follows the trail of the simple motion displacement (x of target in each hardwood imagei,yi) it is:
Wherein, (x0,y0) it is by calculation template image PiObtain with the NCC correlation matrix of the first two field picture
The coordinate of big location point, m1,m2,m3,m4,m5For (x0,y08 coordinate points (x around)k,yk) correlation coefficient, k=1 ..., 8,
(x0,y0) it is c (x with the relation of described correlation coefficientk,yk)=m0+m1xk+m2yk+m3xk 2+m4xkyk+m5yk 2；
(4) displacement correction submodule, it is contemplated that the local temperature impact on bridge displacement, introduces temperature correction coefficient L pair
The moving displacement of said extracted is modified, and the span of empirical value L is [0.95,1.05]:
Revised compound movement displacement: δ 'j=δj×L
Revised simple motion displacement: (xi,yi) '=(xi,yi)×L；
(5) display sub-module, is connected with main algorithm submodule, secondary algorithm submodule, for processing and showing and follow the trail of mesh
The moving displacement data that mark is correlated with and the vibration displacement curve following the tracks of target.
This preferred embodiment arranges secondary algorithm submodule, and to meeting brightness constancy, space one displacement difference between hardwood of making peace is less than
Set threshold value T1The adjacent hardwood image of condition carries out displacement extraction, only template image need to be selected to calculate, simple, directly perceived, from
Dynamicization ability is strong, and proposes simple motion displacement (xi,yi) computing formula, improve the speed of calculating；By arranging main calculation
Method submodule, to being unsatisfactory for brightness constancy, space one make peace between hardwood displacement difference less than setting threshold value T1Any one condition adjacent
Hardwood image carries out displacement extraction, extracts process relatively simple, can quickly be performed, it is possible to achieve the real-time displacement of high-speed camera
Extract；By arranging algorithms selection submodule, the displacement extraction algorithm of hardwood image each in video is in optimized selection, decreases
Dependence to image procossing, improves the efficiency that displacement is extracted, and the displacement extraction time of every hardwood image can be reduced to by algorithm
Below 0.1ms；By arranging displacement correction submodule, eliminating the temperature impact on displacement, result of calculation is the most accurate.
Preferably, described data evaluation module includes main assessment submodule and secondary assessment submodule:
A, main assessment submodule: the vibration displacement curve in display sub-module is estimated, if vibration displacement curve is commented
It is qualified to estimate, and is the most no longer estimated moving displacement data；
B, secondary assessment submodule: when vibration displacement curve assessment is defective, to the moving displacement number in display sub-module
According to being estimated, find out abnormal data.
This preferred embodiment improves the precision of health state evaluation.
This application scene above-described embodiment takes T1=0.06, T2When=0.4, analyze speed and relatively improve 4%, analyze essence
Degree improves 4.8% relatively.
Application scenarios 5
Rectangular Concrete pouring pile hole machine, including containment vessel 1, hydraulic driving machine, link chain mechanism, upper square hammer body 2 and
Under square hammer body 3；Described hydraulic driving machine and link chain mechanism are arranged in containment vessel 1, described square hammer body 2 and under square hammer
Body 3 connects hydraulic driving machine by link chain mechanism, and described link chain mechanism is for being converted into the downward drive force of hydraulic driving machine
Order about square hammer body and under the impulsive force impacted downwards of square hammer body.
The above embodiment of the present invention by arrange hydraulic driving machine, link chain mechanism, upper square hammer body 2 and under square hammer body 3,
Make square hammer body 2 and under square hammer body 3 can repeated stock stratum, grooving efficiency improves a lot, thus solves rectangle
The manufacturing issue of cast-in-place concrete pile.
Preferably, the health monitoring device for detecting hydraulic driving machine, described healthy prison are installed in described containment vessel 1
Survey device and completed the health monitoring of hydraulic vibration machine by the vibration displacement of detection hydraulic vibration machine.
The vibration that this preferred embodiment causes when working for cast-in-place concrete pile hole forming machine may to self structure and
Work impacts problem, and the vibration to hydraulic driving machine is monitored, and improves the peace of cast-in-place concrete pile hole forming machine work
Quan Xing.
Preferably, described containment vessel 1 is provided with the display screen 4 for showing hydraulic driving machine health status, described aobvious
Display screen 4 connects described health monitoring device by wireless network.
This preferred embodiment is easy to staff and is understood the health of hydraulic driving machine in cast-in-place concrete pile hole forming machine in real time
State.
Preferably, described health monitoring device includes being sequentially connected with data preprocessing module, data analysis module, data
Evaluation module and data disaply moudle, described data preprocessing module for gather hydraulic-driven and the video image of vibration, general
Video image is transformed into gray space, and makes the image after conversion be filtered processing by Gaussian filter；Described data are divided
Analysis mould 2 is for being analyzed pretreated video image and processing, to obtain following the tracks of the vibration displacement curve of target；Described
Data evaluation module for carrying out health analysis and judging whether the vibration displacement following the tracks of target is located to described vibration displacement curve
In health status, output hydraulic pressure drives machine health status result；Described data disaply moudle is used for showing described hydraulic driving machine
Health status result.
This preferred embodiment constructs the module that hydraulic driving machine health status is monitored analyzing by health monitoring device
Framework, improves the safety of system.
Preferably, described data analysis module include algorithms selection submodule, main algorithm submodule, secondary algorithm submodule,
Displacement correction submodule and display sub-module, particularly as follows:
(1) algorithms selection submodule: be connected with main algorithm submodule, secondary algorithm submodule, for hardwood figure each in video
The displacement extraction algorithm of picture selects, and its selection principle followed is: current frame image is unsatisfactory for compared with previous hardwood image
Brightness constancy, space one make peace between hardwood displacement difference less than setting threshold value T1Any one condition time, choose main algorithm submodule and enter
Row follows the trail of the extraction of the moving displacement of target；Current frame image meets brightness constancy compared with previous hardwood image, make peace in space one
Between hardwood, displacement difference is less than setting threshold value T1During condition, choose the extraction that secondary algorithm submodule is tracked the moving displacement of target, T1
Span be (0,1mm]；
(2) main algorithm submodule: for extracting the moving displacement following the trail of target, setting video by the way of image registration
Total n hardwood image, the tracking target image in the first frame in selecting video is as template image P (σ), and subsequent frame image is Ij
(σ), j=2 ... n, repeatedly distort described subsequent frame image Ij(σ) institute after so that it is align with template image P (σ), every time distorting
State subsequent frame image Ij(σ) increment Delta δ and between template image P (σ)jFor:
Wherein, ψ (σ；δj) it is that (x y) is mapped to subsequent frame image I for the pixel coordinate σ of template image P (σ)j(σ) Asia picture
Element coordinate, δjRepresent the parameter vector of Skewed transformation, Ij(ψ(σ；δj)) it is from subsequent frame image Ij(σ) twist part intercepted in
Point,For wreath piece at subpixel coordinates ψ (σ；δj) gradient at place；
Described main algorithm submodule is by continuous iterative computation increment Delta δjUpdate δj, gradually to realize image registration, more
New process is: δj←δj+Δδj, to transformation parameter δ every time after updatingjOne decimal place carry out round, stop
Update condition be | | Δ δj||≤T2, T2For the threshold value set, T2Span be [0.4,0.5], the conversion of final updating
Parameter δjIt is subsequent frame image Ij(σ) the compound movement displacement of tracking target to be extracted in；
(3) secondary algorithm submodule: for extracting the moving displacement following the trail of target, setting video by the way of template matching
Total n hardwood image, the first two field picture in selecting video is coupling image, and the effective coverage of subsequent frame is template image Pi, i=
2 ... n, follows the trail of the simple motion displacement (x of target in each hardwood imagei,yi) it is:
Wherein, (x0,y0) it is by calculation template image PiObtain with the NCC correlation matrix of the first two field picture
The coordinate of big location point, m1,m2,m3,m4,m5For (x0,y08 coordinate points (x around)k,yk) correlation coefficient, k=1 ..., 8,
(x0,y0) it is c (x with the relation of described correlation coefficientk,yk)=m0+m1xk+m2yk+m3xk 2+m4xkyk+m5yk 2；
(4) displacement correction submodule, it is contemplated that the local temperature impact on bridge displacement, introduces temperature correction coefficient L pair
The moving displacement of said extracted is modified, and the span of empirical value L is [0.95,1.05]:
Revised compound movement displacement: δ 'j=δj×L
Revised simple motion displacement: (xi,yi) '=(xi,yi)×L；
(5) display sub-module, is connected with main algorithm submodule, secondary algorithm submodule, for processing and showing and follow the trail of mesh
The moving displacement data that mark is correlated with and the vibration displacement curve following the tracks of target.
This preferred embodiment arranges secondary algorithm submodule, and to meeting brightness constancy, space one displacement difference between hardwood of making peace is less than
Set threshold value T1The adjacent hardwood image of condition carries out displacement extraction, only template image need to be selected to calculate, simple, directly perceived, from
Dynamicization ability is strong, and proposes simple motion displacement (xi,yi) computing formula, improve the speed of calculating；By arranging main calculation
Method submodule, to being unsatisfactory for brightness constancy, space one make peace between hardwood displacement difference less than setting threshold value T1Any one condition adjacent
Hardwood image carries out displacement extraction, extracts process relatively simple, can quickly be performed, it is possible to achieve the real-time displacement of high-speed camera
Extract；By arranging algorithms selection submodule, the displacement extraction algorithm of hardwood image each in video is in optimized selection, decreases
Dependence to image procossing, improves the efficiency that displacement is extracted, and the displacement extraction time of every hardwood image can be reduced to by algorithm
Below 0.1ms；By arranging displacement correction submodule, eliminating the temperature impact on displacement, result of calculation is the most accurate.
Preferably, described data evaluation module includes main assessment submodule and secondary assessment submodule:
A, main assessment submodule: the vibration displacement curve in display sub-module is estimated, if vibration displacement curve is commented
It is qualified to estimate, and is the most no longer estimated moving displacement data；
B, secondary assessment submodule: when vibration displacement curve assessment is defective, to the moving displacement number in display sub-module
According to being estimated, find out abnormal data.
This preferred embodiment improves the precision of health state evaluation.
This application scene above-described embodiment takes T1=0.03, T2When=0.4, analyze speed and relatively improve 4.7%, analyze
Precision improves 4.7% relatively.
Last it should be noted that, use above scene is only in order to illustrate technical scheme, rather than to the present invention
The restriction of protection domain, although having made to explain to the present invention with reference to preferred application scene, the ordinary skill people of this area
Member should be appreciated that and can modify technical scheme or equivalent, without deviating from technical solution of the present invention
Spirit and scope.
Claims (3)
1. Rectangular Concrete pouring pile hole machine, is characterized in that, including containment vessel, hydraulic driving machine, link chain mechanism, upper square hammer
Body and under square hammer body；Described hydraulic driving machine and link chain mechanism are arranged in containment vessel, described square hammer body and under square
Hammer body connects hydraulic driving machine by link chain mechanism, and described link chain mechanism is for being converted into the downward drive force of hydraulic driving machine
Order about square hammer body and under the impulsive force impacted downwards of square hammer body.
Rectangular Concrete pouring pile hole machine the most according to claim 1, is characterized in that, be provided with use in described containment vessel
In the health monitoring device of detection hydraulic driving machine, described health monitoring device is come by the vibration displacement of detection hydraulic vibration machine
Complete the health monitoring of hydraulic vibration machine.
Rectangular Concrete pouring pile hole machine the most according to claim 2, is characterized in that, described containment vessel is provided with use
In the display screen of display hydraulic driving machine health status, described display screen connects described health monitoring device by wireless network.
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