Safety helmet, foreign object detection method, electronic product and computer-readable storage medium

Abstract

The present application provides a safety helmet, a foreign object detection method, an electronic product, and a computer-readable storage medium. The safety helmet includes: a helmet body, a sensing device, a monitoring device, a control device, and an alarm device; the sensing device is configured to detect foreign object status data within the detection range of the sensing device and send the foreign object status data to the control device; the monitoring device is configured to monitor the tilt status data of the sensing device and send the tilt status data to the control device; the control device is configured to determine the status data of a foreign object directly above the wearer based on the tilt status data and the foreign object status data, the control device performs a risk judgment based on the status data of the foreign object directly above, and determines whether to send an alarm signal to the alarm device according to the judgment result; the alarm device is configured to give a warning after obtaining the alarm signal.

Description

Technical Field

[0001] The present application relates to the field of safety protection, and in particular, to a safety helmet, a foreign object detection method, an electronic product, and a computer-readable storage medium. Background Art

[0002] With the rapid growth of port logistics demand, when a quay crane hoists a container for loading and unloading operations, a signalman must be on-site to conduct command and confirmation work. And because of the work content, the signalman needs to frequently lower his head or bend down to operate, and cannot look up in real time to observe the position of the container above his head. Once a foreign object falls above the signalman, it is very easy to cause personal injury accidents before the signalman has time to dodge.

[0003] As an essential safety protection device for signalmen, a safety helmet is mainly used to reduce the impact force on the head when an operator is impacted or squeezed by a falling object from a height or a hard object. For the degree of danger that a signalman may encounter in the work scenario, this protection mode does not play an obvious protective role and cannot effectively reduce the occurrence of safety accidents.

[0004] A warning safety helmet with a detection function also cannot detect the state of foreign objects from above for the signalman. It can be seen that the current warning safety helmet is not suitable for the work scenario of signalmen and cannot warn of falling foreign objects from above to provide active defensive protection when the signalman is working normally. Summary of the Invention

[0005] In order to solve the above problems, the present application provides a safety helmet, a foreign object detection method, an electronic product, and a computer-readable storage medium to detect the state of foreign objects above the wearer in real time, issue a warning when the wearer is at risk, and provide active defensive protection for the wearer.

[0006] The above-mentioned invention object of the present application is achieved through the following technical solutions:

[0007] In a first aspect, the present application provides a safety helmet, including: a helmet body, a sensing device, a monitoring device, a control device, and an alarm device;

[0008] The sensing device is fixedly arranged on the outer surface of the helmet body, and the monitoring device is fixedly installed on the sensing device;

[0009] The control device is respectively connected to the sensing device, the monitoring device, and the alarm device;

[0010] The sensing device is used to detect the foreign object state data within the detection range of the sensing device and send the foreign object state data to the control device;

[0011] The monitoring device is used to monitor the tilt state data of the induction device and send the tilt state data to the control device;

[0012] The control device is used to determine the state data of the foreign object directly above the wearer according to the tilt state data and the foreign object state data, make a risk judgment based on the state data of the foreign object directly above the wearer, and determine whether to send an alarm signal to the alarm device according to the judgment result;

[0013] The alarm device is used to give a warning after receiving the alarm signal.

[0014] Through this solution, the monitoring device monitors and adjusts the tilt state of the induction device in real time. The control device determines the state data of the foreign object directly above the wearer according to the tilt state data and the foreign object state data detected by the induction device. Then, the control device makes a risk judgment on the state data of the foreign object directly above, and can give a necessary warning to the wearer when there is a risk above the wearer, playing an active defense role for the wearer in dangerous situations. At the same time, when the port logistics commander cannot observe the dangerous situation above during normal operation, this safety helmet can play a good warning and protection role, with a wide range of applications.

[0015] Optionally, the induction device includes a planar array ranging radar fixedly arranged on the cap body;

[0016] The planar array ranging radar has n*m ranging units, and the ranging units are used to detect the foreign object distance data in the corresponding detection direction according to a preset detection frequency. Among them, the detection directions corresponding to any one of the ranging units are different from each other;

[0017] The planar array ranging radar is used to send the foreign object distance data detected by all the ranging units to the control device as the foreign object state data;

[0018] The control device determines the distance of the foreign object directly above the wearer according to the tilt state data and the foreign object distance data detected by all the ranging units, makes a risk judgment based on the distance of the foreign object directly above, and determines whether to send an alarm signal to the alarm device according to the judgment result.

[0019] Through this solution, using a planar array ranging radar composed of multiple ranging units can realize the detection of a regional range, so as to provide a relatively comprehensive and accurate data basis for the control device to analyze the state of the foreign object directly above the wearer, and improve the protection effect of the safety helmet.

[0020] Optionally, the monitoring device includes an electronic level;

[0021] Taking the center of gravity of the electronic level as the origin, an x / y axis plane is established with the horizontal plane where the origin is located, and the x-axis and y-axis pass through the origin. A z-axis is established with the vertical plane passing through the origin. The x-axis, y-axis, and z-axis are perpendicular to each other pairwise, and the x-axis, y-axis, and z-axis form a spatial rectangular coordinate system;

[0022] The electronic level is used to monitor the tilt angles of the induction device in the spatial rectangular coordinate system based on the x-axis, y-axis, and z-axis, and send the tilt state data to the control device;

[0023] When the control device determines the state data of the foreign object directly above the wearer according to the tilt state data and the foreign object state data, it is specifically used for:

[0024] Process the tilt angles, and determine the state data of the foreign object directly above the wearer according to the processing results and the foreign object state data.

[0025] Through this technical solution, the electronic level can efficiently monitor the detailed data of the tilt and deflection of the induction device. The control device can use this data to more quickly screen out the state data of the foreign object directly above the wearer from the foreign object state data provided by the induction device, improving the protection effect of the safety helmet.

[0026] Optionally, when the control device processes the tilt angles, it is specifically used for:

[0027] Apply the Kalman filter algorithm, and based on the tilt angles monitored by the monitoring device at the current moment and the predicted tilt angles obtained by applying the Kalman filter algorithm at the previous moment, obtain the predicted tilt angles at the current moment;

[0028] When the control device determines the state data of the foreign object directly above the wearer according to the processing results and the foreign object state data, it is specifically used for:

[0029] Combined with the predicted tilt angles at the current moment, determine whether the foreign object state data contains the state data of the foreign object parallel to the z-axis direction;

[0030] If it contains, determine the state data of the foreign object parallel to the z-axis direction as the state data of the foreign object directly above the wearer;

[0031] If it does not contain, calculate the state data of the foreign object parallel to the z-axis direction according to the state data of the set number of foreign objects closest to the z-axis direction in the foreign object state data, and use it as the state data of the foreign object directly above the wearer.

[0032] Through this solution, the Kalman filtering algorithm can be used to reduce the influence of measurement errors on the measurement results when the control device processes the monitoring of the sensing device by the monitoring device, enabling the control device to obtain a more accurate tilt angle to calculate the status data of the foreign object directly above the wearer, thereby improving the protection effect of the safety helmet.

[0033] Optionally, when the control device makes a risk judgment based on the distance of the foreign object directly above and determines whether to send an alarm signal to the alarm device according to the judgment result, it is specifically used for;

[0034] Judge whether the distance is less than a first preset distance;

[0035] After determining that the distance is less than the first preset distance, determine the distance data corresponding to each detection moment within a preset time period;

[0036] For each detection moment, determine the speed data corresponding to each detection moment according to the distance data corresponding to each detection moment;

[0037] According to the speed data corresponding to each detection moment and the distance data corresponding to each detection moment within the preset time period, determine the time when the foreign object directly above the wearer falls to the wearer's position;

[0038] For each detection moment, determine the risk level of the foreign object directly above the wearer according to the time when the foreign object directly above the wearer falls to the wearer's position and the set escape time;

[0039] Send a corresponding alarm signal to the alarm device according to the risk level of the foreign object directly above the wearer.

[0040] Through this solution, the control device can process the detection data of the sensing device and then make a risk judgment. According to different judgment results, it determines whether to send an alarm signal to the alarm device, actively analyzes the safety status of the wearer and provides protection.

[0041] Optionally, the control device is further used for:

[0042] When the communication with the electronic level is interrupted for more than a first set time, send a fault alarm signal to the alarm device; and / or,

[0043] When the electronic level is in a non-horizontal state for more than a second set time, send a fault alarm signal to the alarm device.

[0044] Through this solution, the self-check of the electronic level by the control device can effectively ensure that the invention of this application is always in a working state, and remind the wearer when a hardware failure occurs, so as to prevent the wearer from relaxing vigilance due to hardware failure and causing accidents.

[0045] In a second aspect, the present application provides a foreign object detection method, which includes:

[0046] The sensing device detects the foreign object status data within the detection range of the sensing device and sends the foreign object status data to the control device;

[0047] The monitoring device monitors the tilt status data of the sensing device and sends the tilt status data to the control device;

[0048] The control device determines the status data of the foreign object directly above the wearer based on the tilt status data and the foreign object status data;

[0049] The control device makes a risk judgment based on the status data of the foreign object directly above the wearer, and determines whether to send a risk alarm signal to the alarm device according to the judgment result;

[0050] After receiving the alarm signal, the alarm device issues a warning.

[0051] In a third aspect, the present application provides a foreign object detection method, which is applied to the control device in the safety helmet described in the first aspect. The method includes:

[0052] Receiving the foreign object status data sent by the sensing device, where the foreign object status data is obtained by the sensing device detecting foreign objects within the detection range of the sensing device;

[0053] Receiving the tilt status data sent by the monitoring device; the tilt status data is obtained by the monitoring device monitoring the sensing device;

[0054] Processing the tilt status data and the foreign object status data and determining the foreign object data directly above the wearer according to the result;

[0055] Processing the foreign object data directly above the wearer for risk judgment, and determining whether to send a risk alarm signal to the alarm device according to the judgment result, so that the alarm device issues a warning after receiving the alarm signal.

[0056] In a fourth aspect, the present application provides an electronic product, including: a memory and a processor, and a computer program capable of being loaded and executed by the processor for the method in the third aspect is stored on the memory.

[0057] In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program capable of being loaded and executed by the processor for the method in the third aspect. Description of the Drawings

[0058] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0059] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present application;

[0060] Figure 2 A schematic diagram of the structure of a safety helmet provided by an embodiment of the present application;

[0061] Figure 3 A schematic diagram of the process of a foreign object detection method provided by an embodiment of the present application;

[0062] Figure 4 A schematic diagram of the process of a foreign object detection method applied to a control device provided by an embodiment of the present application;

[0063] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present application;

[0064] Figure 6 A schematic diagram of the application of an induction device provided by an embodiment of the present application;

[0065] Figure 7 A schematic diagram of the detection range of an induction device provided by an embodiment of the present application;

[0066] Figure 8 A schematic diagram of the distribution of detection points provided by an embodiment of the present application. Detailed implementation manners

[0067] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0068] In addition, the term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after, unless otherwise specified.

[0069] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings of the specification.

[0070] Currently, the detection direction of a detection safety helmet with a warning function is generally the same as the line of sight direction of the wearer. The detection range changes with the movement of the wearer and the rotation of the head to achieve the purpose of detecting obstacles around the wearer and giving warnings.

[0071] It can be seen that currently, the warning safety helmet can only detect and give early warnings about foreign objects above the wearer when the wearer looks upward. It cannot continuously detect dangerous situations from above the wearer during the normal activities of the wearer, nor can it play an active warning role when there are falling foreign objects above the wearer.

[0072] And as Figure 1 shown, in the field of port logistics, when a quay crane hoists and loads containers for loading and unloading operations, there must be a signalman on-site to conduct command and confirmation work. During ship loading, determine the ship loading position of the container, install the container fixing device, command the quay crane driver to hoist the container to the operation position and connect it with the fixing device, and determine that the container fixing device is connected and locked with the container to complete the ship loading operation; during ship unloading, determine the position of the container to be unloaded on the ship, determine that the connection between the container and the fixing device has been released, and command the quay crane driver to hoist the container to complete the ship unloading operation.

[0073] Therefore, when the signalman is working, there are often containers moving up and down above the signalman, and the signalman needs to frequently lower his head or bend down to operate. Since he cannot look up at the position of the container above his head in real time, it is very easy to cause personal injury accidents.

[0074] Based on this, the present application aims to propose a safety helmet that can continuously detect the state of foreign objects above the signalman and make a risk judgment based on the state of the foreign objects to give warnings, as well as a corresponding foreign object detection method, electronic device, and storage medium.

[0075] Figure 2 It is a schematic structural diagram of a safety helmet provided by an embodiment of the present application. As Figure 2 shown, the safety helmet includes a helmet body 21, a sensing device 22, a monitoring device (not shown in the figure), an alarm device (not shown in the figure), and a control device 23. The control device is respectively connected to the monitoring device, the sensing device, and the alarm device. For the convenience of installation, a carrying structure is installed on the helmet body, and the control device, the sensing device, the alarm device, and the sensing device are installed based on the carrying structure. Among them, the detection direction of the sensing device is upward, and it is fixedly arranged at the top of the carrying structure, and the monitoring device is installed on the sensing device.

[0076] The induction device is used to detect the foreign object status data within the detection range of the induction device and send the foreign object status data to the control device; the monitoring device is used to monitor the tilt status data of the induction device and send the tilt status data to the control device; the control device is used to determine the status data of the foreign object directly above the wearer based on the tilt status data and the foreign object status data. The control device makes a risk judgment based on the status data of the foreign object directly above, and determines whether to send an alarm signal to the alarm device according to the judgment result; the alarm device is used to give a warning after receiving the alarm signal.

[0077] Since the foreign object status data required by the control device is the status data of the foreign object directly above the wearer, while the detection data of the induction device is the foreign object status data within its detection range, and the detection direction of the induction device will change due to actions such as the movement of the conductor's hand, lowering the head, and bending over. Correspondingly, the detection range of the induction device also changes, and it is necessary to re-determine the status data of the foreign object directly above the wearer in the detection range. To solve this problem, the monitoring device is used to continuously monitor the tilt status data of the induction device, and the control device re-determines the status data of the foreign object directly above the wearer from the foreign object status data detected by the induction device according to this tilt status data.

[0078] Among them, the tilt status data can be data representing the change in the detection range of the induction device. For example, the tilt angle of the detection range of the induction device at each moment relative to vertically upward. Correspondingly, the monitoring device sends this tilt angle to the control device, and the control device can determine the detection data directly above the wearer from the detection range after the induction device tilts according to the obtained tilt angle.

[0079] The induction device always detects the foreign object status data within its detection range. The status data of the foreign object can be the distance of the foreign object from this safety helmet, the speed of the foreign object at each moment, and the acceleration of the foreign object at each moment. The induction device sends this data to the control device, and the control device obtains the status data of the foreign object directly above the wearer from this data, and judges the risk level of the conductor based on the status data of this foreign object. Then, the control device determines whether to send an alarm signal to the alarm device according to the risk judgment result.

[0080] The alarm device gives a warning message according to the received alarm signal. Specifically, the warning message that the alarm device can give can be flashing lights, voice announcements, vibrations, screen flashes and body vibrations emitted by handheld devices and other intelligent devices worn by the human body. Correspondingly, the alarm device can be a warning light, a buzzer, a handheld device, and other intelligent devices worn by the human body.

[0081] Through this solution, the monitoring device monitors the tilt state of the sensing device in real time. The control device determines the state data of the foreign object directly above the wearer based on the tilt state data and the foreign object state data detected by the sensing device. Then, by performing a risk judgment on the state data of the foreign object directly above, the control device can issue necessary warnings to the wearer when there is a risk above the wearer.

[0082] In some specific embodiments, the above-mentioned sensing device includes a planar array ranging radar fixedly arranged on the cap body. The planar array ranging radar has n*m ranging units, and the ranging units are used to detect the distance data of foreign objects in a preset detection direction according to a preset detection frequency. Among them, the preset detection directions of any of the ranging units are different from each other. The planar array ranging radar is used to detect the distance to foreign objects within the detection range of the sensing device at different times, and send the distance as foreign object state data to the control device.

[0083] As Figure 6 shown, when the detection range of the sensing device in this embodiment changes with the body movements of the wearer, it always includes directly above the wearer. The dashed line in the figure represents the detection of the sensing device directly above the wearer.

[0084] Correspondingly, the detection range is jointly realized by 1024*128 ranging units on the planar array ranging radar. Among them, the ranging units are arranged in a row-column manner. A single ranging unit detects the distance data of foreign objects at a frequency of 10 Hz. The ranging method is the time-of-flight method. The ranging unit emits modulated near-infrared light, and the light is reflected by an object and then received by the ranging unit again. The ranging unit calculates the phase difference and time difference between the light emission and reception to convert the distance of the detected foreign object.

[0085] As Figure 7 shown, there is a cuboid foreign object above the wearer. The reflection points of the near-infrared light emitted by each ranging unit on the foreign object form a matrix, and this matrix is placed in a coordinate system for representation. Each row of the sensing device has 1024 ranging units responsible for detecting foreign objects in the x-axis direction, and each column has 128 ranging units responsible for detecting foreign objects in the y-axis direction.

[0086] Any single row of ranging units corresponds to the same longitudinal angle, and the angular interval between any two adjacent rows of ranging units is 0.17°. Any single column of ranging units corresponds to the same transverse angle, and the angular interval between any two adjacent columns of ranging units is 0.7°. Each ranging unit in the planar array ranging radar can be represented by a unique angle index.

[0087] Each ranging unit, each time it receives the reflected near-infrared light, can determine whether the current near-infrared light is reflected back by hitting a foreign object or is reflected back by impurities such as dust in the air without hitting a foreign object based on the echo intensity of the reflected near-infrared light. Furthermore, it is more convenient for the control device to select the status data regarding foreign objects from the detection data of all ranging units.

[0088] Each ranging unit sends the foreign object distance data measured each time as foreign object status data to the control device.

[0089] Through this solution, using a planar array ranging radar composed of multiple ranging units can achieve area-wide detection of a region, thereby being able to provide a relatively comprehensive and accurate data basis for the control device to analyze the status of foreign objects directly above the wearer, improving the protection effect of the safety helmet.

[0090] In some other embodiments, the monitoring device can be an electronic level, which is fixedly installed on the sensing device. The tilt status data detected by the electronic level can be used as a representation of the tilt status of the sensing device.

[0091] Taking the center of gravity of the electronic level as the origin, a plane of the X / Y axis is established with reference to a parallel flat ground, where the X / Y axes are perpendicular to each other. Taking the perpendicular to the flat ground as the Z axis, where the X / Y / Z axes are perpendicular to each other in pairs. A first spatial rectangular coordinate system is established with the X / Y / Z axes passing through the origin.

[0092] When the measurement direction of the ranging radar is offset due to the movement of the wearer, the electronic level monitors the tilt angle of the sensing device relative to the X / Y axis in real time. Based on this tilt angle, the tilt angle of the sensing device relative to the Z axis can be calculated, and the above angles are sent to the control device. The control device confirms the foreign object status data directly above the wearer based on this angle and the foreign object status data detected by the sensing device.

[0093] Through this technical solution, using the electronic level can efficiently monitor the detailed data of the tilt of the sensing device. The control device can use this data to more quickly determine the status of foreign objects directly above the wearer from the foreign object status data provided by the sensing device, improving the protection effect of the safety helmet.

[0094] In some other embodiments, when the control device processes the tilt angle, it is specifically configured to: apply the Kalman filter algorithm, and based on the tilt angle monitored by the monitoring device at the current moment and the predicted tilt angle obtained by applying the Kalman filter algorithm at the previous moment, obtain the predicted tilt angle at the current moment. When the control device determines the status data of the foreign object directly above the wearer based on the processing result and the foreign object status data, it is specifically configured to: in combination with the predicted tilt angle at the current moment, determine whether the foreign object status data contains the status data of the foreign object parallel to the z-axis direction. If it contains, then determine the status data of the foreign object parallel to the z-axis direction as the status data of the foreign object directly above the wearer. If it does not contain, then calculate the status data of the foreign object parallel to the z-axis direction based on the status data of the set number of foreign objects closest to the z-axis direction in the foreign object status data, and use it as the status data of the foreign object directly above the wearer.

[0095] Wherein, the control device can be an embedded control board, which is used to process the tilt status data and characterize the tilt angles of the sensing device in the X-axis, Y-axis, and Z-axis directions according to the result.

[0096] Based on the computing power of the embedded control board and the accuracy requirements of this application for determining the status data of the foreign object directly above the wearer in the foreign object status data of the sensing device, the Kalman filter algorithm is used to optimize the processing process of the tilt angle sent by the monitoring device by the embedded control board, reducing the measurement error of the monitoring device. Among them, the Kalman filter algorithm only needs the tilt angle of the sensing device at the previous moment and the tilt angle of the sensing device measured by the monitoring device at the current moment to estimate the tilt angle of the sensing device closest to the true value at the current moment.

[0097] The tilt angle data of the sensing device measured by the electronic level can be divided into the tilt angle relative to the X-axis (abbreviated as the X-axis tilt angle in this embodiment) and the tilt angle relative to the Y-axis. In this embodiment, taking the processing of the X-axis tilt angle by the embedded control board as an example, the specific processing process of the Kalman filter algorithm is as follows.

[0098] The embedded control board uses the Kalman filter algorithm to estimate the X-axis tilt angle closest to the true value at this moment. The specific calculation formula is as follows:

[0099] x_now = x_last + Kg(level_bias - x_last)

[0100] Wherein, x_now represents the X-axis tilt angle closest to the true value predicted at this moment, x_last represents the X-axis tilt angle closest to the true value predicted at the previous moment, Kg represents the Kalman filter coefficient at this moment, and level_bias represents the X-axis tilt angle detected by the electronic level.

[0101] The calculation formula for Kg is as follows:

[0102] Kg = P_now / (P_now + R)

[0103] Among them, P_now represents the covariance matrix of the detection value at this moment, and R represents the parameter affecting the error inside the adjustment device, specifically set by the operation and maintenance personnel according to the scenario.

[0104] The calculation formula for P_now is as follows:

[0105] P_now = Q + P_last

[0106] Among them, P_last represents the covariance matrix of the predicted value at the previous moment, and Q represents the parameter affecting the error inside the adjustment device, specifically set by the operation and maintenance personnel according to the scenario.

[0107] The calculation formula for P_last is as follows:

[0108] P_last = (1 - Kg) * P_lastn

[0109] Among them, P_lastn represents the covariance matrix of the detection value at the previous moment.

[0110] The Kalman filtering algorithm can continuously update the current state with the previous state. After obtaining the predicted value at the k-th moment, the predicted value at the (k + 1)-th moment can be obtained by looping through the above steps. Similarly, the predicted tilt angle of the sensing device relative to the Y-axis at this moment can also be obtained through the above method, and the sensing device relative to the Z-axis can be obtained through calculation.

[0111] Based on the above predicted tilt angle data and the foreign object state data of the above sensing device, determine whether the foreign object state data contains foreign object state data parallel to the z-axis direction. The specific judgment method is as follows:

[0112] The foreign object state data contains the foreign object state data detected by all ranging units. Since the angle between each ranging unit is fixed at a fixed angle, based on the above predicted tilt angle data at this moment and the foreign object state data at this moment, determine the state data of the foreign object directly above the wearer at this moment.

[0113] Taking the center of the sensing device as the origin, establish the X / Y-axis plane with a parallel flat ground as the reference, where the X / Y axes are perpendicular to each other. Establish the Z-axis with a perpendicular flat ground as the reference, where the X / Y / Z axes are perpendicular to each other pairwise. Establish the second spatial rectangular coordinate system with the X / Y / Z three axes passing through the origin.

[0114] The establishment processes of the first spatial rectangular coordinate system and the second spatial rectangular coordinate system are only different in the origin. The tilt angle of the sensing device in the first spatial rectangular coordinate can be used in the second spatial rectangular coordinate system.

[0115] Preferably, when the sensing device is placed horizontally, a ranging unit has a detection direction parallel to the Z-axis. Taking this ranging unit as an example, the angular data of the ranging unit relative to the X / Y / Z axes in the second spatial rectangular coordinate system is represented. The angles of this ranging unit relative to the X-axis, Y-axis, and Z-axis of the second spatial direct coordinate system are expressed as (90°, 90°, 0°), and the angles of the four ranging units adjacent to this ranging unit relative to the X-axis, Y-axis, and Z-axis of the second spatial direct coordinate system are expressed as (89.83°, 90°, 0.17°), (90°, 89.3°, 0.7°), (90.17°, 90°, -0.17°), (90°, 90.7°, 0.7°).

[0116] When the control device determines the ranging unit whose detection direction is directly above the wearer at this moment among all the ranging units, it can be divided into two situations, specifically as follows:

[0117] During the movement of the wearer, if it is calculated that the detection direction of a ranging unit is parallel to the z-axis at each moment, then the foreign object state data of this ranging unit is taken as the foreign object state data directly above the wearer. For example: the angle of the ranging unit whose detection direction was parallel to the Z-axis direction at the previous moment in the second spatial rectangular coordinate system is expressed as (90°, 90°, 0°), and the estimated tilt angle data of the sensing device relative to the X-axis, Y-axis, and Z-axis of the first spatial rectangular coordinate system at this moment is (0.17°, 0°, -0.17°), then the ranging unit whose facing direction is parallel to the Z-axis direction at this moment is the ranging unit whose facing direction was (90.17°, 90°, -0.17°) at the previous moment.

[0118] During the movement of the wearer, if it is calculated that no ranging unit has a detection direction parallel to the z-axis, then the foreign object state data of the four ranging units with the closest angles to the z-axis parallel direction is taken, and the foreign object state data in the z-axis parallel direction is calculated based on the foreign object state data of these four ranging units. The calculation process is as follows:

[0119] Since the angular resolution of the sensing device is relatively small, that is, the interval angle between adjacent two ranging units is small, it can be approximated that the four ranging units are simultaneously projected on the same object surface. As Figure 8 shown, P11, P22, P33, P44 are the four points where the four ranging units are projected onto the object surface. Taking the index angle in the second spatial rectangular coordinate system included in the ranging unit as (x, y, z) and the foreign object distance data of this measurement, the distance coordinates (x1, y1, z1) of the ranging unit in the second spatial rectangular coordinate system are obtained. Using the following three-dimensional plane formula, the distance of the point Z to be measured is calculated:

[0120] Ax + By + Cz + D = 0

[0121] Substitute the distance coordinates of P11, P22, P33, and P44 to obtain the variable values of A, B, C, and D. Substitute the coordinates of point Z (0, 0, z), and the variable values of A, B, C, and D to obtain the value of z. This z value is the foreign object distance data parallel to the Z-axis direction.

[0122] In another implementation manner of this embodiment, the tilt state data of the induction device monitored by the monitoring device may be: the tilt change data of the induction device at this moment and the induction device at the previous moment. According to this tilt change data and the foreign object state data of the induction device at the previous moment, the state data of the foreign object vertically upward of the wearer in the foreign object state data at this moment can be determined.

[0123] Through this solution, the control device can obtain a more accurate tilt angle of the induction device by using the Kalman filter algorithm, and calculate the state data of the foreign object directly above the wearer according to the tilt angle. For the state data of the foreign object of the induction device that does not directly detect the state data of the foreign object directly above the wearer, the control device can calculate the state data of the foreign object directly above the wearer by using the three-dimensional plane formula and specific foreign object state data, improving the protection effect of the safety helmet.

[0124] In some other embodiments, when the control device makes a risk judgment based on the distance of the foreign object directly above and determines whether to send an alarm signal to the alarm device according to the judgment result, it specifically is used for: judging whether the distance is less than a first preset distance. After determining that the distance is less than the first preset distance, determine the distance data corresponding to each detection moment within a preset time period. For each detection moment, according to the distance data corresponding to each detection moment, determine the speed data corresponding to each detection moment. According to the speed data corresponding to each detection moment and the distance data corresponding to each detection moment within the preset time period, determine the time when the foreign object directly above the wearer falls to the wearer's position. For each detection moment, according to the time when the foreign object directly above the wearer falls to the wearer's position and the set escape time, determine the risk level of the foreign object directly above the wearer. According to the risk level of the foreign object directly above the wearer, send a corresponding alarm signal to the alarm device.

[0125] The process of judging the risk level is specifically as follows:

[0126] Judge the size of the distance and the first preset distance. The first preset distance can be set according to the specific situation of the on-site operation, generally set as the height of the quay crane at the operation site. When the distance is greater than the first preset distance, there are almost no foreign objects that can fall in the on-site operation, and the risk level is determined to be low.

[0127] When the distance is less than or equal to the first preset distance, determine the magnitude relationship between the distance and the second preset distance. The second preset distance is generally a safety threshold. When it is determined that the distance is greater than the second preset distance, the control device starts to calculate the falling state and falling rate of the foreign object. The specific method is as follows:

[0128] When the distance is within the interval between the first set distance and the second set distance, the embedded control board determines whether to send an alarm signal according to the falling rate of the foreign object. The specific method is as follows:

[0129] Record the height h of the foreign object from the rangefinder at time t 0 0 After an interval of k time, that is, at time t 1 Measure the height h of the foreign object from the rangefinder again 1 1 Obtain the falling speed at time t 2

[0130] After another interval of k time, that is, at time t 2 Obtain the height h of the foreign object from the rangefinder 2 a Obtain the speed at time t b Calculate the acceleration value

[0131] According to the on-site operation experience, set the time t a seconds from receiving the alarm to the completion of personnel evacuation. Calculate the time t b seconds for the foreign object above the head to fall to the safety helmet. Among them, t b is obtained according to the following formula:

[0132]

[0133] Based on the actual situation, only take the positive value of t b When t b <= t a Determine that the risk level at this time is high

[0134] Since the second preset distance is a safety threshold, the safety distance set for the site, and on-site workers are not allowed to work under the container within this distance, when the distance is less than the second preset distance, determine that the risk level at this time is high

[0135] Through this solution, the control device can process the detection data of the sensing device and perform risk judgment. According to different judgment results, determine whether to send an alarm signal to the alarm device, and actively analyze and protect the safety status of the wearer

[0136] ​In another possible implementation of this embodiment, when the embedded control board performs risk judgment on the distance data of foreign objects directly above the wearer, it is specifically used for:

[0137] When the distance is less than the first set distance, the embedded control board starts to calculate the falling state and falling rate of the object.

[0138] Record t 0 The height h of the foreign object from the rangefinder at time 0 , at an interval of k time, that is, at time t 1 , measure the height h of the foreign object from the rangefinder again 1 , and obtain the falling speed at time t 1

[0139] At an interval of k time again, that is, at time t 2 , obtain the height h of the foreign object from the rangefinder 2 , and obtain the speed at time t 2 Calculate the acceleration value

[0140] When the calculated falling speed v of the foreign object 1 is 0, it is determined that the foreign object is fixed in the air, and the risk level at this time is determined to be low.

[0141] When the calculated falling speed v of the foreign object 1 is less than 0, it is determined that the foreign object is in the rising state. In on-site operations, it is determined that the quay crane is lifting a container, and the risk level at this time is determined to be low.

[0142] When the calculated falling acceleration a of the foreign object is less than or equal to 0, it is determined that the foreign object is descending manually. In on-site operations, the foreign object descending by a person is generally a container descending by the quay crane, and the risk level at this time is determined to be medium.

[0143] When the calculated falling acceleration a of the foreign object is greater than 0, but it is impossible to determine whether it is the quay crane accelerating the descent of the container, the container accidentally slipping off the rope and falling, or there is a foreign object falling, the risk level is high.

[0144] Since the second preset distance is the safety threshold, which is the safety distance set for the site, and on-site workers are not allowed to work under the container within this distance, so when the distance is less than the second preset distance, the risk level at this time is determined to be high.

[0145] The warning devices issue different warnings according to different risk levels, including:

[0146] When the risk level is low, the audible and visual vibration alarm device flashes lights, mainly warning the position of the personnel below the quay crane driver. It is up to the quay crane driver to determine whether the current operation will pose a threat to the wearer below. When the visibility is poor, the alarm device can be actively activated to flash lights.

[0147] When the risk level is high, the audible and visual vibration alarm device flashes lights, vibrates and gives a voice prompt. The voice is mainly "Please evacuate quickly". Its function is to immediately remind the wearer to leave the current position to avoid danger.

[0148] In some other preferred embodiments, the embedded control board is further configured to determine that the electronic level or the communication means between the two fails and cannot continue to obtain accurate foreign object detection information when the communication with the electronic level is interrupted for more than a first set time, and immediately send a fault alarm signal to the alarm device; and / or, when the electronic level is in a non-set position state for more than a second set time, that is, it is determined that the electronic level fails or the stepper motor has a corresponding failure and cannot continue to obtain accurate foreign object detection information, and immediately send a fault alarm signal to the alarm device.

[0149] In another possible implementation, the safety helmet can interact with the handheld device. The induction device includes a video camera. There is an interface in the embedded control board that can be interconnected with the handheld device, and the video camera is connected to the embedded control board. The handheld device can be used for power supply and summarizing various data of the embedded control board. The data specifically includes: all historical data of the inclination angle of the induction device generated by the actions of the signalman himself. The handheld device can analyze a large amount of inclination angle data to obtain the action habits of the signalman, and customize a calculation scheme for restoring the position state of the induction device according to the action habit data, and re-encode the scheme and send it to the embedded control board, so as to optimize the instructions for the embedded control board to control the stepper motor, reduce the movement amplitude of the stepper motor, and make the movement curve of the stepper motor smoother.

[0150] The video camera can capture the scene each time a medium or high risk alarm signal is issued, record the scene of the dangerous situation, and send it to the handheld device by the embedded control board. The handheld device analyzes and summarizes all dangerous situations, and provides the possible problems in the on-site operation to the relevant personnel for subsequent improvement work.

[0151] In some other embodiments, there is also provided a foreign object detection method applied to any one of the above-mentioned embodiments. The specific process is as Figure 3 shown, including:

[0152] The induction device detects the foreign object status data within the detection range of the induction device and sends the foreign object status data to the control device.

[0153] The monitoring device monitors the tilt status data of the induction device and sends the tilt status data to the control device.

[0154] The control device determines the status data of the foreign object directly above the wearer based on the position device data and the foreign object status data.

[0155] The control device performs a risk judgment based on the status data of the foreign object directly above, and determines whether to send a risk alarm signal to the alarm device according to the judgment result.

[0156] The alarm device gives a warning after obtaining the alarm signal.

[0157] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the method for detecting a foreign object described above can refer to the corresponding process in the foregoing method embodiments, and will not be elaborated herein.

[0158] In some other embodiments, for the control device applied to any of the above embodiments, the specific functional flowchart is as Figure 4 shown, including:

[0159] S401. Receive the foreign object status data sent by the induction device, where the foreign object status data is obtained by the induction device detecting foreign objects within the detection range of the induction device.

[0160] S402. Receive the tilt status data sent by the monitoring device; the tilt status data is obtained by the monitoring device monitoring the induction device.

[0161] S403. Process the tilt status data and the foreign object status data and determine the foreign object data directly above the wearer according to the result.

[0162] S404. Process the foreign object data directly above for risk judgment, and determine whether to send a risk alarm signal to the alarm device according to the judgment result, so that the alarm device gives a warning after obtaining the alarm signal.

[0163] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the control device for processing the method for detecting a foreign object described above can refer to the corresponding process in the foregoing method embodiments, and will not be elaborated herein.

[0164] In one embodiment, the hardware devices and sensors included in the present application include: an embedded control board, an electronic level, a 3D laser ranging radar, an acoustic-optic vibration alarm. The embedded control board is mainly used for data acquisition, data analysis, hardware control, and communication with the handheld terminal. The specific method is as follows:

[0165] 1. Head foreign body detection method

[0166] (1) 3D LiDAR data processing

[0167] The 3D laser radar has a scanning angle of 180 degrees in the x-axis direction, and can measure the distance of 1024 points in total, with an angular resolution of 0.17 degrees. The scanning angle in the y-axis direction is 90 degrees, and can measure a total of 128 points, with an angular resolution of 0.7 and a scanning frequency of 10Hz. The data of each measurement point includes:

[0168] (1) The (x,y) coordinate index number of the measurement point.

[0169] (2) The echo intensity measured at this point.

[0170] (3) The distance z between this point and the rangefinder.

[0171] The scanning point coordinate system is as follows:

[0172] (2) Electronic level to determine the deviation of the helmet from the horizontal direction

[0173] The embedded control board obtains the x-axis and y-axis angles of the current 3D laser ranging radar and the horizontal plane in real time through the serial port using the electronic level. At the same time, the Kalman filter algorithm is used to reduce the jump or noise interference of the x-axis and y-axis angles, and to predict the movement trend.

[0174] The specific method is as follows:

[0175] Let's take the X-axis angle measured by an electronic level as an example. Assume that when the electronic level is level, the output value is level_zero. At time k, the level measurement value is level_data, and the level angle deviation value level_bias = level_data-level_zero. Let x_last be the predicted angle at time k-1. First, set the covariance matrix P_last at time k-1 = 0.2, and the estimated value covariance matrix P_now at time k = 0.

[0176] In the first step, update the covariance matrix P_now at time k using formula (1-1), where Q is an empirical parameter. In the second step, update the Kalman filter coefficient Kg using formula (1-2), where R is an empirical parameter. In the third step, update the value of P_last according to Kg and P_now using formula (1-3). Finally, in the fourth step, we calculate the predicted value x_now at time k using formula (1-4) (x_last on the right side of the equation is the predicted value at time k-1). The Kalman filter is equivalent to a method of continuously updating the current state with the previous state. After obtaining the predicted value at time k, the true prediction at time k+1 can be obtained by looping through the above steps. After obtaining the true prediction, we use a control method to control the movement of the motor and restore the spirit level to horizontal.

[0177] P_now = Q + P_last(1-1)

[0178] Kg = P_now / (P_now + R)(1-2)

[0179] P_last = (1 - Kg) * P_now(1-3)

[0180] x_now = x_last + Kg(level_bias - x_last)(1-4)

[0181] Similarly, the predicted value at time k for the Y-axis can also be obtained by the above method.

[0182] (3) Calculation of the distance between the foreign object above the head and the safety helmet The spirit level and the 3D laser ranging radar are installed on a platform and move together. The angle P in the x-axis direction is obtained through the previous calculation kx and the angle P in the y-axis direction ky . Since the angles between adjacent points in the x and y axis directions of the radar are fixed (the x-axis angular resolution is 0.17 degrees, and the y-axis angular resolution is 0.7), it is possible to calculate which four measurement points the vertically upward point is located between, and then obtain the distance between this vertically upward point and the safety helmet through the three-dimensional plane method.

[0183] The three-dimensional point coordinates of P11, P22, P33, and P44 can be obtained according to the radar. P11, P22, P33, and P44 can locate a plane (since the angular resolution of the radar is relatively small, the x-axis angular resolution is 0.17 degrees, and the y-axis angular resolution is 0.7 degrees, we can approximately consider that the four points of the radar are projected on the surface of the object, and the four points determine a plane). Use the three-dimensional plane formula (2-3-1)

[0184] Ax + By + Cz + D = 0(2-3-1)

[0185] The three-dimensional coordinates (x, y, z) of points P11, P22, P33, and P44 are substituted into the formula to obtain variables A, B, C, and D.

[0186] We default the center of the radar to the origin of the three-dimensional coordinate system (0, 0, 0). We substitute the z-point coordinate (0, 0, z') into the formula (2-3-1) obtained above to solve for the value of z', and then we can obtain the z-point coordinate.

[0187] (4) Judge the state of the foreign object on the head by the distance of the foreign object.

[0188] The rangefinder measures the distance between the foreign object on the head and the safety helmet in real time. When the distance of the foreign object is less than t1, the falling state and the falling rate of the object are calculated.

[0189] 3. Safety risk judgment method and alarm

[0190] After the rangefinder receives the acquisition instruction from the embedded control board, it measures the distance between the foreign object and the safety helmet. When the distance of the foreign object is less than h1, the embedded control board starts to calculate the falling state and the falling rate of the object. When the distance between the foreign object and the safety helmet is less than the distance h2, the embedded device controls the sound and light vibration alarm to give an alarm, where h1 and h2 can be configured according to the on-site operation situation.

[0191] When the foreign object is in the h1 - h2 interval, the logic of whether the alarm device gives an alarm is as follows:

[0192] According to the empirical value, assume that the time taken from receiving the alarm to the completion of the personnel evacuation is t a seconds; through the calculation of the embedded control board, based on the current distance between the foreign object and the safety helmet and the falling rate, judge that the time when the foreign object presses on the person in charge is t b , when t b is less than t, an alarm is given, where the value of t a is configured by the administrator according to the experience and the actual on-site operation situation.

[0193] The specific process is as follows:

[0194] (1) Record the height h 0 of the foreign object from the rangefinder at time t 0 , at an interval of k time, that is, at time t 1 , measure the height h 1 of the foreign object from the rangefinder again, and obtain the falling speed at time t 1

[0195] (2) At an interval of k time again, that is, at time t 2 , obtain the height h 2 of the foreign object from the rangefinder, and obtain the speed at time t 2 Calculate the acceleration value

[0196] (3) According to the on-site operation experience, set the time t taken from receiving the alarm to the completion of personnel evacuation a in seconds, and calculate the time for the foreign object above the head to fall onto the safety helmet as t b in seconds, where t b is obtained according to the following formula:

[0197]

[0198] Based on the actual situation, t b only takes the positive value among them. When t b ≤t a , the embedded control board determines that the alarm condition is met.

[0199] (4) Repeat the above process to loop and calculate whether the alarm condition is met. When the alarm condition is met continuously for 3 times, the embedded control board controls the audible and visual vibration alarm to give an alarm.

[0200] 4. Equipment abnormality judgment method and alarm.

[0201] The normal operation of the safety helmet equipment can ensure the safe and reliable operation of the safety helmet. When a hardware failure occurs, self-check and alarm should be possible. The detection method is as follows:

[0202] (1) Hardware working state detection

[0203] When the communication between the embedded control board and the level meter is interrupted for more than s seconds, the equipment gives an alarm.

[0204] (2) Detection of the mechanical hardware state of the pan-tilt.

[0205] When the level meter is in a non-horizontal state, the embedded control board sends an adjustment signal to the stepper motor. When the signal is continuously sent for more than t seconds and the pan-tilt still does not reach the horizontal state, it indicates that there is a failure in the mechanical hardware of the pan-tilt, and the equipment gives an alarm.

[0206] (3) Whether there is a communication failure.

[0207] Figure 5 The following is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 5 shown, the electronic device 500 in this embodiment may include: a memory 501 and a processor 502.

[0208] The memory 501 stores a computer program that can be loaded and executed by the processor 502 to implement the method in the above embodiment.

[0209] Among them, the processor 502 and the memory 501 are connected, such as through a bus.

[0210] Optionally, the electronic device 500 may further include a transceiver. It should be noted that in practical applications, the number of transceivers is not limited to one, and the structure of the electronic device 500 does not constitute a limitation to the embodiments of the present application.

[0211] The processor 502 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of the present application. The processor 502 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0212] The bus may include a path for transmitting information between the above components. The bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0213] The memory 501 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or it may also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0214] The memory 501 is used to store the application program code for executing the solution of this application, and is controlled by the processor 502 to execute. The processor 502 is used to execute the application program code stored in the memory 501 to implement the content shown in the foregoing method embodiments.

[0215] Among them, the electronic device includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc. Figure 5 The shown electronic device is only an example and should not bring any restrictions to the functions and usage scope of the embodiments of this application.

[0216] The electronic device of this embodiment can be used to execute the method of any of the foregoing embodiments, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0217] This application also provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor to execute the method in the above embodiments.

[0218] Those of ordinary skill in the art can understand that all or part of the steps for implementing the foregoing method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: various media such as ROM, RAM, magnetic disks, or optical discs that can store program codes.

Claims

1. A safety helmet, characterized in that, it includes: a cap body, a sensing device, a monitoring device, a control device and an alarm device; the sensing device is fixedly arranged on the outer surface of the cap body, and the monitoring device is fixedly installed on the sensing device; the control device is respectively connected to the sensing device, the monitoring device and the alarm device; the sensing device includes a planar array ranging radar fixedly arranged on the cap body; the planar array ranging radar has n*m ranging units, and the ranging units are used to detect the foreign object distance data in the corresponding detection direction according to a preset detection frequency, and the planar array ranging radar is used to send the foreign object distance data detected by all the ranging units as foreign object state data to the control device; wherein, the detection directions corresponding to any one of the ranging units are different from each other; the monitoring device is used to monitor the tilt state data of the sensing device and send the tilt state data to the control device; the monitoring device includes an electronic level; taking the center of gravity of the electronic level as the origin, an x / y axis plane is established with the horizontal plane where the origin is located, and the x-axis and y-axis pass through the origin, and a z-axis is established with the vertical horizontal plane and passing through the origin as the standard. The x-axis, y-axis and z-axis are perpendicular to each other in pairs, and the x-axis, y-axis and z-axis form a space rectangular coordinate system; the electronic level is used to monitor the tilt angles of the sensing device based on the x-axis, y-axis and z-axis in the space rectangular coordinate system as tilt state data and send them to the control device; the control device is used to apply the Kalman filter algorithm, and obtain the predicted tilt angle at the current moment according to the tilt angle monitored by the monitoring device at the current moment and the predicted tilt angle obtained by applying the Kalman filter algorithm at the previous moment; combining the predicted tilt angle at the current moment, judge whether the foreign object state data contains the state data of the foreign object parallel to the z-axis direction; if it contains, determine the state data of the foreign object parallel to the z-axis direction as the state data of the foreign object directly above the wearer; if it does not contain, calculate the state data of the foreign object parallel to the z-axis direction according to the state data of the set number of foreign objects closest to the z-axis direction in the foreign object state data as the state data of the foreign object directly above the wearer; perform a risk judgment based on the state data of the foreign object directly above the wearer, and determine whether to send an alarm signal to the alarm device according to the judgment result; the alarm device is used to give a warning after receiving the alarm signal.

2. The safety helmet according to claim 1, characterized in that, the control device determines the distance of the foreign object directly above the wearer according to the tilt state data and the foreign object distance data detected by all the ranging units, performs a risk judgment based on the distance of the foreign object directly above, and determines whether to send an alarm signal to the alarm device according to the judgment result.

3. The safety helmet according to claim 2, characterized in that, when the control device performs a risk judgment based on the distance of the foreign object directly above and determines whether to send an alarm signal to the alarm device, it specifically is used for; judging whether the distance is less than a first preset distance; After determining that the distance is less than a first preset distance, determine the distance data corresponding to each detection moment within a preset time period; For each detection moment, determine the speed data corresponding to each detection moment according to the distance data corresponding to each detection moment; According to the speed data corresponding to each detection moment and the distance data corresponding to each detection moment within the preset time period, determine the time when the foreign object directly above the wearer falls to the wearer's position; For each detection moment, determine the risk level of the foreign object directly above the wearer according to the time when the foreign object directly above the wearer falls to the wearer's position and a set escape time; According to the risk level of the foreign object directly above the wearer, send a corresponding alarm signal to the alarm device.

4. The safety helmet according to claim 2, wherein, the control device is further configured to: when the communication with the electronic level is interrupted for more than a first set time, send a fault alarm signal to the alarm device; and / or, when the electronic level is in a non-horizontal state for more than a second set time, send a fault alarm signal to the alarm device.

5. A foreign object detection method, wherein, applied to the safety helmet according to any one of claims 1-4, the method includes: the sensing device detects foreign object status data within the detection range of the sensing device and sends the foreign object status data to the control device; the monitoring device monitors the tilt status data of the sensing device and sends the tilt status data to the control device; the control device determines the status data of the foreign object directly above the wearer according to the tilt status data and the foreign object status data; the control device makes a risk judgment according to the status data of the foreign object directly above the wearer and determines whether to send a risk alarm signal to the alarm device according to the judgment result; the alarm device gives a warning after obtaining the alarm signal.

6. A foreign object detection method, wherein, applied to the control device in the safety helmet according to any one of claims 1-4, the method includes: receive the foreign object status data sent by the sensing device, where the foreign object status data is obtained by the sensing device detecting foreign objects within the detection range of the sensing device; receive the tilt status data sent by the monitoring device; the tilt status data is obtained by the monitoring device monitoring the sensing device; process the tilt status data and the foreign object status data and determine the foreign object data directly above the wearer according to the result; process the foreign object data directly above the wearer to make a risk judgment and determine whether to send a risk alarm signal to the alarm device according to the judgment result, so that the alarm device gives a warning after obtaining the alarm signal.

7. An electronic product, wherein, comprises: a memory and a processor; the memory is used for storing program instructions; the processor is used for calling and executing the program instructions in the memory and executing the method according to claim 6.

8. A computer-readable storage medium, on which a computer program is stored, wherein, When executed by a processor, the program implements the method described in claim 6.

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