CN106231249B - A kind of unmanned derrick car - Google Patents
A kind of unmanned derrick car Download PDFInfo
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- CN106231249B CN106231249B CN201610597088.9A CN201610597088A CN106231249B CN 106231249 B CN106231249 B CN 106231249B CN 201610597088 A CN201610597088 A CN 201610597088A CN 106231249 B CN106231249 B CN 106231249B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 181
- 238000000605 extraction Methods 0.000 claims description 44
- 230000036541 health Effects 0.000 claims description 35
- 230000033001 locomotion Effects 0.000 claims description 29
- 238000012937 correction Methods 0.000 claims description 22
- 238000004458 analytical method Methods 0.000 claims description 21
- 230000003862 health status Effects 0.000 claims description 19
- 238000012806 monitoring device Methods 0.000 claims description 19
- 238000007405 data analysis Methods 0.000 claims description 18
- 230000009466 transformation Effects 0.000 claims description 18
- 238000004364 calculation method Methods 0.000 claims description 16
- 238000011157 data evaluation Methods 0.000 claims description 16
- 150000001875 compounds Chemical class 0.000 claims description 12
- 238000007781 pre-processing Methods 0.000 claims description 7
- 238000011156 evaluation Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 13
- 239000011121 hardwood Substances 0.000 description 70
- 238000000034 method Methods 0.000 description 11
- 230000002159 abnormal effect Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 5
- 239000000284 extract Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000012797 qualification Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
-
- H04W4/04—
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a kind of unmanned derrick cars, including derrick car car body, control centre, wireless telecom equipment, location information acquisition terminal and video monitoring, the control centre equipment link position information acquisition terminal, video monitoring and derrick car car body by wireless communication are provided with infrared sensor and GPS device on the derrick car car body.The present invention carries out the operation of control derrick car car body by control centre, location information acquisition is carried out by GPS device, and identification and accurate positioning are carried out to infrared sensor by video monitoring, have the advantages that operation automates, to effectively reduce human input, safety coefficient high.
Description
Technical field
The present invention relates to rubber tyre gantry crane design fields, and in particular to a kind of unmanned derrick car.
Background technique
Crane in the related technology is generally operated by people, and the degree of automation is low, and there are the uneasinesses such as operation error
Full factor.
Summary of the invention
To solve the above problems, the present invention is intended to provide a kind of unmanned derrick car.
The purpose of the present invention is realized using following technical scheme:
A kind of unmanned derrick car, including derrick car car body, control centre, wireless telecom equipment, location information acquisition
Terminal and video monitoring, the control centre by wireless communication equipment link position information acquisition terminal, video monitoring and rise
Loaded vehicle car body is provided with infrared sensor and GPS device on the derrick car car body.
The invention has the benefit that by control centre carry out control derrick car car body operation, by GPS device 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.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the application scenarios in attached drawing are not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is the rough schematic view of unmanned derrick car of the invention.
Fig. 2 is the operation workflow schematic diagram of health monitoring device of the present invention.
Appended drawing reference:
It is derrick car car body 1, control centre 2, wireless telecom equipment 3, location information acquisition terminal 4, video monitoring 5, infrared
Sensor 6, GPS device 7, health monitoring device 8.
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.
Claims (3)
1. a kind of unmanned derrick car, characterized in that including derrick car car body, control centre, wireless telecom equipment, position letter
Acquisition terminal and video monitoring are ceased, equipment link position information acquisition terminal, video are supervised by wireless communication for the control centre
Control and derrick car car body are provided with infrared sensor and GPS device on the derrick car car body；It is set on the derrick car car body
It is equipped with health monitoring device, the health monitoring device includes sequentially connected data preprocessing module, data analysis module, number
According to evaluation module and data disaply moudle, the data preprocessing module is used to acquire jack machinism vibration by video monitoring
Video image is transformed into gray space by video image, and is filtered the image after conversion by Gaussian filter；
The data analysis mould is for being analyzed and being handled to pretreated video image, to obtain the vibration displacement of jack machinism
Curve；The data evaluation module is used to carry out health analysis to the vibration displacement curve and judges the vibration position of jack machinism
It moves and whether is in health status, export jack machinism health status result；The data disaply moudle is for showing the lifting
Mechanism health status result；
The data analysis module includes:
(1) it algorithms selection submodule: is connect with main algorithm submodule, secondary algorithm submodule, for frame image each in video
Displacement extraction algorithm is selected, the selection principle followed are as follows: current frame image is unsatisfactory for brightness compared with previous frame image
Constant, space is unanimously and interframe displacement difference is less than given threshold T1Any one condition when, choose main algorithm submodule and chased after
The extraction of the moving displacement of track target；Current frame image meets that brightness constancy, space be consistent and interframe compared with previous frame image
Displacement difference is less than given threshold T1When condition, the extraction that secondary algorithm submodule is tracked the moving displacement of target, T are chosen1Take
Be worth range be (0,1mm]；
(2) main algorithm submodule: for extracting the moving displacement of tracking target by way of image registration, setting video is shared
N frame image, 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), after described after distorting every time
Continuous frame image IjIncrement Delta 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-pix of (σ) is sat
Mark, δjIndicate the parameter vector of Skewed transformation, Ij(ψ(σ；δj)) it is from subsequent frame image IjThe wreath piece intercepted in (σ), ▽ P
It is wreath piece in subpixel coordinates ψ (σ；δj) at gradient；
The main algorithm submodule is by constantly iterating to calculate increment Delta δjTo update δj, updated gradually to realize image registration
Journey are as follows: δj←δj+Δδj, to transformation parameter δ after updating every timejOne decimal place carry out round, stop update
Condition be | | Δ δj||≤T2, T2For the threshold value of setting, T2Value range be [0.4,0.5], the transformation parameter of final updating
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 by way of template matching, setting video is shared
N frame image, the first frame image in selecting video are 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 frame image are displaced (xi,yi) are as follows:
Wherein, (x0,y0) it is to pass through calculation template image PiThe dominant bit obtained with the NCC correlation matrix of first frame image
Set coordinate a little, 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 temperature correction coefficient L to above-mentioned
The moving displacement of extraction is modified, and the value range of empirical value L is [0.95,1.05]:
Revised compound movement displacement is δ 'j=δj×L；
Revised simple motion displacement is (xi,yi) '=(xi,yi)×L；
(5) display sub-module is connect with main algorithm submodule, secondary algorithm submodule, for handling and showing and tracking target phase
The vibration displacement data of pass and the vibration displacement curve of jack machinism.
2. a kind of unmanned derrick car according to claim 1, characterized in that the wireless telecom equipment is wireless
Electricity.
3. a kind of unmanned derrick car according to claim 2, characterized in that the derrick car car body includes crane
The control device of structure and control jack machinism operation, the control device are connected with control centre by the wireless telecom equipment
It connects.
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| EP3803071B1 (en) * | 2018-05-25 | 2024-07-10 | Clean Air-Engineering - Maritime, Inc. | Movable emission control system for auxiliary diesel engines |
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| CN102120545A (en) * | 2010-12-22 | 2011-07-13 | 长沙中联重工科技发展股份有限公司 | Crane anti-swing system |
| CN102923592A (en) * | 2012-10-25 | 2013-02-13 | 宜昌三思科技有限公司 | Tower crane safety monitoring system based on AVR (automatic voltage regulation) singlechip |
| CN204080716U (en) * | 2014-09-20 | 2015-01-07 | 河南省黄河防爆起重机有限公司 | A kind of city automatic sweeping system |
| CN105197824A (en) * | 2015-09-08 | 2015-12-30 | 广东力特工程机械有限公司 | Crawler crane centering and remote monitoring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102120545A (en) * | 2010-12-22 | 2011-07-13 | 长沙中联重工科技发展股份有限公司 | Crane anti-swing system |
| CN102923592A (en) * | 2012-10-25 | 2013-02-13 | 宜昌三思科技有限公司 | Tower crane safety monitoring system based on AVR (automatic voltage regulation) singlechip |
| CN204080716U (en) * | 2014-09-20 | 2015-01-07 | 河南省黄河防爆起重机有限公司 | A kind of city automatic sweeping system |
| CN105197824A (en) * | 2015-09-08 | 2015-12-30 | 广东力特工程机械有限公司 | Crawler crane centering and remote monitoring system |
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Denomination of invention: An unmanned crane vehicle Effective date of registration: 20210917 Granted publication date: 20190118 Pledgee: Linda Branch of Zhejiang Pinghu Rural Commercial Bank Co.,Ltd. Pledgor: Hefork Intelligent Equipment Co.,Ltd. Registration number: Y2021330001642 |
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