阅读说明：本技术 一种起重机主梁疲劳预警系统 (Fatigue early warning system for main beam of crane ) 是由 程永恒 姬健 孙云 蔡大伟 于 2020-06-01 设计创作，主要内容包括：本发明提供一种起重机主梁疲劳预警系统,其利用信号接收装置、信号发射装置、声源发生装置、声波信号接收装置、图像获取部、图像运算部、信号调理电路、显示器、微处理器、存储器以及报警装置对起重机主梁进行实时检测和离线检测,具体通过声波发生装置和声波信号接收装置以及信号调理电路对起重机主梁进行实时检测,通过图像获取部、图像运算部获得清晰的起重机主梁图像,进而对起重机主梁进行离线检测,最后,在起重机主梁诊断出故障时,使用信号接收装置和信号发射装置对工作人员进行有效保护。(The invention provides a fatigue early warning system for a crane girder, which utilizes a signal receiving device, a signal transmitting device, a sound source generating device, a sound wave signal receiving device, an image acquiring part, an image operating part, a signal conditioning circuit, a display, a microprocessor, a memory and an alarm device to carry out real-time detection and off-line detection on the crane girder, particularly carries out real-time detection on the crane girder through the sound wave generating device, the sound wave signal receiving device and the signal conditioning circuit, obtains clear images of the crane girder through the image acquiring part and the image operating part, further carries out off-line detection on the crane girder, and finally uses the signal receiving device and the signal transmitting device to effectively protect workers when the crane girder diagnoses faults.)

1. The fatigue early warning system for the crane girder is characterized by comprising a signal receiving device (2), a signal transmitting device (4), a sound source generating device (5), a sound wave signal receiving device (6), an image acquiring part (7), an image calculating part (8), a signal conditioning circuit, a display, a microprocessor, a memory and an alarm device;

wherein the signal receiving device (2) is positioned on a crane girder (1), the signal transmitting device (4) is arranged on a working garment of a worker (3), the sound source generating device (5) is arranged at one end of the crane girder (1), the sound wave signal receiving device (6) is arranged at the other end of the crane girder (1), the image acquiring part (7) is arranged above the crane girder (1), the image acquiring part (7) acquires image information of the crane girder (1), the image acquiring part (7) transmits the acquired image information to the image operating part (8), the image operating part (8) performs image processing on the received image and then transmits the processed image information to the microprocessor, the microprocessor transmits the received image information to the display for displaying, and the microprocessor transmits the received image information to the memory for storing, meanwhile, the sound source generating device (5) sends a sound wave signal to the crane girder (1), the sound wave signal is transmitted to the sound wave signal receiving device (6) through the crane girder, the sound wave signal receiving device (6) is used for receiving the sound wave signal and converting the received sound wave signal into a voltage signal and then transmitting the voltage signal to the signal conditioning circuit, the signal conditioning circuit processes the received electric signal and then transmits the processed signal to the microprocessor, the microprocessor diagnoses the safety performance of the crane girder (1) according to the received electric signal, if the potential safety hazard exists, the microprocessor controls the alarm device to give an alarm, meanwhile, the microprocessor controls the signal receiving device (2) to start working, and the signal receiving device (2) is a device capable of receiving the signal transmitted by the signal transmitting device (4) within a preset range, if the signal receiving device (2) receives the signal transmitted by the signal transmitting device (4), the signal transmitting device (4) triggers a vibration alarm mode.

2. The fatigue early warning system for the crane girder according to claim 1, wherein the sound source generating device (5) sends a sound wave signal to the crane girder (1), the sound wave signal is transmitted to the sound wave signal receiving device (6) through the crane girder, the sound wave signal receiving device (6) is used for receiving the sound wave signal, converting the received sound wave signal into a voltage signal and transmitting the voltage signal to the signal conditioning circuit, the signal conditioning circuit processes the received electric signal and transmits the processed signal to the microprocessor, wherein the sound source generating device (5) sends out a modulated sound wave of a sinusoidal signal, the microprocessor analyzes the peak value of the received electric signal, extracts the peak value X (n) of the waveform of the electric signal, wherein n is the number of the waveform peaks and extracts the valley value Y (m) of the waveform of the electric signal, wherein m is the number of wave troughs, if

And the microprocessor diagnoses that the crane girder (1) has a potential safety hazard, wherein max (X (n)) is the maximum value of n X (n), max (Y (m)) is the maximum value of m Y (m), and C is an adjustable parameter which is more than 2.

3. The crane girder fatigue early warning system according to claim 1, wherein the image operation unit (8) sets any pixel of the image information including the crane girder (1) image as a target pixel P (i, j) and uses a pixel in the neighborhood of the target pixel as a reference pixel when processing the received image, wherein the reference pixel is an IIR pixel, the image operation unit (8) further comprises a weight distribution module, the weight distribution module generates a weight for each reference pixel, the weight distribution module acquires the reference pixel from the storage module and distributes the weight for each reference pixel according to the degree of association between the reference pixel and the target pixelW, the pixel relevance calculating unit calculates the relevance between each reference pixel and the target pixel according to the pixel value PVtar of the target pixel and the pixel value PVref of the reference pixel to obtain a difference value d = PVtar-PVref I, the larger the difference value d is, the smaller the relevance of the target pixel is represented, wherein the pixel value PVtar is the original pixel value PV (i, j) of the target pixel P (i, j)_ORI(i, j) the pixel value PVref is the IIR filtered value PV of the reference pixel_IIRThe weight distribution module distributes a weight W to each reference pixel according to the difference value d, the maximum weight Wmax, the first threshold th1 and the first threshold th2, when the difference value d is smaller than the first threshold th1, the association degree between the target pixel and the reference pixel is high, the weight distribution module distributes the maximum weight Wmax of the reference pixel, when the difference value d is between the first threshold th1 and the second threshold th2, the association degree between the target pixel and the reference pixel is low, the weight distribution module distributes the weight of the reference pixel to 0, after the weight of each reference pixel is obtained, the image operation part (8) calculates the weighted average of the target pixel and the reference pixel according to the following formula to obtain the IIR filtering value PV of the target pixel_IIR(i, j) wherein,

wherein W is_SUMIs the sum of the weights, W_NBRIs a sum of the reference weights,is the product of the weight W of a certain reference pixel and the IIR filtered value of that reference pixel,obtaining IIR filtering value PV of target pixel for the sum of products of all reference pixels_IIR(i, j) thereafter, the image calculation unit (8) uses the IIR filter value PV of the target pixel obtained by the calculation_IIR(i, j) filtering the received image and transmitting the processed image to the microprocessor.

4. The crane girder fatigue early warning system according to claim 1, wherein an output end of the acoustic signal receiving device 6 is connected to one end of a resistor R1, the other end of the resistor R1 is connected to one end of a resistor R2, one end of a capacitor C7 is grounded, the other end of a capacitor C7 is connected to a-3.3V power supply, one end of a capacitor C6 is grounded, the other end of a capacitor C6 is connected to a-3.3V power supply, a negative power supply end of an operational amplifier U1 is connected to a-3.3V power supply, one end of a capacitor C1 is connected to the other end of a capacitor C6, the other end of a capacitor C1 is connected to the other end of a resistor R1, the other end of a resistor R2 is connected to a non-inverting input end of an operational amplifier U1, the other end of a resistor R2 is further connected to one end of a capacitor C8, the other end of a capacitor C2 is grounded, one end of a resistor R4 is connected to, one end of a resistor R3 is connected to the other end of the resistor R4, the other end of the resistor R3 is connected to one end of a capacitor C3, one end of a capacitor C3 is connected to a +3.3V power supply, the other end of a capacitor C3 is grounded, one end of a capacitor C4 is connected to one end of a capacitor C3, the other end of a capacitor C4 is grounded, a positive power supply terminal of an operational amplifier U1 is connected to the +3.3V power supply, the other end of a resistor R3 is connected to an output terminal of an operational amplifier U1, the other end of a capacitor C1 is also connected to an output terminal of an operational amplifier U1, one end of a capacitor C5 is connected to an output terminal of an operational amplifier U1, the other end of a capacitor C5 is connected to one end of a resistor R6, one end of a resistor R5 is grounded, the other end of a resistor R5 is connected to the other end of the capacitor C5, one end of the resistor R5 is connected to an output terminal of the operational amplifier U36, the other end of the resistor R6 is further connected with one end of a capacitor C8, the other end of the capacitor C10 is grounded, one end of a resistor R8 is connected with the other end of the capacitor C8, the other end of the resistor R8 is grounded, the other end of the capacitor C8 is connected with the non-inverting input end of an operational amplifier U2, the positive power source end of the operational amplifier U2 is connected with a +3.3V power supply, the negative power source end of the operational amplifier U2 is connected with a-3.3V power supply, the inverting input end of the operational amplifier U2 is connected with the output end of the operational amplifier U2, the output end of the operational amplifier U2 is connected with one end of a capacitor C9, the other end of the capacitor C9 is connected with one end of a resistor R11, one end of the resistor R12 is grounded, the other end of the resistor R12 is connected with one end of a resistor R11, the other end of the resistor R11 is connected with the non-inverting input end of the operational amplifier U3, the positive power source end, one end of the resistor R9 is grounded, the other end of the resistor R9 is connected with one end of the resistor R10, the other end of the resistor R9 is connected with the inverting input end of the operational amplifier U3, the other end of the resistor R10 is connected with the output end of the operational amplifier U3, and the output end of the operational amplifier U3 is connected with the microprocessor.

Technical Field

The invention relates to the field of intelligent testing, in particular to a fatigue early warning system for a main beam of a crane.

Background

The crane is used as large-scale special equipment and widely applied to industries with vital national economy, such as equipment manufacturing, port transportation, metallurgical power, building and the like. Due to the fact that the loading condition and the structural characteristics of the crane have some outstanding characteristics different from those of other traditional mechanical equipment, the technologies of design, manufacture, detection, maintenance and the like of the crane face a plurality of problems to be solved.

The crane girder is used as the most key structural part of the crane and is formed by welding standard metal plates, the crane girder is large in size, complex in structure and relatively harsh in working environment, and the running quality of the crane girder is related to the safe and stable running of the crane under the action of large load for a long time. And as the main stress component of the bridge crane, the main beam bears large load alternating stress for a long time during the service period of the crane, and the metal plate of the crane is easy to cause plastic deformation, fatigue aging and even fatigue fracture under the action of air and rainwater corrosion. Therefore, the main beam is the most central component of the crane equipment, the damage condition of the main beam has important influence on the safe and stable operation of the bridge crane, and the state of the main beam directly determines the service life of the crane in most cases. Therefore, studies on the fatigue of the main beam are of great importance for evaluating the state of the crane as a whole.

At present, the fatigue of the main beam of the crane is mainly detected by nondestructive detection means such as visual inspection, ultrasonic detection and the like and other special nondestructive detection standards to carry out defect damage detection. Because hoisting machinery working property is special, the girder generally highly hangs in the air, and bulky, the structure is complicated, and conventional detection means is difficult to obtain good detection effect in the girder testing process.

Disclosure of Invention

Therefore, in order to overcome the above problems, the present invention provides a crane girder fatigue warning system, which utilizes a signal receiving device, a signal transmitting device, a sound source generating device, a sound wave signal receiving device, an image acquiring portion, an image computing portion, a signal conditioning circuit, a display, a microprocessor, a memory and an alarm device to perform real-time detection and offline detection on a crane girder, specifically, the crane girder is detected in real time through the sound wave generating device, the sound wave signal receiving device and the signal conditioning circuit, a clear crane girder image is obtained through the image acquiring portion and the image computing portion, and then the crane girder is detected offline, and finally, when the crane girder diagnoses a fault, the signal receiving device and the signal transmitting device are used to effectively protect workers.

The invention provides a fatigue early warning system for a main beam of a crane, which comprises a signal receiving device, a signal transmitting device, a sound source generating device, a sound wave signal receiving device, an image acquiring part, an image calculating part, a signal conditioning circuit, a display, a microprocessor, a memory and an alarm device.

Wherein, the signal receiving device is positioned on the crane girder, the signal transmitting device is arranged on the working clothes of workers, the sound source generating device is arranged at one end of the crane girder, the sound wave signal receiving device is arranged at the other end of the crane girder, the image acquiring part is arranged above the crane girder, the image acquiring part acquires the image information of the crane girder, the image acquiring part transmits the acquired image information to the image operating part, the image operating part performs image processing on the received image and then transmits the processed image information to the microprocessor, the microprocessor transmits the received image information to the display for displaying, the microprocessor transmits the received image information to the memory for storing, meanwhile, the sound source generating device sends a sound wave signal to the crane girder, the sound wave signal is transmitted to the sound wave signal receiving device through the crane girder, the sound wave signal receiving device is used for receiving the sound wave signal, the method comprises the steps that a received sound wave signal is converted into a voltage signal and then transmitted to a signal conditioning circuit, the signal conditioning circuit processes the received electric signal and then transmits the voltage signal to a microprocessor, the microprocessor diagnoses the safety performance of a crane girder according to the received electric signal, if potential safety hazards exist, the microprocessor controls an alarm device to give an alarm, meanwhile, the microprocessor controls a signal receiving device to start working, the signal receiving device is a device capable of receiving signals transmitted by a signal transmitting device within a preset range, and if the signal receiving device receives the signals transmitted by the signal transmitting device, the signal transmitting device triggers a vibration alarm mode.

Preferably, the sound source generating device sends a sound wave signal to the crane girder, the sound wave signal is transmitted to the sound wave signal receiving device through the crane girder, the sound wave signal receiving device is used for receiving the sound wave signal, the received sound wave signal is converted into a voltage signal and then transmitted to the signal conditioning circuit, the signal conditioning circuit performs signal processing on the received electric signal and then transmits the processed electric signal to the microprocessor, wherein the sound source generating device sends out a modulated sine signal sound wave, the microprocessor analyzes the peak value of the received electric signal and extracts the peak value x (n) of the waveform of the electric signal, wherein n is the number of waveform peaks and extracts the valley value y (m) of the waveform of the electric signal, wherein m is the number of waveform valleys, and if the peak value is not

And the microprocessor diagnoses that the crane girder has a potential safety hazard, wherein max (X (n)) is the maximum value of n X (n), max (Y (m)) is the maximum value of m Y (m), and C is an adjustable parameter larger than 2.

Preferably, when the image operation unit processes the received image, it first sets any pixel of the image information including the crane main beam image as a target pixel P (i, j), and uses a pixel in the vicinity of the target pixel as a reference pixel, where the reference pixel is an IIR pixel, the image operation unit further includes a weight distribution module, the weight distribution module generates a weight for each reference pixel, the weight distribution module obtains the reference pixel from the storage module, and distributes a weight W for each reference pixel according to the degree of association between the reference pixel and the target pixel, the pixel association degree calculation unit calculates the degree of association between each reference pixel and the target pixel according to the pixel value PVtar of the target pixel and the pixel value PVref of the reference pixel, so as to obtain a difference d = PVtar-PVref, the larger the difference d is, the smaller the degree of association represents the target pixel, where, the pixel value PVtar is the original pixel value PV of the target pixel P (i, j)_ORI(i, j) the pixel value PVref is the IIR filtered value PV of the reference pixel_IIRThe weight distribution module distributes the weight W to each reference pixel according to the difference d, the maximum weight Wmax, the first threshold th1 and the first threshold th2, when the difference d is less than the first threshold th1, the association degree between the target pixel and the reference pixel is high, the weight distribution module distributes the maximum weight Wmax of the reference pixel, and when the difference d is between the first threshold th1 and the second threshold th2, the association degree between the target pixel and the reference pixel is highThe correlation degree between the pixels is low, the weight distribution module distributes the weight of the reference pixel to be 0, and after the weight of each reference pixel is obtained, the image operation part calculates the weighted average of the target pixel and the reference pixel according to the following formula to obtain an IIR filter value PV of the target pixel_IIR(i, j) wherein,

wherein W is_SUMIs the sum of the weights, W_NBRIs a sum of the reference weights,

is the product of the weight W of a certain reference pixel and the IIR filtered value of that reference pixel,obtaining IIR filtering value PV of target pixel for the sum of products of all reference pixels_IIR(i, j) after the step (i, j), the image calculation unit uses the IIR filter value PV of the target pixel obtained by the calculation_IIR(i, j) filtering the image received by the image processing device, and transmitting the processed image to the microprocessor.

Preferably, the output end of the acoustic wave signal receiving device 6 is connected with one end of a resistor R1, the other end of the resistor R1 is connected with one end of a resistor R2, one end of a capacitor C7 is grounded, the other end of a capacitor C7 is connected with a-3.3V power supply, one end of a capacitor C6 is grounded, the other end of a capacitor C6 is connected with a-3.3V power supply, the negative power supply end of an operational amplifier U1 is connected with a-3.3V power supply, one end of a capacitor C1 is connected with the other end of a capacitor C6, the other end of a capacitor C1 is connected with the other end of a resistor R1, the other end of a resistor R2 is connected with the non-inverting input end of an operational amplifier U1, the other end of a resistor R2 is further connected with one end of a capacitor C2, the other end of a capacitor C2 is grounded, one end of a resistor R4 is connected with the inverting input end of an operational amplifier U1, the other end of a resistor R4 is grounded, one end of, one end of a capacitor C3 is connected with a +3.3V power supply, the other end of a capacitor C3 is grounded, one end of a capacitor C4 is connected with one end of a capacitor C3, the other end of a capacitor C4 is grounded, the positive power supply end of an operational amplifier U1 is connected with a +3.3V power supply, the other end of a resistor R3 is connected with the output end of an operational amplifier U1, the other end of a capacitor C1 is also connected with the output end of an operational amplifier U1, one end of a capacitor C5 is connected with the output end of an operational amplifier U1, the other end of a capacitor C5 is connected with one end of a resistor R6, one end of a resistor R5 is grounded, the other end of a resistor R5 is connected with the other end of a capacitor C5, the other end of a resistor R6 is connected with one end of a capacitor C10, one end of a resistor R7 is connected with the output end of an operational amplifier U2, the other end of a resistor R6 is connected with one end of a resistor, one end of a resistor R8 is connected with the other end of a capacitor C8, the other end of a resistor R8 is grounded, the other end of a capacitor C8 is connected with a non-inverting input end of an operational amplifier U2, a positive power source end of the operational amplifier U2 is connected with a +3.3V power supply, a negative power source end of the operational amplifier U2 is connected with a-3.3V power supply, an inverting input end of an operational amplifier U2 is connected with an output end of an operational amplifier U2, an output end of the operational amplifier U2 is connected with one end of a capacitor C9, the other end of a capacitor C9 is connected with one end of a resistor R11, one end of a resistor R12 is grounded, the other end of a resistor R12 is connected with one end of a resistor R11, the other end of the resistor R11 is connected with a non-inverting input end of the operational amplifier U3, a positive power source end of the operational amplifier U3 is connected with a +3.3V power supply, a negative power supply of an operational amplifier U3 is connected with, the other end of the resistor R9 is connected with the inverting input end of the operational amplifier U3, the other end of the resistor R10 is connected with the output end of the operational amplifier U3, and the output end of the operational amplifier U3 is connected with the microprocessor.

Compared with the prior art, the invention has the following beneficial effects:

(1) the invention provides a fatigue early warning system for a crane girder, which utilizes a signal receiving device, a signal transmitting device, a sound source generating device, a sound wave signal receiving device, an image acquiring part, an image calculating part, a signal conditioning circuit, a display, a microprocessor, a memory and an alarm device to carry out real-time detection and off-line detection on the crane girder, particularly carries out real-time detection on the crane girder through the sound wave generating device, the sound wave signal receiving device and the signal conditioning circuit, obtains clear images of the crane girder through the image acquiring part and the image calculating part, further carries out off-line detection on the crane girder, and finally uses the signal receiving device and the signal transmitting device to effectively protect workers when the crane girder diagnoses faults.

(2) The invention also provides a crane girder fatigue early warning system, which is characterized in that environmental noise, operation noise and the like are mixed in signals collected by a sound wave signal receiving device, so that noise signals need to be filtered by a signal conditioning circuit to realize the best restoration of signals generated by a sound source generating device, wherein the frequency of the signals generated by the sound source generating device is generally 1Hz to 30Hz, the central frequency f0 of the signal conditioning circuit is 0.3Hz to 15Hz, and if f0=3.35Hz and the bandwidth BW =15 (BW = f 0/Q), the quality factor Q =0.22 is calculated.

(3) The invention also provides a crane girder fatigue early warning system, which is characterized in that the image operation part obtains the IIR filtering value PV of the target pixel through analysis and processing_IIR(i, j) the image calculation unit uses the IIR filter value PV of the target pixel obtained by the calculation_IIR(i, j) filtering the received image, which can remove high frequency noise signals in the image and can save edge information of the image.

Drawings

FIG. 1 is a structural diagram of a fatigue warning system for a main beam of a crane according to the present invention;

FIG. 2 is a simplified diagram of a crane girder fatigue warning system provided by the present invention;

FIG. 3 is a schematic diagram of a fatigue warning system for a main beam of a crane according to the present invention;

FIG. 4 is a pixel division diagram of an image processing unit according to the present invention;

FIG. 5 is a diagram showing a case where the image arithmetic section of the present invention includes only 2 IIR pixels;

FIG. 6 is a functional diagram of a weight assignment module in the image computing unit according to the present invention;

FIG. 7 is a first relationship diagram of the weight W and the difference d in the image computing unit according to the present invention;

FIG. 8 is a second relationship diagram of the weight W and the difference d in the image computing section according to the present invention;

fig. 9 is a circuit diagram of a signal conditioning circuit of the present invention.

Reference numerals:

1-crane girder; 2-a signal receiving means; 3-staff; 4-a signal emitting device; 5-a sound source generating device; 6-an acoustic signal receiving means; 7-an image acquisition section; 8-image calculation section.

Detailed Description

The fatigue early warning system for the main beam of the crane provided by the invention is described in detail below by combining the attached drawings and the embodiment.

As shown in fig. 1 to 3, the crane girder fatigue early warning system provided by the present invention includes a signal receiving device 2, a signal transmitting device 4, a sound source generating device 5, a sound wave signal receiving device 6, an image acquiring unit 7, an image computing unit 8, a signal conditioning circuit, a display, a microprocessor, a memory, and an alarm device.

Wherein, the signal receiving device 2 is positioned on the crane girder 1, the signal transmitting device 4 is arranged on the working clothes of the staff 3, the sound source generating device 5 is arranged at one end of the crane girder 1, the sound wave signal receiving device 6 is arranged at the other end of the crane girder 1, the image acquiring part 7 is arranged above the crane girder 1, the image acquiring part 7 acquires the image information of the crane girder 1, the image acquiring part 7 transmits the acquired image information to the image operating part 8, the image operating part 8 performs image processing on the received image and then transmits the processed image to the microprocessor, the microprocessor transmits the received image information to the display for displaying, the microprocessor transmits the received image information to the memory for storing, meanwhile, the sound source generating device 5 sends the sound wave signal to the crane girder 1, the sound wave signal is transmitted to the sound wave signal receiving device 6 through the crane girder, the sound wave signal receiving device 6 is used for receiving sound wave signals, converting the received sound wave signals into voltage signals and transmitting the voltage signals to the signal conditioning circuit, the signal conditioning circuit processes the received electric signals and then transmits the voltage signals to the microprocessor, the microprocessor diagnoses the safety performance of the crane main beam 1 according to the received electric signals, if potential safety hazards exist, the microprocessor controls the alarm device to give an alarm, meanwhile, the microprocessor controls the signal receiving device 2 to start operation, the signal receiving device 2 is a device capable of receiving signals transmitted by the signal transmitting device 4 within a preset range, and if the signal receiving device 2 receives signals transmitted by the signal transmitting device 4, the signal transmitting device 4 triggers a vibration alarm mode.

In the above embodiment, the crane girder fatigue early warning system provided by the present invention utilizes the signal receiving device 2, the signal transmitting device 4, the sound source generating device 5, the sound wave signal receiving device 6, the image acquiring unit 7, the image computing unit 8, the signal conditioning circuit, the display, the microprocessor, the memory and the alarm device to perform real-time detection and offline detection on the crane girder, specifically, the crane girder is detected in real time through the sound wave generating device 5, the sound wave signal receiving device 6 and the signal conditioning circuit, a clear crane girder image is acquired through the image acquiring unit 7 and the image computing unit 8, and then offline detection is performed on the crane girder, and finally, when the crane girder diagnoses a fault, the signal receiving device 2 and the signal transmitting device 4 are used to effectively protect workers.

Further, the signal receiving device 2 may set a signal receiving range, and the specific range may be set according to the position of the crane.

Specifically, the sound source generating device 5 sends a sound wave signal to the crane girder 1, the sound wave signal is transmitted to the sound wave signal receiving device 6 through the crane girder, the sound wave signal receiving device 6 is used for receiving the sound wave signal, the received sound wave signal is converted into a voltage signal and then transmitted to the signal conditioning circuit, the signal conditioning circuit performs signal processing on the received electric signal and then transmits the processed electric signal to the microprocessor, wherein the sound source generating device 5 sends out sound waves of modulated sinusoidal signals, the microprocessor analyzes peak values of the received electric signal and extracts peak values X (n) of waveforms of the electric signal, wherein n is the number of waveform peaks and extracts valley values Y (m) of the waveforms of the electric signal, wherein m is the number of waveform valleys, and if the peak values are not equal to the number of

And the microprocessor diagnoses that the crane girder 1 has a potential safety hazard, wherein max (X (n)) is the maximum value of n X (n), max (Y (m)) is the maximum value of m Y (m), and C is an adjustable parameter larger than 2.

Further, the person skilled in the art can change the diagnostic threshold by adjusting the constant C, and thus can adapt to the detection of crane girders of different materials.

Specifically, when the image operation unit 8 processes the received image, it first sets any pixel of the image information including the crane girder 1 image as a target pixel P (i, j), and uses a pixel in the vicinity of the target pixel as a reference pixel, where the reference pixel is an IIR pixel, the image operation unit 8 further includes a weight distribution module, the weight distribution module generates a weight for each reference pixel, the weight distribution module obtains the reference pixel from the storage module, and distributes a weight W for each reference pixel according to the correlation between the reference pixel and the target pixel, the pixel correlation calculation unit calculates the correlation between each reference pixel and the target pixel according to the pixel value PVtar of the target pixel and the pixel value PVref of the reference pixel, and obtains a difference value d = i PVtar-PVref, the larger the difference value d is, the smaller the correlation represents the target pixel, where, the pixel value PVtar is the original pixel value PV of the target pixel P (i, j)_ORI(i, j) the pixel value PVref is the IIR filtered value PV of the reference pixel_IIRThe weight distribution module distributes the weight W to each reference pixel according to the difference d, the maximum weight Wmax, the first threshold th1 and the first threshold th2, when the difference d is less than the first threshold th1, the association degree between the target pixel and the reference pixel is high, the weight distribution module distributes the maximum weight Wmax of the reference pixel, when the difference d is between the first threshold th1 and the second threshold th2, the association degree between the target pixel and the reference pixel is low, the weight distribution module distributes the weight of the reference pixel to 0, and each reference pixel is obtainedAfter considering the weight of the pixel, the image arithmetic section 8 calculates a weighted average of the target pixel and the reference pixel according to the following formula to obtain an IIR filter value PV of the target pixel_IIR(i, j) wherein,

wherein W is_SUMIs the sum of the weights, W_NBRIs a sum of the reference weights,is the product of the weight W of a certain reference pixel and the IIR filtered value of that reference pixel,obtaining IIR filtering value PV of target pixel for the sum of products of all reference pixels_IIRAfter (i, j), the image calculation unit 8 uses the IIR filter value PV of the target pixel obtained by calculation_IIR(i, j) filtering the image received by the image processing device, and transmitting the processed image to the microprocessor.

To further explain the operation principle of the image operation unit 8, when processing the received image, the image operation unit 8 first sets any pixel in the image information including the crane main beam 1 image as a target pixel P (i, j), and uses a pixel in the neighborhood of the target pixel as a reference pixel, where the reference pixel is an IIR pixel, and taking fig. 4 as an example, the reference image may include 12 IIR pixels, and the storage module is used to store the 12 IIR pixels, and fig. 5 shows that the image operation unit includes only 2 IIR pixels, and the storage module is used to store the 2 IIR pixels, and compared with fig. 4, fig. 5 may store at least 10 pixel values of the reference pixel.

The image computing unit 8 further includes a weight assigning module, which generates a weight for each reference pixel, specifically, the weight assigning module obtains the reference pixel from the storage module and assigns a weight W to each reference pixel according to the association degree between the reference pixel and the target pixel, that is, the weight W is related to the association degree between two pixels, and fig. 6 is a functional diagram of the weight assigning module.Firstly, the pixel relevance calculating unit calculates the relevance between each reference pixel and the target pixel according to the pixel value PVtar of the target pixel and the pixel value PVref of the reference pixel to obtain a difference value d = PVtar-PVref I, the greater the difference value d is, the smaller the relevance of the target pixel is represented, wherein the pixel value PVtar is the original pixel value PV (PV) of the target pixel P (i, j)_ORI(i, j) the pixel value PVref is the IIR filtered value PV of the reference pixel_IIR。

The weight assignment module assigns a weight W to each reference pixel according to the difference d, and the maximum weight Wmax, the first threshold th1, and the first threshold th2, and fig. 7 and 8 are relationship diagrams of the weight W and the difference d. When the difference d is smaller than the first threshold th1, it indicates that the degree of association between the target pixel and the reference pixel is high, the weight assignment module assigns the highest weight Wmax of the reference pixel, and when the difference d is between the first threshold th1 and the second threshold th2, it indicates that the degree of association between the target pixel and the reference pixel is low, the weight assignment module assigns the weight of the reference pixel to 0, and the weight assignment module can equally divide the distance between the first threshold th1 and the second threshold th2 into q equal parts (q is an integer greater than 1, and q =3 in fig. 8), so that the weight W changes in a stepwise manner.

After obtaining the weight of each reference pixel, the image calculation section 8 calculates a weighted average of the target pixel and the reference pixel according to the following formula to obtain an IIR filter value PV of the target pixel_IIR(i, j) wherein,

wherein W is_SUMIs the sum of the weights, W_NBRIs a sum of the reference weights,

is the product of the weight W of a certain reference pixel and the IIR filtered value of that reference pixel,

for the sum of the products of all reference pixels, taking fig. 5 as an example, the above equation can be written as:

PV_IIR(i,j)=( W_SUM-W_NBR)×PV_ORI(i,j)+W(i-1,j)×PV_IIR(i-1,j)+ W(i,j-1)×PV_IIR(i,j-1)/ W_SUM。

wherein, W_NBR= W(i-1,j)+ W(i,j-1)。

W_SUM≈W_max。

When all the reference pixels are extremely highly correlated with the target pixel, the weight of the target pixel is equivalent to that of any one of the reference pixels.

Obtaining an IIR filtering value PV of the target pixel_IIRAfter (i, j), the image calculation unit 8 uses the IIR filter value PV of the target pixel obtained by calculation_IIR(i, j) filtering the received image to remove high frequency noise signals in the image and to store edge information of the image, wherein the image computing unit 8 can process images such as RGB and YUV.

The image information of the crane girder 1 can be observed by the detection personnel through the image information acquired by the display, and the image information processed by the image processing part 8 not only filters noise information, but also effectively stores edge information, so the detection personnel can diagnose the crane girder 1 by measuring and calculating the curvature of the crane girder 1 according to the image information acquired by the display, and the fault diagnosis of the crane girder 1 according to the image information is relatively mature in the prior art and is not repeated herein.

As shown in fig. 9, the output end of the acoustic signal receiving apparatus 6 is connected to one end of a resistor R1, the other end of a resistor R1 is connected to one end of a resistor R2, one end of a capacitor C7 is grounded, the other end of a capacitor C7 is connected to a-3.3V power supply, one end of a capacitor C6 is grounded, the other end of a capacitor C6 is connected to a-3.3V power supply, the negative power supply end of an operational amplifier U1 is connected to a-3.3V power supply, one end of a capacitor C1 is connected to the other end of a capacitor C6, the other end of a capacitor C1 is connected to the other end of a resistor R1, the other end of a resistor R2 is connected to the non-inverting input end of an operational amplifier U1, the other end of a resistor R2 is further connected to one end of a capacitor C2, the other end of a capacitor C2 is grounded, one end of a resistor R4 is connected to the inverting input end of an operational amplifier U, the other end of the resistor R3 is connected to one end of a capacitor C3, one end of a capacitor C3 is connected to a +3.3V power supply, the other end of a capacitor C3 is grounded, one end of a capacitor C4 is connected to one end of a capacitor C3, the other end of a capacitor C4 is grounded, the positive power supply terminal of an operational amplifier U1 is connected to a +3.3V power supply, the other end of a resistor R3 is connected to the output terminal of an operational amplifier U1, the other end of a capacitor C1 is also connected to the output terminal of an operational amplifier U1, one end of a capacitor C5 is connected to the output terminal of an operational amplifier U1, the other end of a capacitor C5 is connected to one end of a resistor R6, one end of a resistor R5 is grounded, the other end of a resistor R5 is connected to the other end of a capacitor C5, the other end of a resistor R5 is connected to one end of the output terminal of an operational amplifier U5, one end of a resistor R5 is connected to the other end of the capacitor C5, the other end of the capacitor C10 is grounded, one end of the resistor R8 is connected with the other end of the capacitor C8, the other end of the resistor R8 is grounded, the other end of the capacitor C8 is connected with the non-inverting input end of the operational amplifier U2, the positive power source end of the operational amplifier U2 is connected with a +3.3V power supply, the negative power source end of the operational amplifier U2 is connected with a-3.3V power supply, the inverting input end of the operational amplifier U2 is connected with the output end of the operational amplifier U2, the output end of the operational amplifier U2 is connected with one end of the capacitor C9, the other end of the capacitor C9 is connected with one end of the resistor R11, one end of the resistor R12 is grounded, the other end of the resistor R12 is connected with one end of the resistor R11, the other end of the resistor R11 is connected with the non-inverting input end of the operational amplifier U3, the positive power supply end of the operational amplifier U3 is connected with a +3., the other end of the resistor R9 is connected with one end of the resistor R10, the other end of the resistor R9 is connected with the inverting input end of the operational amplifier U3, the other end of the resistor R10 is connected with the output end of the operational amplifier U3, and the output end of the operational amplifier U3 is connected with the microprocessor.

In specific tests, those skilled in the art prefer that the operational amplifiers U1-U3 are all TL064BCN, the resistor R1 is 430K Ω, the resistor R2 is 430K Ω, the resistor R3 is 1.4M Ω, the resistor R4 is 2.3M Ω, the resistor R5 is 1K Ω, the resistor R6 is 20K Ω, the resistor R7 is 20K Ω, the resistor R8 is 39K Ω, the resistor R9 is 5K Ω, the resistor R10 is 500K Ω, the resistor R11 is 2K Ω, the resistor R12 is 2K Ω, the capacitor C1 is 0.56 μ F, the capacitor C2 is 0.56 μ F, the capacitor C3 is 0.1 μ F, the capacitor C4 is 10 μ F, the capacitor C5 is 10 μ F, the capacitor C465 μ F is 10 μ F, the capacitor C5731 μ F is 581 μ F, the capacitance of the capacitor C9 is 100 μ F, and the capacitance of the capacitor C10 is 1 μ F.

In the above embodiment, the signal collected by the acoustic wave signal receiving device is mixed with environmental noise, operation noise, etc., so it is necessary to filter the noise signal by the signal conditioning circuit to achieve the best recovery of the signal generated by the sound source generating device, wherein the frequency of the signal generated by the sound source generating device is generally 1Hz to 30Hz, so the center frequency f0 of the signal conditioning circuit is between 0.3Hz and 15Hz, where f0=3.35Hz and the bandwidth BW =15 (BW = f 0/Q), the quality factor Q =0.22 is calculated.

Therefore, the crane girder fatigue early warning system provided by the invention comprises a real-time detection system (namely sound wave detection) and an offline detection system (namely image detection), wherein the real-time detection system is mainly used for detecting when the crane girder operates, and the offline detection system is mainly used for detecting when a crane does not operate, so that the uninterrupted detection of the crane girder is realized.

Finally, it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, while the invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.