Specific embodiment
In conjunction with following application scenarios, the invention will be further described.
Application scenarios 1
Referring to Fig. 1, Fig. 2, the unmanned derrick car of one of one embodiment of this application scene, including derrick car vehicle
Body 1, control centre 2, wireless telecom equipment 3, location information acquisition terminal 4 and video monitoring 5, the control centre 2 pass through nothing
3 link position information acquisition terminal 4 of line communication equipment, video monitoring 5 and derrick car car body 1 are set on the derrick car car body 1
It is equipped with infrared sensor 6 and GPS device 7.
The above embodiment of the present invention by control centre 2 carry out control derrick car car body 1 operation, by GPS device 7 into
The acquisition of row location information, and identification and accurate positioning are carried out to infrared sensor by video monitoring, there is operation to automate,
The high advantage of human input, safety coefficient is effectively reduced, to solve above-mentioned technical problem.
Preferably, the wireless telecom equipment 3 is radio.
This preferred embodiment, as wireless telecom equipment, is had the advantages that at low cost, stable using radio.
Preferably, the derrick car car body 1 includes jack machinism and the control device for controlling jack machinism operation, the control
Device processed is connect with control centre by the wireless telecom equipment 3.
This preferred embodiment executes order to control device transmission by control centre 2, and control device is according to executing order
The operation of automatic control hoisting mechanism, improves the accuracy of derrick car being automatically brought into operation.
Preferably, health monitoring device 8 is provided on the derrick car car body, the health monitoring device 8 includes successively
Data preprocessing module, data analysis module, data evaluation module and the data disaply moudle of connection, the data prediction mould
Block is used to acquire the video image of jack machinism vibration by video monitoring, video image is transformed into gray space, and makes to turn
Image after changing is filtered by Gaussian filter;The data analysis mould 2 is used for pretreated video image
It is analyzed and is handled, to obtain the vibration displacement curve of jack machinism;The data evaluation module is used for the vibration position
It moves curve to carry out health analysis and judge whether the vibration displacement of jack machinism is in health status, exports jack machinism health shape
State result;The data disaply moudle is for showing the jack machinism health status result.
This preferred embodiment constructs the module rack that health monitoring device is monitored analysis to jack machinism health status
Structure improves the safety of system.
Preferably, the data analysis module include algorithms selection submodule, main algorithm submodule, secondary algorithm submodule,
Displacement correction submodule and display sub-module, specifically:
(1) it algorithms selection submodule: is connect with main algorithm submodule, secondary algorithm submodule, for hardwood figure each in video
The displacement extraction algorithm of picture is selected, the selection principle followed are as follows: current frame image is unsatisfactory for compared with previous hardwood image
Brightness constancy, the consistent displacement difference between hardwood in space are less than given threshold T1Any one condition when, choose main algorithm submodule into
The extraction of the moving displacement of row tracking target;Current frame image meet compared with previous hardwood image brightness constancy, space it is consistent and
Displacement difference is less than given threshold T between hardwood1When condition, the extraction that secondary algorithm submodule is tracked the moving displacement of target, T are chosen1
Value range be (0,1mm];
(2) main algorithm submodule: for extracting the moving displacement of tracking target, setting video by way of image registration
N hardwood image is shared, for the tracking target image in first frame in selecting video as template image P (σ), subsequent frame image is Ij
(σ), j=2 ... n repeatedly distorts the subsequent frame image Ij(σ) is aligned it with template image P (σ), every time institute after distortion
State subsequent frame image IjIncrement △ δ between (σ) and template image P (σ)jAre as follows:
Wherein, ψ (σ;δj) be template image P (σ) pixel coordinate σ (x, y) be mapped to subsequent frame image IjThe sub- picture of (σ)
Plain coordinate, δjIndicate the parameter vector of Skewed transformation, Ij(ψ(σ;δj)) it is from subsequent frame image IjThe twist part intercepted in (σ)
Point,It is wreath piece in subpixel coordinates ψ (σ;δj) at gradient;
The main algorithm submodule is by constantly iterating to calculate increment △ δjTo update δj, gradually to realize image registration, more
New process are as follows: δj←δj+△δj, to transformation parameter δ after updating every timejOne decimal place carry out round, stop
The condition of update is | | △ δj||≤T2, T2For the threshold value of setting, T2Value range be [0.4,0.5], the transformation of final updating
Parameter δjAs subsequent frame image IjThe compound movement of the tracking target to be extracted in (σ) is displaced;
(3) secondary algorithm submodule: for extracting the moving displacement of tracking target, setting video by way of template matching
N hardwood image is shared, the first frame image in selecting video is matching image, and the effective coverage of subsequent frame is template image Pi, i=
2 ... n, the simple motion that target is tracked in each hardwood image are displaced (xi, yi) are as follows:
Wherein, (x0, y0) it is to pass through calculation template image PiIt is obtained most with the NCC correlation matrix of first frame image
The coordinate of big location point, m1,m2,m3,m4,m5For (x0, y0) 8 coordinate points (x of surroundingk, yk) related coefficient, k=1 ..., 8,
(x0, y0) it with the relationship of the related coefficient is c (xk, yk)=m0+m1xk+m2yk+m3xk 2+m4xkyk+m5yk 2;
(4) displacement correction submodule, it is contemplated that influence of the local temperature to bridge displacement introduces L pairs of temperature correction coefficient
The moving displacement of said extracted is modified, and the value range 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 connect with main algorithm submodule, secondary algorithm submodule, for handling and showing and tracking mesh
Mark the vibration displacement curve of relevant vibration displacement data and jack machinism.
Secondary algorithm submodule is arranged in this preferred embodiment, and to brightness constancy, space is met, unanimously the displacement difference between hardwood is less than
Given threshold T1The adjacent hardwood image of condition carries out displacement extraction, need to only template image be selected to be calculated, simple, intuitive, from
Dynamicization ability is strong, and proposes simple motion displacement (xi,yi) calculation formula, improve the speed of calculating;By the way that main calculation is arranged
Method submodule, to brightness constancy, space is unsatisfactory for, unanimously displacement difference is less than given threshold T between hardwood1Any one condition it is adjacent
Hardwood image carries out displacement extraction, and extraction process is relatively simple, can quickly be performed, and the real-time displacement of high-speed camera may be implemented
It extracts;By the way that algorithms selection submodule is arranged, the displacement extraction algorithm of hardwood image each in video is in optimized selection, is reduced
Dependence to image procossing, improves the efficiency that displacement is extracted, and algorithm can be reduced to the displacement extraction time of every hardwood image
0.1ms or less;By the way that displacement correction submodule is arranged, influence of the temperature to displacement is eliminated, calculated result is more accurate.
Preferably, the data evaluation module includes main assessment submodule and secondary assessment submodule:
A, main assessment submodule: the vibration displacement curve in display sub-module is assessed, if vibration displacement curve is commented
Estimate qualification, then no longer vibration displacement data is assessed;
B, secondary assessment submodule: when vibration displacement curve assessment is unqualified, to the vibration displacement number in display sub-module
According to being assessed, abnormal data is found out.
This preferred embodiment improves the precision of health state evaluation.
This application scene above-described embodiment takes T1=0.1, T2=0.5, to the analysis speed phase of the health status of jack machinism
To improving 5%, analysis precision is opposite to improve 4.2%.
Application scenarios 2
Referring to Fig. 1, Fig. 2, the unmanned derrick car of one of one embodiment of this application scene, including derrick car vehicle
Body 1, control centre 2, wireless telecom equipment 3, location information acquisition terminal 4 and video monitoring 5, the control centre 2 pass through nothing
3 link position information acquisition terminal 4 of line communication equipment, video monitoring 5 and derrick car car body 1 are set on the derrick car car body 1
It is equipped with infrared sensor 6 and GPS device 7.
The above embodiment of the present invention by control centre 2 carry out control derrick car car body 1 operation, by GPS device 7 into
The acquisition of row location information, and identification and accurate positioning are carried out to infrared sensor by video monitoring, there is operation to automate,
The high advantage of human input, safety coefficient is effectively reduced, to solve above-mentioned technical problem.
Preferably, the wireless telecom equipment 3 is radio.
This preferred embodiment, as wireless telecom equipment, is had the advantages that at low cost, stable using radio.
Preferably, the derrick car car body 1 includes jack machinism and the control device for controlling jack machinism operation, the control
Device processed is connect with control centre by the wireless telecom equipment 3.
This preferred embodiment executes order to control device transmission by control centre 2, and control device is according to executing order
The operation of automatic control hoisting mechanism, improves the accuracy of derrick car being automatically brought into operation.
Preferably, health monitoring device 8 is provided on the derrick car car body, the health monitoring device 8 includes successively
Data preprocessing module, data analysis module, data evaluation module and the data disaply moudle of connection, the data prediction mould
Block is used to acquire the video image of jack machinism vibration by video monitoring, video image is transformed into gray space, and makes to turn
Image after changing is filtered by Gaussian filter;The data analysis mould 2 is used for pretreated video image
It is analyzed and is handled, to obtain the vibration displacement curve of jack machinism;The data evaluation module is used for the vibration position
It moves curve to carry out health analysis and judge whether the vibration displacement of jack machinism is in health status, exports jack machinism health shape
State result;The data disaply moudle is for showing the jack machinism health status result.
This preferred embodiment constructs the module rack that health monitoring device is monitored analysis to jack machinism health status
Structure improves the safety of system.
Preferably, the data analysis module include algorithms selection submodule, main algorithm submodule, secondary algorithm submodule,
Displacement correction submodule and display sub-module, specifically:
(1) it algorithms selection submodule: is connect with main algorithm submodule, secondary algorithm submodule, for hardwood figure each in video
The displacement extraction algorithm of picture is selected, the selection principle followed are as follows: current frame image is unsatisfactory for compared with previous hardwood image
Brightness constancy, the consistent displacement difference between hardwood in space are less than given threshold T1Any one condition when, choose main algorithm submodule into
The extraction of the moving displacement of row tracking target;Current frame image meet compared with previous hardwood image brightness constancy, space it is consistent and
Displacement difference is less than given threshold T between hardwood1When condition, the extraction that secondary algorithm submodule is tracked the moving displacement of target, T are chosen1
Value range be (0,1mm];
(2) main algorithm submodule: for extracting the moving displacement of tracking target, setting video by way of image registration
N hardwood image is shared, for the tracking target image in first frame in selecting video as template image P (σ), subsequent frame image is Ij
(σ), j=2 ... n repeatedly distorts the subsequent frame image Ij(σ) is aligned it with template image P (σ), every time institute after distortion
State subsequent frame image IjIncrement △ δ between (σ) and template image P (σ)jAre as follows:
Wherein, ψ (σ;δj) be template image P (σ) pixel coordinate σ (x, y) be mapped to subsequent frame image IjThe sub- picture of (σ)
Plain coordinate, δjIndicate the parameter vector of Skewed transformation, Ij(ψ(σ;δj)) it is from subsequent frame image IjThe twist part intercepted in (σ)
Point,It is wreath piece in subpixel coordinates ψ (σ;δj) at gradient;
The main algorithm submodule is by constantly iterating to calculate increment △ δjTo update δj, gradually to realize image registration, more
New process are as follows: δj←δj+△δj, to transformation parameter δ after updating every timejOne decimal place carry out round, stop
The condition of update is | | △ δj||≤T2, T2For the threshold value of setting, T2Value range be [0.4,0.5], the transformation of final updating
Parameter δjAs subsequent frame image IjThe compound movement of the tracking target to be extracted in (σ) is displaced;
(3) secondary algorithm submodule: for extracting the moving displacement of tracking target, setting video by way of template matching
N hardwood image is shared, the first frame image in selecting video is matching image, and the effective coverage of subsequent frame is template image Pi, i=
2 ... n, the simple motion that target is tracked in each hardwood image are displaced (xi, yi) are as follows:
Wherein, (x0, y0) it is to pass through calculation template image PiIt is obtained most with the NCC correlation matrix of first frame image
The coordinate of big location point, m1,m2,m3,m4,m5For (x0, y0) 8 coordinate points (x of surroundingk, yk) related coefficient, k=1 ..., 8,
(x0, y0) it with the relationship of the related coefficient is c (xk, yk)=m0+m1xk+m2yk+m3xk 2+m4xkyk+m5yk 2;
(4) displacement correction submodule, it is contemplated that influence of the local temperature to bridge displacement introduces L pairs of temperature correction coefficient
The moving displacement of said extracted is modified, and the value range 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 connect with main algorithm submodule, secondary algorithm submodule, for handling and showing and tracking mesh
Mark the vibration displacement curve of relevant vibration displacement data and jack machinism.
Secondary algorithm submodule is arranged in this preferred embodiment, and to brightness constancy, space is met, unanimously the displacement difference between hardwood is less than
Given threshold T1The adjacent hardwood image of condition carries out displacement extraction, need to only template image be selected to be calculated, simple, intuitive, from
Dynamicization ability is strong, and proposes simple motion displacement (xi, yi) calculation formula, improve the speed of calculating;By the way that main calculation is arranged
Method submodule, to brightness constancy, space is unsatisfactory for, unanimously displacement difference is less than given threshold T between hardwood1Any one condition it is adjacent
Hardwood image carries out displacement extraction, and extraction process is relatively simple, can quickly be performed, and the real-time displacement of high-speed camera may be implemented
It extracts;By the way that algorithms selection submodule is arranged, the displacement extraction algorithm of hardwood image each in video is in optimized selection, is reduced
Dependence to image procossing, improves the efficiency that displacement is extracted, and algorithm can be reduced to the displacement extraction time of every hardwood image
0.1ms or less;By the way that displacement correction submodule is arranged, influence of the temperature to displacement is eliminated, calculated result is more accurate.
Preferably, the data evaluation module includes main assessment submodule and secondary assessment submodule:
A, main assessment submodule: the vibration displacement curve in display sub-module is assessed, if vibration displacement curve is commented
Estimate qualification, then no longer vibration displacement data is assessed;
B, secondary assessment submodule: when vibration displacement curve assessment is unqualified, to the vibration displacement number in display sub-module
According to being assessed, abnormal data is found out.
This preferred embodiment improves the precision of health state evaluation.
This application scene above-described embodiment takes T1=0.09, T2When=0.5, analysis speed is opposite to improve 4.5%, analysis
Precision is opposite to improve 4.5%.
Application scenarios 3
Referring to Fig. 1, Fig. 2, the unmanned derrick car of one of one embodiment of this application scene, including derrick car vehicle
Body 1, control centre 2, wireless telecom equipment 3, location information acquisition terminal 4 and video monitoring 5, the control centre 2 pass through nothing
3 link position information acquisition terminal 4 of line communication equipment, video monitoring 5 and derrick car car body 1 are set on the derrick car car body 1
It is equipped with infrared sensor 6 and GPS device 7.
The above embodiment of the present invention by control centre 2 carry out control derrick car car body 1 operation, by GPS device 7 into
The acquisition of row location information, and identification and accurate positioning are carried out to infrared sensor by video monitoring, there is operation to automate,
The high advantage of human input, safety coefficient is effectively reduced, to solve above-mentioned technical problem.
Preferably, the wireless telecom equipment 3 is radio.
This preferred embodiment, as wireless telecom equipment, is had the advantages that at low cost, stable using radio.
Preferably, the derrick car car body 1 includes jack machinism and the control device for controlling jack machinism operation, the control
Device processed is connect with control centre by the wireless telecom equipment 3.
This preferred embodiment executes order to control device transmission by control centre 2, and control device is according to executing order
The operation of automatic control hoisting mechanism, improves the accuracy of derrick car being automatically brought into operation.
Preferably, health monitoring device 8 is provided on the derrick car car body, the health monitoring device 8 includes successively
Data preprocessing module, data analysis module, data evaluation module and the data disaply moudle of connection, the data prediction mould
Block is used to acquire the video image of jack machinism vibration by video monitoring, video image is transformed into gray space, and makes to turn
Image after changing is filtered by Gaussian filter;The data analysis mould 2 is used for pretreated video image
It is analyzed and is handled, to obtain the vibration displacement curve of jack machinism;The data evaluation module is used for the vibration position
It moves curve to carry out health analysis and judge whether the vibration displacement of jack machinism is in health status, exports jack machinism health shape
State result;The data disaply moudle is for showing the jack machinism health status result.
This preferred embodiment constructs the module rack that health monitoring device is monitored analysis to jack machinism health status
Structure improves the safety of system.
Preferably, the data analysis module include algorithms selection submodule, main algorithm submodule, secondary algorithm submodule,
Displacement correction submodule and display sub-module, specifically:
(1) it algorithms selection submodule: is connect with main algorithm submodule, secondary algorithm submodule, for hardwood figure each in video
The displacement extraction algorithm of picture is selected, the selection principle followed are as follows: current frame image is unsatisfactory for compared with previous hardwood image
Brightness constancy, the consistent displacement difference between hardwood in space are less than given threshold T1Any one condition when, choose main algorithm submodule into
The extraction of the moving displacement of row tracking target;Current frame image meet compared with previous hardwood image brightness constancy, space it is consistent and
Displacement difference is less than given threshold T between hardwood1When condition, the extraction that secondary algorithm submodule is tracked the moving displacement of target, T are chosen1
Value range be (0,1mm];
(2) main algorithm submodule: for extracting the moving displacement of tracking target, setting video by way of image registration
N hardwood image is shared, for the tracking target image in first frame in selecting video as template image P (σ), subsequent frame image is Ij
(σ), j=2 ... n repeatedly distorts the subsequent frame image Ij(σ) is aligned it with template image P (σ), every time institute after distortion
State subsequent frame image IjIncrement △ δ between (σ) and template image P (σ)jAre as follows:
Wherein, ψ (σ;δj) be template image P (σ) pixel coordinate σ (x, y) be mapped to subsequent frame image IjThe sub- picture of (σ)
Plain coordinate, δjIndicate the parameter vector of Skewed transformation, Ij(ψ(σ;δj)) it is from subsequent frame image IjThe twist part intercepted in (σ)
Point,It is wreath piece in subpixel coordinates ψ (σ;δj) at gradient;
The main algorithm submodule is by constantly iterating to calculate increment △ δjTo update δj, gradually to realize image registration, more
New process are as follows: δj←δj+△δj, to transformation parameter δ after updating every timejOne decimal place carry out round, stop
The condition of update is | | △ δj||≤T2, T2For the threshold value of setting, T2Value range be [0.4,0.5], the transformation of final updating
Parameter δjAs subsequent frame image IjThe compound movement of the tracking target to be extracted in (σ) is displaced;
(3) secondary algorithm submodule: for extracting the moving displacement of tracking target, setting video by way of template matching
N hardwood image is shared, the first frame image in selecting video is matching image, and the effective coverage of subsequent frame is template image Pi, i=
2 ... n, the simple motion that target is tracked in each hardwood image are displaced (xi,yi) are as follows:
Wherein, (x0,y0) it is to pass through calculation template image PiIt is obtained most with the NCC correlation matrix of first frame image
The coordinate of big location point, m1,m2,m3,m4,m5For (x0,y0) 8 coordinate points (x of surroundingk,yk) related coefficient, k=1 ..., 8,
(x0,y0) it with the relationship of the related coefficient is c (xk,yk)=m0+m1xk+m2yk+m3xk 2+m4xkyk+m5yk 2;
(4) displacement correction submodule, it is contemplated that influence of the local temperature to bridge displacement introduces L pairs of temperature correction coefficient
The moving displacement of said extracted is modified, and the value range 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 connect with main algorithm submodule, secondary algorithm submodule, for handling and showing and tracking mesh
Mark the vibration displacement curve of relevant vibration displacement data and jack machinism.
Secondary algorithm submodule is arranged in this preferred embodiment, and to brightness constancy, space is met, unanimously the displacement difference between hardwood is less than
Given threshold T1The adjacent hardwood image of condition carries out displacement extraction, need to only template image be selected to be calculated, simple, intuitive, from
Dynamicization ability is strong, and proposes simple motion displacement (xi,yi) calculation formula, improve the speed of calculating;By the way that main calculation is arranged
Method submodule, to brightness constancy, space is unsatisfactory for, unanimously displacement difference is less than given threshold T between hardwood1Any one condition it is adjacent
Hardwood image carries out displacement extraction, and extraction process is relatively simple, can quickly be performed, and the real-time displacement of high-speed camera may be implemented
It extracts;By the way that algorithms selection submodule is arranged, the displacement extraction algorithm of hardwood image each in video is in optimized selection, is reduced
Dependence to image procossing, improves the efficiency that displacement is extracted, and algorithm can be reduced to the displacement extraction time of every hardwood image
0.1ms or less;By the way that displacement correction submodule is arranged, influence of the temperature to displacement is eliminated, calculated result is more accurate.
Preferably, the data evaluation module includes main assessment submodule and secondary assessment submodule:
A, main assessment submodule: the vibration displacement curve in display sub-module is assessed, if vibration displacement curve is commented
Estimate qualification, then no longer vibration displacement data is assessed;
B, secondary assessment submodule: when vibration displacement curve assessment is unqualified, to the vibration displacement number in display sub-module
According to being assessed, abnormal data is found out.
This preferred embodiment improves the precision of health state evaluation.
This application scene above-described embodiment takes T1=0.06, T2When=0.45, analysis speed is opposite to improve 3.5%, analysis
Precision is opposite to improve 4%.
Application scenarios 4
Referring to Fig. 1, Fig. 2, the unmanned derrick car of one of one embodiment of this application scene, including derrick car vehicle
Body 1, control centre 2, wireless telecom equipment 3, location information acquisition terminal 4 and video monitoring 5, the control centre 2 pass through nothing
3 link position information acquisition terminal 4 of line communication equipment, video monitoring 5 and derrick car car body 1 are set on the derrick car car body 1
It is equipped with infrared sensor 6 and GPS device 7.
The above embodiment of the present invention by control centre 2 carry out control derrick car car body 1 operation, by GPS device 7 into
The acquisition of row location information, and identification and accurate positioning are carried out to infrared sensor by video monitoring, there is operation to automate,
The high advantage of human input, safety coefficient is effectively reduced, to solve above-mentioned technical problem.
Preferably, the wireless telecom equipment 3 is radio.
This preferred embodiment, as wireless telecom equipment, is had the advantages that at low cost, stable using radio.
Preferably, the derrick car car body 1 includes jack machinism and the control device for controlling jack machinism operation, the control
Device processed is connect with control centre by the wireless telecom equipment 3.
This preferred embodiment executes order to control device transmission by control centre 2, and control device is according to executing order
The operation of automatic control hoisting mechanism, improves the accuracy of derrick car being automatically brought into operation.
Preferably, health monitoring device 8 is provided on the derrick car car body, the health monitoring device 8 includes successively
Data preprocessing module, data analysis module, data evaluation module and the data disaply moudle of connection, the data prediction mould
Block is used to acquire the video image of jack machinism vibration by video monitoring, video image is transformed into gray space, and makes to turn
Image after changing is filtered by Gaussian filter;The data analysis mould 2 is used for pretreated video image
It is analyzed and is handled, to obtain the vibration displacement curve of jack machinism;The data evaluation module is used for the vibration position
It moves curve to carry out health analysis and judge whether the vibration displacement of jack machinism is in health status, exports jack machinism health shape
State result;The data disaply moudle is for showing the jack machinism health status result.
This preferred embodiment constructs the module rack that health monitoring device is monitored analysis to jack machinism health status
Structure improves the safety of system.
Preferably, the data analysis module include algorithms selection submodule, main algorithm submodule, secondary algorithm submodule,
Displacement correction submodule and display sub-module, specifically:
(1) it algorithms selection submodule: is connect with main algorithm submodule, secondary algorithm submodule, for hardwood figure each in video
The displacement extraction algorithm of picture is selected, the selection principle followed are as follows: current frame image is unsatisfactory for compared with previous hardwood image
Brightness constancy, the consistent displacement difference between hardwood in space are less than given threshold T1Any one condition when, choose main algorithm submodule into
The extraction of the moving displacement of row tracking target;Current frame image meet compared with previous hardwood image brightness constancy, space it is consistent and
Displacement difference is less than given threshold T between hardwood1When condition, the extraction that secondary algorithm submodule is tracked the moving displacement of target, T are chosen1
Value range be (0,1mm];
(2) main algorithm submodule: for extracting the moving displacement of tracking target, setting video by way of image registration
N hardwood image is shared, for the tracking target image in first frame in selecting video as template image P (σ), subsequent frame image is Ij
(σ), j=2 ... n repeatedly distorts the subsequent frame image Ij(σ) is aligned it with template image P (σ), every time institute after distortion
State subsequent frame image IjIncrement △ δ between (σ) and template image P (σ)jAre as follows:
Wherein, ψ (σ;δj) be template image P (σ) pixel coordinate σ (x, y) be mapped to subsequent frame image IjThe sub- picture of (σ)
Plain coordinate, δjIndicate the parameter vector of Skewed transformation, Ij(ψ(σ;δj)) it is from subsequent frame image IjThe twist part intercepted in (σ)
Point,It is wreath piece in subpixel coordinates ψ (σ;δj) at gradient;
The main algorithm submodule is by constantly iterating to calculate increment △ δjTo update δj, gradually to realize image registration, more
New process are as follows: δj←δj+△δj, to transformation parameter δ after updating every timejOne decimal place carry out round, stop
The condition of update is | | △ δj||≤T2, T2For the threshold value of setting, T2Value range be [0.4,0.5], the transformation of final updating
Parameter δjAs subsequent frame image IjThe compound movement of the tracking target to be extracted in (σ) is displaced;
(3) secondary algorithm submodule: for extracting the moving displacement of tracking target, setting video by way of template matching
N hardwood image is shared, the first frame image in selecting video is matching image, and the effective coverage of subsequent frame is template image Pi, i=
2 ... n, the simple motion that target is tracked in each hardwood image are displaced (xi, yi) are as follows:
Wherein, (x0, y0) it is to pass through calculation template image PiIt is obtained most with the NCC correlation matrix of first frame image
The coordinate of big location point, m1,m2,m3,m4,m5For (x0, y0) 8 coordinate points (x of surroundingk, yk) related coefficient, k=1 ..., 8,
(x0, y0) it with the relationship of the related coefficient is c (xk, yk)=m0+m1xk+m2yk+m3xk 2+m4xkyk+m5yk 2;
(4) displacement correction submodule, it is contemplated that influence of the local temperature to bridge displacement introduces L pairs of temperature correction coefficient
The moving displacement of said extracted is modified, and the value range 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 connect with main algorithm submodule, secondary algorithm submodule, for handling and showing and tracking mesh
Mark the vibration displacement curve of relevant vibration displacement data and jack machinism.
Secondary algorithm submodule is arranged in this preferred embodiment, and to brightness constancy, space is met, unanimously the displacement difference between hardwood is less than
Given threshold T1The adjacent hardwood image of condition carries out displacement extraction, need to only template image be selected to be calculated, simple, intuitive, from
Dynamicization ability is strong, and proposes simple motion displacement (xi,yi) calculation formula, improve the speed of calculating;By the way that main calculation is arranged
Method submodule, to brightness constancy, space is unsatisfactory for, unanimously displacement difference is less than given threshold T between hardwood1Any one condition it is adjacent
Hardwood image carries out displacement extraction, and extraction process is relatively simple, can quickly be performed, and the real-time displacement of high-speed camera may be implemented
It extracts;By the way that algorithms selection submodule is arranged, the displacement extraction algorithm of hardwood image each in video is in optimized selection, is reduced
Dependence to image procossing, improves the efficiency that displacement is extracted, and algorithm can be reduced to the displacement extraction time of every hardwood image
0.1ms or less;By the way that displacement correction submodule is arranged, influence of the temperature to displacement is eliminated, calculated result is more accurate.
Preferably, the data evaluation module includes main assessment submodule and secondary assessment submodule:
A, main assessment submodule: the vibration displacement curve in display sub-module is assessed, if vibration displacement curve is commented
Estimate qualification, then no longer vibration displacement data is assessed;
B, secondary assessment submodule: when vibration displacement curve assessment is unqualified, to the vibration displacement number in display sub-module
According to being assessed, abnormal data is found out.
This preferred embodiment improves the precision of health state evaluation.
This application scene above-described embodiment takes T1=0.06, T2When=0.4, analysis speed is opposite to improve 4%, analysis essence
Degree is opposite to improve 4.8%.
Application scenarios 5
Referring to Fig. 1, Fig. 2, the unmanned derrick car of one of one embodiment of this application scene, including derrick car vehicle
Body 1, control centre 2, wireless telecom equipment 3, location information acquisition terminal 4 and video monitoring 5, the control centre 2 pass through nothing
3 link position information acquisition terminal 4 of line communication equipment, video monitoring 5 and derrick car car body 1 are set on the derrick car car body 1
It is equipped with infrared sensor 6 and GPS device 7.
The above embodiment of the present invention by control centre 2 carry out control derrick car car body 1 operation, by GPS device 7 into
The acquisition of row location information, and identification and accurate positioning are carried out to infrared sensor by video monitoring, there is operation to automate,
The high advantage of human input, safety coefficient is effectively reduced, to solve above-mentioned technical problem.
Preferably, the wireless telecom equipment 3 is radio.
This preferred embodiment, as wireless telecom equipment, is had the advantages that at low cost, stable using radio.
Preferably, the derrick car car body 1 includes jack machinism and the control device for controlling jack machinism operation, the control
Device processed is connect with control centre by the wireless telecom equipment 3.
This preferred embodiment executes order to control device transmission by control centre 2, and control device is according to executing order
The operation of automatic control hoisting mechanism, improves the accuracy of derrick car being automatically brought into operation.
Preferably, health monitoring device 8 is provided on the derrick car car body, the health monitoring device 8 includes successively
Data preprocessing module, data analysis module, data evaluation module and the data disaply moudle of connection, the data prediction mould
Block is used to acquire the video image of jack machinism vibration by video monitoring, video image is transformed into gray space, and makes to turn
Image after changing is filtered by Gaussian filter;The data analysis mould 2 is used for pretreated video image
It is analyzed and is handled, to obtain the vibration displacement curve of jack machinism;The data evaluation module is used for the vibration position
It moves curve to carry out health analysis and judge whether the vibration displacement of jack machinism is in health status, exports jack machinism health shape
State result;The data disaply moudle is for showing the jack machinism health status result.
This preferred embodiment constructs the module rack that health monitoring device is monitored analysis to jack machinism health status
Structure improves the safety of system.
Preferably, the data analysis module include algorithms selection submodule, main algorithm submodule, secondary algorithm submodule,
Displacement correction submodule and display sub-module, specifically:
(1) it algorithms selection submodule: is connect with main algorithm submodule, secondary algorithm submodule, for hardwood figure each in video
The displacement extraction algorithm of picture is selected, the selection principle followed are as follows: current frame image is unsatisfactory for compared with previous hardwood image
Brightness constancy, the consistent displacement difference between hardwood in space are less than given threshold T1Any one condition when, choose main algorithm submodule into
The extraction of the moving displacement of row tracking target;Current frame image meet compared with previous hardwood image brightness constancy, space it is consistent and
Displacement difference is less than given threshold T between hardwood1When condition, the extraction that secondary algorithm submodule is tracked the moving displacement of target, T are chosen1
Value range be (0,1mm];
(2) main algorithm submodule: for extracting the moving displacement of tracking target, setting video by way of image registration
N hardwood image is shared, for the tracking target image in first frame in selecting video as template image P (σ), subsequent frame image is Ij
(σ), j=2 ... n repeatedly distorts the subsequent frame image Ij(σ) is aligned it with template image P (σ), every time institute after distortion
State subsequent frame image IjIncrement △ δ between (σ) and template image P (σ)jAre as follows:
Wherein, ψ (σ;δj) be template image P (σ) pixel coordinate σ (x, y) be mapped to subsequent frame image IjThe sub- picture of (σ)
Plain coordinate, δjIndicate the parameter vector of Skewed transformation, Ij(ψ(σ;δj)) it is from subsequent frame image IjThe twist part intercepted in (σ)
Point,It is wreath piece in subpixel coordinates ψ (σ;δj) at gradient;
The main algorithm submodule is by constantly iterating to calculate increment △ δjTo update δj, gradually to realize image registration, more
New process are as follows: δj←δj+△δj, to transformation parameter δ after updating every timejOne decimal place carry out round, stop
The condition of update is | | △ δj||≤T2, T2For the threshold value of setting, T2Value range be [0.4,0.5], the transformation of final updating
Parameter δjAs subsequent frame image IjThe compound movement of the tracking target to be extracted in (σ) is displaced;
(3) secondary algorithm submodule: for extracting the moving displacement of tracking target, setting video by way of template matching
N hardwood image is shared, the first frame image in selecting video is matching image, and the effective coverage of subsequent frame is template image Pi, i=
2 ... n, the simple motion that target is tracked in each hardwood image are displaced (xi, yi) are as follows:
Wherein, (x0, y0) it is to pass through calculation template image PiIt is obtained most with the NCC correlation matrix of first frame image
The coordinate of big location point, m1,m2,m3,m4,m5For (x0, y0) 8 coordinate points (x of surroundingk, yk) related coefficient, k=1 ..., 8,
(x0, y0) it with the relationship of the related coefficient is c (xk, yk)=m0+m1xk+m2yk+m3xk 2+m4xkyk+m5yk 2;
(4) displacement correction submodule, it is contemplated that influence of the local temperature to bridge displacement introduces L pairs of temperature correction coefficient
The moving displacement of said extracted is modified, and the value range 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 connect with main algorithm submodule, secondary algorithm submodule, for handling and showing and tracking mesh
Mark the vibration displacement curve of relevant vibration displacement data and jack machinism.
Secondary algorithm submodule is arranged in this preferred embodiment, and to brightness constancy, space is met, unanimously the displacement difference between hardwood is less than
Given threshold T1The adjacent hardwood image of condition carries out displacement extraction, need to only template image be selected to be calculated, simple, intuitive, from
Dynamicization ability is strong, and proposes simple motion displacement (xi,yi) calculation formula, improve the speed of calculating;By the way that main calculation is arranged
Method submodule, to brightness constancy, space is unsatisfactory for, unanimously displacement difference is less than given threshold T between hardwood1Any one condition it is adjacent
Hardwood image carries out displacement extraction, and extraction process is relatively simple, can quickly be performed, and the real-time displacement of high-speed camera may be implemented
It extracts;By the way that algorithms selection submodule is arranged, the displacement extraction algorithm of hardwood image each in video is in optimized selection, is reduced
Dependence to image procossing, improves the efficiency that displacement is extracted, and algorithm can be reduced to the displacement extraction time of every hardwood image
0.1ms or less;By the way that displacement correction submodule is arranged, influence of the temperature to displacement is eliminated, calculated result is more accurate.
Preferably, the data evaluation module includes main assessment submodule and secondary assessment submodule:
A, main assessment submodule: the vibration displacement curve in display sub-module is assessed, if vibration displacement curve is commented
Estimate qualification, then no longer vibration displacement data is assessed;
B, secondary assessment submodule: when vibration displacement curve assessment is unqualified, to the vibration displacement number in display sub-module
According to being assessed, abnormal data is found out.
This preferred embodiment improves the precision of health state evaluation.
This application scene above-described embodiment takes T1=0.03, T2When=0.4, analysis speed is opposite to improve 4.7%, analysis
Precision is opposite to improve 4.7%.
Finally it should be noted that use above scene is merely illustrative of the technical solution of the present invention, rather than to the present invention
The limitation of protection scope, although being explained in detail referring to preferred application scene to the present invention, the ordinary skill people of this field
Member is it should be appreciated that can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from technical solution of the present invention
Spirit and scope.