Method and apparatus for object detection in a safety hook

Abstract

The application discloses a kind of object detection method and device in safety hook, comprising: in response to the diameter of the hooking object input by user, according to the structure information of safety hook, simulation calculation is carried out, so as to obtain the emission point position of detection light beam;According to the emission point position of the detection light beam, the diameter of the hooking object is combined, and the fan emission size of the detection light beam is calculated;The detection light beam is emitted at the emission point position with the fan emission size, so that the reflected light of the detection light beam is continuously monitored whether it is received by light beam receiver;If so, the signal that the safety hook has been mounted hooking object is generated and fed back;If not, the signal that the safety hook has not been mounted hooking object is generated and fed back, so as to issue alarm.The application solves the technical problems that the existing technology is easy to cause signal false alarm, cannot detect the non-inductive, global, full category, economic and energy-saving and convenient and efficient object in the hook ring.

Description

Technical Field

[0001] This invention relates to the field of hook detection technology, and in particular to a method and apparatus for detecting objects in safety hooks. Background Technology

[0002] The state has strict regulations on safety for working at heights, requiring workers to wear and use safety harnesses with safety ropes correctly. When working at heights, users should secure the safety harness to their body, and the other end should be secured by hooking the metal safety hook (loop) on the safety rope to a sturdy fixed end (fixed frame or safety rope) above, thus ensuring the user's safety. However, in practice, workers often forget to hook the loop onto the high-altitude hook due to negligence or the inconvenience of moving at heights, endangering their safety. Furthermore, ground management personnel often fail to notice and remind them in time, which is a major cause of falls from heights. Therefore, monitoring the effectiveness of the safety harness loop and promptly reminding users to secure the safety rope is a crucial measure to prevent frequent falls from heights.

[0003] Currently, the main methods used in the industry include mechanical spring-loaded monitoring and ferromagnetic induction detection. However, when using mechanical spring-loaded monitoring to check the hook and loop status of seat belts, the "effective hook and loop hook" signal is only activated when the hooked object is directly pressed against the spring-loaded latch (mechanical switch). However, due to limitations in the size and position of the spring-loaded latch, it is easy for the hooked object (fixture or safety rope) inside the hook and loop to fail to properly press against the latch, thus preventing the "effective hook and loop hook" signal from being activated and causing false signals. When using ferromagnetic induction detection to check the hook and loop status of seat belts, the "effective hook and loop hook" signal is activated by changing the magnetic field strength in the hook and loop after the hook and loop has hooked onto a toroidal ferrous material. However, since the hooked object must be a toroidal ferrous material, if the object hooked on-site is not a toroidal ferrous material, it is prone to causing false signals.

[0004] Therefore, there is an urgent need for a detection method that can avoid false signal transmission, is non-contact (non-sensitive) to objects inside the hook and loop, covers all areas and categories, is economical and energy-saving, and is convenient and efficient. Summary of the Invention

[0005] This invention provides a method and apparatus for detecting objects in a safety hook, which solves the technical problems in the prior art that easily cause false signal transmission, and cannot detect objects in the hook without contact (non-contact), across all areas and categories, in an economical and energy-saving manner, and with convenient and efficient detection.

[0006] To address the aforementioned technical problems, embodiments of the present invention provide a method for detecting objects in a safety hook, comprising:

[0007] In response to the diameter of the hook input by the user, the system performs simulation calculations based on the structural information of the safety hook to obtain the emission point position of the detection beam;

[0008] Based on the emission point position of the detection beam and the diameter of the hook, the fan-shaped emission size of the detection beam is calculated; wherein, the fan-shaped emission size of the detection beam includes the number and angle of the detection beams;

[0009] The detection beam is controlled to be emitted at the emission point position with the specified fan-shaped emission size, thereby continuously monitoring whether the reflected light of the detection beam is received by the beam receiver; wherein, the reflected light is generated when the detection beam intersects or is tangential to the hook in the safety hook;

[0010] If so, a signal is generated and fed back that the safety hook has been loaded with an object;

[0011] If not, a signal is generated and fed back indicating that the safety hook is not attached to anything, thereby triggering an alarm.

[0012] As a preferred embodiment, in response to the diameter of the hook input by the user, simulation calculations are performed based on the structural information of the safety hook to obtain the emission point position of the detection beam, specifically:

[0013] In response to the diameter of the hook input by the user, the safety hook is simulated and calculated so that, during the calculation process, the structural equation of the safety hook is obtained based on the structural information of the safety hook, thereby obtaining the coordinate equation of the position of the detection beam emission point;

[0014] Based on the diameter of the hook, a moving circle of the hook is constructed. Based on the coordinates of the center of the moving circle, the tangent between the emission point and the moving circle, and the tangent point between the moving circle and the structural equation of the safety hook, the emission point position of the detection beam is calculated using the coordinate equation of the emission point position of the detection beam.

[0015] As a preferred embodiment, the structural equation of the safety hook is: Where a is the major axis of the safety hook, b is the minor axis of the safety hook, and x and y are the coordinate information of the side of the safety hook;

[0016] The coordinate equation of the position of the detection beam emission point is: Where x0 and y0 are the coordinate information of the position of the detection beam emission point;

[0017] The formula for calculating the emission point position of the probe beam includes:

[0018]

[0019]

[0020]

[0021]

[0022]

[0023] Where θ is the angle between each pair of detection beams, r is the radius of the moving circle, and the point of tangency between the moving circle and the safety hook is Q = (x1, y1). Let be the normal vector of the tangent point Q, P be the coordinates of the center of the moving circle, |op| be the distance between the coordinates of the center of the moving circle and the coordinates of the position of the probe beam emission point, and λ be the Lagrange multiplier operator.

[0024] As a preferred embodiment, the fan-shaped emission size of the detection beam is calculated based on the emission point position of the detection beam and the diameter of the hook, specifically as follows:

[0025] Based on the position of the emission point of the detection beam, the maximum distance between the center of the moving circle corresponding to the diameter of the hook and the emission point is calculated, thereby determining the position of the moving circle corresponding to the diameter of the hook; wherein, the moving circle corresponding to the diameter of the hook is tangent to the safety hook;

[0026] Starting from the emission point of the detection beam, tangents are sequentially drawn to the upper or lower side of the moving circle corresponding to the diameter of the hook. After obtaining each tangent, a tangent circle is constructed that is tangent to both the tangent and the safety hook, until the constructed tangent circle can no longer be tangent to the safety hook and intersects with the safety hook. The number of tangents drawn, the length of each tangent, and the angle between each tangent are then calculated.

[0027] The fan-shaped emission size of the probe beam is obtained based on the number of tangents made, the length of each tangent, and the angle between each tangent.

[0028] As a preferred embodiment, the fan-shaped emission size of the detection beam is obtained based on the number of tangents, the length of each tangent, and the angle between each tangent, specifically as follows:

[0029] The number of detection beams is calculated based on the number of tangents drawn and the position of the tangent point between the moving circle and the safety hook.

[0030] The number of probe beams, the length of each tangent, and the angle between each tangent are used as the fan-shaped emission size of the probe beams.

[0031] As a preferred embodiment, when the point of tangency between the moving circle and the safety hook is located on the long axis of the safety hook, the formula for calculating the number of detection beams is:

[0032] n = 2n0

[0033] When the point of tangency between the moving circle and the safety hook is not on the major axis of the safety hook, the formula for calculating the number of detection beams is:

[0034] n = 2n0 + 1

[0035] Where n is the number of probe beams and n0 is the number of tangents drawn.

[0036] As a preferred embodiment, controlling the detection beam to emit at the emission point position with the specified fan-shaped emission size specifically involves:

[0037] By controlling the probe beam emitter to move to the emission point position and setting the emission parameters of the probe beam emitter according to the fan-shaped emission size, the probe beam emitter can be controlled to emit a probe beam after the emission parameters are set.

[0038] Accordingly, the present invention also provides a method for detecting objects in a safety hook, comprising: a launching point module, a fan-shaped launching module, a control module, a first execution module, and a second execution module;

[0039] The emission point module is used to respond to the diameter of the hook input by the user, and perform simulation calculations based on the structural information of the safety hook to obtain the emission point position of the detection beam;

[0040] The fan-shaped emission module is used to calculate the fan-shaped emission size of the detection beam based on the emission point position of the detection beam and the diameter of the hook; wherein, the fan-shaped emission size of the detection beam includes the number and angle of the detection beams;

[0041] The control module is used to control the detection beam to be emitted at the emission point position in the specified fan-shaped emission size, thereby continuously monitoring whether the reflected light of the detection beam is received by the beam receiver; wherein, the reflected light is generated when the detection beam intersects or is tangential to the hook in the safety hook;

[0042] The first execution module is used to generate and feed back a signal that the safety hook has been hooked if it continuously monitors and detects reflected light that can receive the detection beam;

[0043] The second execution module is used to generate and feed back a signal that the safety hook is not hooked if it is continuously monitored that the reflected light of the detection beam cannot be received, thereby issuing an alarm.

[0044] Accordingly, the present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the method for detecting objects in a safety hook as described in any of the above.

[0045] Accordingly, the present invention also provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the method for detecting objects in a safety hook as described in any of the above claims.

[0046] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0047] The technical solution of this invention responds to the diameter of the hooked object input by the user and performs simulation calculations based on the structural information of the safety hook to obtain the emission point position of the detection beam. Then, by combining this with the diameter of the hooked object, the fan-shaped radiation size of the detection beam is calculated, ensuring that the number of calculated detection beams is minimized. This allows the detection beams to be emitted in a fan-shaped pattern at the emission point, achieving economical, energy-saving, convenient, and effective detection of hooked objects in the hook ring with the minimum number of beams. A beam receiver determines whether there is a hooked object inside the safety hook, thus accurately and efficiently determining whether the hook is engaged. The detection beam avoids the signal mistransmission problems common with existing magnetic or mechanical spring-loaded methods. It also achieves seamless, all-area, all-category, economical, energy-saving, convenient, and efficient detection of objects inside the hook ring, improving the user experience. Attached Figure Description

[0048] Figure 1 : A flowchart illustrating the steps of a method for detecting objects in a safety hook according to an embodiment of the present invention;

[0049] Figure 2 : This is a schematic diagram of the emission point o (position) of the fan-shaped beam segment provided in the embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram illustrating the automatic capture and labeling of graphic tangent points and intersection points provided in an embodiment of the present invention.

[0051] Figure 4 : A schematic diagram of the fan-shaped beam segment (even number) provided in an embodiment of the present invention;

[0052] Figure 5 : A schematic diagram of a fan-shaped beam segment (singular) provided in an embodiment of the present invention;

[0053] Figure 6 : A schematic diagram of the structure of a device for detecting objects in a safety hook provided in an embodiment of the present invention. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Example 1

[0056] Please refer to Figure 1 The present invention provides a method for detecting objects in a safety hook, comprising the following steps S101-S105:

[0057] Step S101: In response to the diameter of the hook input by the user, a simulation calculation is performed based on the structural information of the safety hook to obtain the emission point position of the detection beam.

[0058] In this embodiment, the object detection method in the safety hook mainly involves simulating and customizing a minimum number of fan-shaped light beams (segments) based on the planar mapping shape and size of the hook and the planar mapping size of the hooked object. When any one or more of the emitted light beams encounter (i.e., intersect or are tangent to) the hooked object in the ring, reflected light is generated and received, thus issuing a "hooked object present" signal. When the emitted light beam does not encounter the object in the ring, i.e., no reflected light is generated, a "no hooked object present" signal is issued, thereby realizing the detection of whether there is an object in the safety hook.

[0059] In this embodiment, while ensuring effective detection of objects hooked in the hook ring without contact, across the entire area (within the trench), and for all types of objects, the number of emitted fan-shaped beams is minimized through simulation calculations, enabling economical, energy-saving, convenient, and effective detection of objects in the safety hook.

[0060] It should be noted that in practical engineering, the internal planar shape of the safety hook can be approximated as an ellipse Z. For example, the major axis a of ellipse Z can be 4 cm, and the minor axis b can be 2.5 cm. The planar shape of the hooked object in the hook ring, considering factors such as material, load-bearing capacity, and the hook ring's rotation angle, can be approximated as a circle P. In national industry standards for this field, the diameter of the safety rope, i.e., the hooked object, should not be less than 12 mm, and the twist should be (8.5~9) / 100 (stitches / mm). For example, the radius r of circle P can be ≥ 0.6 cm (taking the minimum value r = 0.6 cm).

[0061] It is understood that the detection method of the present invention can be equivalent to emitting fan-shaped beam segments L1, L2, L3... from a certain point on ellipse Z, which are sequentially tangent to the inscribed circles P1, P2, P3... of ellipse Z. When the tangent circle Pm of the last beam segment intersects ellipse Z (as in... Figure 2 As shown in the box, the rectangular box with a height of 2r = 1.2 cm completely encompasses all the arcs on one side of the ellipse Z, thus determining the dimensions of the fan-shaped beam segment (i.e., the number, angle, and length). This enables the effective detection of objects with a cross-sectional radius r ≥ 0.6 cm within the ellipse Z using the minimum number of beams (see...). Figure 2 In this way, any object larger than 2r, once inside the hook and loop, will intersect or be tangent to the fan-shaped beam segment, thus generating reflected light and emitting a "hooked object" signal.

[0062] In a preferred embodiment, in response to the diameter of the hook input by the user, simulation calculations are performed based on the structural information of the safety hook to obtain the emission point position of the detection beam. Specifically:

[0063] In response to the diameter of the hook input by the user, the safety hook is simulated and calculated so that, during the calculation process, the structural equation of the safety hook is obtained based on its structural information, thereby obtaining the coordinate equation of the detection beam emission point position. Based on the diameter of the hook, a moving circle of the hook is constructed, and based on the center coordinates of the moving circle, the tangent between the emission point position and the moving circle, and the tangent point between the moving circle and the structural equation of the safety hook, the emission point position of the detection beam is calculated using the coordinate equation of the detection beam emission point position.

[0064] As a preferred embodiment, the structural equation of the safety hook is: Where a is the major axis of the safety hook, b is the minor axis of the safety hook, and x and y are the coordinate information of the side of the safety hook; the coordinate equation of the position of the detection beam emission point is: Where x0 and y0 are the coordinates of the emission point of the probe beam; the formula for calculating the emission point of the probe beam includes:

[0065]

[0066]

[0067]

[0068]

[0069]

[0070] Where θ is the angle between each pair of detection beams, r is the radius of the moving circle, and the point of tangency between the moving circle and the safety hook is Q = (x1, y1). Let be the normal vector of the tangent point Q, P be the coordinates of the center of the moving circle, |op| be the distance between the coordinates of the center of the moving circle and the coordinates of the position of the probe beam emission point, and λ be the Lagrange multiplier operator.

[0071] In this embodiment, please refer to Figure 3 This is a schematic diagram for proving the emission point o of the fan-shaped beam segment. Let the equation of the ellipse Z be... The coordinates of a point o on the ellipse Z are (x... o ,y o ), then (x o ,y o )satisfy Let P be a moving circle with radius r inside the ellipse Z. Two rays are drawn from point o on the ellipse Z, each tangent to one side of the moving circle P, with an angle θ between them. The center of the moving circle P is... Then there is

[0072] In this embodiment, let the point of tangency between the moving circle P and the ellipse Z be Q = (x1, y1). It is easy to obtain the normal vector of the point of tangency Q as follows: The coordinates of the center of the moving circle P are Let f(x1,y1)=|op| 2 According to the Lagrange multiplier method, we have: Solving the above equations reveals that when |op| is at its maximum and θ is at its minimum, point o is located at the vertex of the major axis of the ellipse Z, and the area of ​​the ellipse (sector) divided by the two tangent lines drawn from point o and tangent to the moving circle P is the largest. Similarly, to divide the entire ellipse Z, when point o is located at the vertex of the major axis, the number of sectors divided by its tangent lines is minimized, and the number of tangent lines required is also minimized. Furthermore, once the ellipse is determined, if the areas of the sectors divided by the same area are all extremely large, then the number of sectors is extremely small, and the number of tangent lines is also extremely small.

[0073] Step S102: Calculate the fan-shaped emission size of the detection beam based on the emission point position of the detection beam and the diameter of the hook; wherein the fan-shaped emission size of the detection beam includes the number and angle of the detection beams.

[0074] In a preferred embodiment, the step of calculating the fan-shaped emission size of the detection beam based on the emission point position of the detection beam and the diameter of the hook is specifically as follows:

[0075] Based on the emission point position of the detection beam, the maximum distance between the center of the moving circle corresponding to the diameter of the hook and the emission point position is calculated, thereby determining the position of the moving circle corresponding to the diameter of the hook; wherein, the moving circle corresponding to the diameter of the hook is tangent to the safety hook; sequentially, tangents are drawn from the emission point position of the detection beam to the upper or lower side of the moving circle corresponding to the diameter of the hook, and after obtaining each tangent, a tangent circle is constructed that is tangent to both the tangent and the safety hook, until the constructed tangent circle can no longer be tangent to the safety hook and intersects the safety hook, at which point the number of tangents, the length of each tangent, and the angle between each tangent are calculated; based on the number of tangents, the length of each tangent, and the angle between each tangent, the fan-shaped emission size of the detection beam is obtained.

[0076] In this embodiment, the dimensions (number, length, and angle) of the fan-shaped beam segments are simulated and designed to automatically capture and mark the tangent and intersection points between circles, ellipses, and straight lines. It can also actively measure the length and angle of straight line segments. For details, please refer to [link to relevant documentation]. Figure 4 and Figure 5 .

[0077] In this embodiment, when |op| is at its maximum, op should lie on the major axis of the ellipse Z, such as... Figure 1 As shown in circle P1. At this point, the center of circle P1 is located on the major axis and is tangent to ellipse Z at the vertex of the major axis. Draw a diagonal line L1 through point o, tangent to circle P1 and intersecting ellipse Z. Draw circle P2, tangent to diagonal line L1 and ellipse Z respectively. Continue drawing diagonal line L2, circle P2, etc., and repeat the iteration until a rectangle (with a height equal to the diameter 2r of circle P1) whose long side lies on diagonal line Lm covers all the arcs on one side of ellipse Z, at which point the iteration ends.

[0078] As a preferred embodiment, the step of obtaining the fan-shaped emission size of the detection beam based on the number of tangents, the length of each tangent, and the angle between each tangent is specifically as follows:

[0079] The number of detection beams is calculated based on the number of tangents and the position of the tangent point between the moving circle and the safety hook; the number of detection beams, the length of each tangent, and the angle between each tangent are used as the fan-shaped emission size of the detection beams.

[0080] As a preferred embodiment, when the tangent point between the moving circle and the safety hook is located on the long axis of the safety hook, the formula for calculating the number of detection beams is: n = 2n0; when the tangent point between the moving circle and the safety hook is not located on the long axis of the safety hook, the formula for calculating the number of detection beams is: n = 2n0 + 1; where n is the number of detection beams and n0 is the number of tangents.

[0081] In this embodiment, since the fan-shaped beam segments have a symmetrical structure, involving odd and even numbers, it is necessary to draw the odd and even numbers separately and select the one with the fewest numbers. The oblique lines L and circle P on both sides of the major axis of the ellipse Z have a symmetrical structure (even number type). The total number of oblique lines is twice that on one side of the major axis, i.e., n = 2n0. Therefore, draw the major axis of the ellipse Z and label it as oblique line L1. Then, draw the number of fan-shaped beam segments (odd number) according to the above steps. The total number of oblique lines (even number type) is twice that on one side of the major axis plus 1, i.e., n = 2n0 + 1. Finally, compare the number of even and odd numbers and select the one with the fewer numbers as the final number of fan-shaped beam segments. In the final fan-shaped beam segment diagram, measure and mark the length and included angle of each beam segment.

[0082] For example, for a common ellipse in practice, the major axis Z is a = 4 cm and the minor axis is b = 2.5 cm; the radius r of the circle P on which the object is hooked is ≥ 0.6 cm, and the simulation calculation results show that there are 6 fan-shaped beam segments.

[0083] Step S103: Control the detection beam to emit at the emission point position with the fan-shaped emission size, so as to continuously monitor whether the reflected light of the detection beam is received by the beam receiver; wherein, the reflected light is generated when the detection beam intersects or is tangent to the hook in the safety hook.

[0084] In a preferred embodiment, controlling the detection beam to emit at the emission point position with the specified fan-shaped emission size specifically involves:

[0085] By controlling the probe beam emitter to move to the emission point position and setting the emission parameters of the probe beam emitter according to the fan-shaped emission size, the probe beam emitter can be controlled to emit a probe beam after the emission parameters are set.

[0086] In this embodiment, the probe beam emitter includes, but is not limited to, an externally modulated light transmitter and a directly modulated light transmitter, and the beam receiver is a photodetector capable of receiving the beam emitted by the probe beam emitter.

[0087] Furthermore, by simulating and calculating the dimensions (number, length, and angle) of the fan-shaped beam segments within the hook and ring, the emission point o of the fan-shaped beam segment was found to be located at the vertex of the major axis of the ellipse Z, and the dimensions of the fan-shaped beam segment were verified in turn. Finally, the minimum number of beams was found, minimizing the number, volume, and weight of the light-emitting devices, while also saving the energy required for light emission. This enables economical, energy-saving, convenient, and effective detection of objects in the hook and ring (ring) without any senses, omissions, or distinctions.

[0088] Step S104: If the reflected light from the detection beam is continuously received during monitoring, a signal is generated and fed back that the safety hook has been loaded with an object.

[0089] It should be noted that the signal indicating that the safety hook has a hooked object can be an audible and visual alarm or other similar information.

[0090] Step S105: If no reflected light from the detection beam is received during continuous monitoring, a signal is generated and fed back that the safety hook is not hooked, thereby issuing an alarm.

[0091] Understandably, this innovative approach addresses the problem of false signal transmission common in previous detection methods. It employs a customized, integrated transmit-receive fan-shaped light detection method. By simulating the dimensions (number, length, and angle) of the fan-shaped beam segments within the hook and loop, the method verifies that the emission point o of the fan-shaped beam segment is located at the vertex of the major axis of the ellipse Z, based on the actual number, length, and angle of the customized beams. This allows for the selection of the required number of fan-shaped beam segments, enabling economical, convenient, and effective detection of hooked objects in the hook and loop with the fewest possible beams. This ensures the correct use of safety belts during high-altitude operations and further protects the personal safety of personnel working at heights.

[0092] Implementing the above embodiments has the following effects:

[0093] The technical solution of this invention responds to the diameter of the hooked object input by the user and performs simulation calculations based on the structural information of the safety hook to obtain the emission point position of the detection beam. Then, by combining this with the diameter of the hooked object, the fan-shaped radiation size of the detection beam is calculated, ensuring that the number of calculated detection beams is minimized. This allows the detection beams to be emitted in a fan-shaped pattern at the emission point, achieving economical, energy-saving, convenient, and effective detection of hooked objects in the hook ring with the minimum number of beams. A beam receiver determines whether there is a hooked object inside the safety hook, thus accurately and efficiently determining whether the hook is engaged. The detection beam avoids the signal mistransmission problems common with existing magnetic or mechanical spring-loaded methods. It also achieves seamless, all-area, all-category, economical, energy-saving, convenient, and efficient detection of objects inside the hook ring, improving the user experience.

[0094] Example 2

[0095] Please see Figure 6 The present invention also provides a method for detecting objects in a safety hook, comprising: a launch point module 201, a fan-shaped launch module 202, a control module 203, a first execution module 204, and a second execution module 205.

[0096] The emission point module 201 is used to respond to the diameter of the hook input by the user and perform simulation calculations based on the structural information of the safety hook to obtain the emission point position of the detection beam.

[0097] The fan-shaped emission module 202 is used to calculate the fan-shaped emission size of the detection beam based on the emission point position of the detection beam and the diameter of the hook; wherein, the fan-shaped emission size of the detection beam includes the number and angle of the detection beam.

[0098] The control module 203 is used to control the detection beam to be emitted at the emission point position in the fan-shaped emission size, so as to continuously monitor whether the reflected light of the detection beam is received by the beam receiver; wherein the reflected light is generated when the detection beam intersects or is tangent to the hook in the safety hook.

[0099] The first execution module 204 is used to generate and feed back a signal that the safety hook has been loaded with an object if it continuously monitors and detects reflected light that can receive the detection beam.

[0100] The second execution module 205 is used to generate and feed back a signal that the safety hook is not hooked if it is continuously monitored that the reflected light of the detection beam cannot be received, thereby issuing an alarm.

[0101] As a preferred embodiment, in response to the diameter of the hook input by the user, simulation calculations are performed based on the structural information of the safety hook to obtain the emission point position of the detection beam, specifically:

[0102] In response to the diameter of the hook input by the user, the safety hook is simulated and calculated so that, during the calculation process, the structural equation of the safety hook is obtained based on the structural information of the safety hook, thereby obtaining the coordinate equation of the position of the detection beam emission point;

[0103] Based on the diameter of the hook, a moving circle of the hook is constructed. Based on the coordinates of the center of the moving circle, the tangent between the emission point and the moving circle, and the tangent point between the moving circle and the structural equation of the safety hook, the emission point position of the detection beam is calculated using the coordinate equation of the emission point position of the detection beam.

[0104] As a preferred embodiment, the structural equation of the safety hook is: Where a is the major axis of the safety hook, b is the minor axis of the safety hook, and x and y are the coordinate information of the side of the safety hook;

[0105] The coordinate equation of the position of the detection beam emission point is: Where x0 and y0 are the coordinate information of the position of the detection beam emission point;

[0106] The formula for calculating the emission point position of the probe beam includes:

[0107]

[0108]

[0109]

[0110]

[0111]

[0112] Where θ is the angle between each pair of detection beams, r is the radius of the moving circle, and the point of tangency between the moving circle and the safety hook is Q = (x1, y1). Let be the normal vector of the tangent point Q, P be the coordinates of the center of the moving circle, |op| be the distance between the coordinates of the center of the moving circle and the coordinates of the position of the probe beam emission point, and λ be the Lagrange multiplier operator.

[0113] As a preferred embodiment, the fan-shaped emission size of the detection beam is calculated based on the emission point position of the detection beam and the diameter of the hook, specifically as follows:

[0114] Based on the position of the emission point of the detection beam, the maximum distance between the center of the moving circle corresponding to the diameter of the hook and the emission point is calculated, thereby determining the position of the moving circle corresponding to the diameter of the hook; wherein, the moving circle corresponding to the diameter of the hook is tangent to the safety hook;

[0115] Starting from the emission point of the detection beam, tangents are sequentially drawn to the upper or lower side of the moving circle corresponding to the diameter of the hook. After obtaining each tangent, a tangent circle is constructed that is tangent to both the tangent and the safety hook, until the constructed tangent circle can no longer be tangent to the safety hook and intersects with the safety hook. The number of tangents drawn, the length of each tangent, and the angle between each tangent are then calculated.

[0116] The fan-shaped emission size of the probe beam is obtained based on the number of tangents made, the length of each tangent, and the angle between each tangent.

[0117] As a preferred embodiment, the fan-shaped emission size of the detection beam is obtained based on the number of tangents, the length of each tangent, and the angle between each tangent, specifically as follows:

[0118] The number of detection beams is calculated based on the number of tangents drawn and the position of the tangent point between the moving circle and the safety hook.

[0119] The number of probe beams, the length of each tangent, and the angle between each tangent are used as the fan-shaped emission size of the probe beams.

[0120] As a preferred embodiment, when the point of tangency between the moving circle and the safety hook is located on the long axis of the safety hook, the formula for calculating the number of detection beams is:

[0121] n = 2n0

[0122] When the point of tangency between the moving circle and the safety hook is not on the major axis of the safety hook, the formula for calculating the number of detection beams is:

[0123] n = 2n0 + 1

[0124] Where n is the number of probe beams and n0 is the number of tangents drawn.

[0125] As a preferred embodiment, controlling the detection beam to emit at the emission point position with the specified fan-shaped emission size specifically involves:

[0126] By controlling the probe beam emitter to move to the emission point position and setting the emission parameters of the probe beam emitter according to the fan-shaped emission size, the probe beam emitter can be controlled to emit a probe beam after the emission parameters are set.

[0127] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0128] Implementing the above embodiments has the following effects:

[0129] The technical solution of this invention responds to the diameter of the hooked object input by the user and performs simulation calculations based on the structural information of the safety hook to obtain the emission point position of the detection beam. Then, by combining this with the diameter of the hooked object, the fan-shaped radiation size of the detection beam is calculated, ensuring that the number of calculated detection beams is minimized. This allows the detection beams to be emitted in a fan-shaped pattern at the emission point, achieving economical, energy-saving, convenient, and effective detection of hooked objects in the hook ring with the minimum number of beams. A beam receiver determines whether there is a hooked object inside the safety hook, thus accurately and efficiently determining whether the hook is engaged. The detection beam avoids the signal mistransmission problems common with existing magnetic or mechanical spring-loaded methods. It also achieves seamless, all-area, all-category, economical, energy-saving, convenient, and efficient detection of objects inside the hook ring, improving the user experience.

[0130] Example 3

[0131] Accordingly, the present invention also provides a terminal device, comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the method for detecting objects in a safety hook as described in any of the above embodiments.

[0132] The terminal device in this embodiment includes a processor, a memory, and a computer program and computer instructions stored in the memory and executable on the processor. When the processor executes the computer program, it implements the various steps described in Embodiment 1 above, for example... Figure 1 The steps S101 to S105 are shown. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the above-described device embodiment, such as the control module 203.

[0133] For example, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the terminal device. For example, the control module 203 is used to control the detection beam to emit at the emission point position in the fan-shaped emission size, thereby continuously monitoring whether the reflected light from the detection beam is received by the beam receiver.

[0134] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, etc.

[0135] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0136] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc.; the data storage area may store data created based on the use of the mobile terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0137] Wherein, if the modules / units integrated in the terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, it can implement the steps of the various method embodiments described above. Wherein, the computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0138] Example 4

[0139] Accordingly, the present invention also provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the method for detecting objects in a safety hook as described in any of the above embodiments.

[0140] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for detecting objects in a safety hook, characterized in that, include: In response to the diameter of the hook input by the user, the system performs simulation calculations based on the structural information of the safety hook to obtain the emission point position of the detection beam; Specifically, this includes: responding to the diameter of the hook input by the user, performing simulation calculations on the safety hook, so that during the calculation process, based on the structural information of the safety hook, the structural equation of the safety hook is obtained, thereby obtaining the coordinate equation of the position of the detection beam emission point; constructing a moving circle of the hook based on the diameter of the hook, and calculating the position of the detection beam emission point using the coordinate equation of the coordinate equation of the coordinate equation of the detection beam emission point, based on the coordinates of the center of the moving circle, the tangent between the emission point position and the moving circle, and the tangent point between the moving circle and the structural equation of the safety hook; Based on the emission point position of the detection beam and the diameter of the hook, the fan-shaped emission size of the detection beam is calculated; wherein, the fan-shaped emission size of the detection beam includes the number and angle of the detection beams; The detection beam is controlled to be emitted at the emission point position with the specified fan-shaped emission size, thereby continuously monitoring whether the reflected light of the detection beam is received by the beam receiver; wherein, the reflected light is generated when the detection beam intersects or is tangential to the hook in the safety hook; If so, a signal is generated and fed back that the safety hook has been loaded with an object; If not, a signal is generated and fed back indicating that the safety hook is not attached to anything, thereby triggering an alarm.

2. The method for detecting objects in a safety hook as described in claim 1, characterized in that, The structural equation of the safety hook is as follows: Where a is the major axis of the safety hook, b is the minor axis of the safety hook, and x and y are the coordinate information of the side of the safety hook; The coordinate equation of the position of the detection beam emission point is: Where x0 and y0 are the coordinates of the emission point of the detection beam; The formula for calculating the emission point position of the probe beam includes: ， Where θ is the angle between each pair of detection beams, r is the radius of the moving circle, and the point of tangency between the moving circle and the safety hook is... , Let Q be the normal vector of the point of tangency, and P be the coordinates of the center of the moving circle. Let be the distance between the coordinates of the center of the moving circle and the coordinates of the point where the probe beam is emitted. It is a Lagrange multiplier operator.

3. The method for detecting objects in a safety hook as described in claim 2, characterized in that, The fan-shaped emission size of the detection beam is calculated based on the emission point position of the detection beam and the diameter of the hook, specifically as follows: Based on the position of the emission point of the detection beam, the maximum distance between the center of the moving circle corresponding to the diameter of the hook and the emission point is calculated, thereby determining the position of the moving circle corresponding to the diameter of the hook; wherein, the moving circle corresponding to the diameter of the hook is tangent to the safety hook; Starting from the emission point of the detection beam, tangents are sequentially drawn to the upper or lower side of the moving circle corresponding to the diameter of the hook. After obtaining each tangent, a tangent circle is constructed that is tangent to both the tangent and the safety hook, until the constructed tangent circle can no longer be tangent to the safety hook and intersects with the safety hook. The number of tangents drawn, the length of each tangent, and the angle between each tangent are then calculated. The fan-shaped emission size of the probe beam is obtained based on the number of tangents made, the length of each tangent, and the angle between each tangent.

4. The method for detecting objects in a safety hook as described in claim 3, characterized in that, The fan-shaped emission size of the detection beam is obtained based on the number of tangents, the length of each tangent, and the angle between each tangent, specifically as follows: The number of detection beams is calculated based on the number of tangents drawn and the position of the tangent point between the moving circle and the safety hook. The number of probe beams, the length of each tangent, and the angle between each tangent are used as the fan-shaped emission size of the probe beams.

5. The method for detecting objects in a safety hook as described in claim 3, characterized in that, When the point of tangency between the moving circle and the safety hook is located on the long axis of the safety hook, the formula for calculating the number of detection beams is: When the point of tangency between the moving circle and the safety hook is not on the major axis of the safety hook, the formula for calculating the number of detection beams is: in, To detect the number of beams, The number of tangents drawn.

6. The method for detecting objects in a safety hook as described in claim 5, characterized in that, The control of the detection beam to emit at the emission point position with the specified fan-shaped emission size specifically involves: By controlling the probe beam emitter to move to the emission point position and setting the emission parameters of the probe beam emitter according to the fan-shaped emission size, the probe beam emitter can be controlled to emit a probe beam after the emission parameters are set.

7. A device for detecting objects in a safety hook, characterized in that, include: Launch point module, sector launch module, control module, first execution module and second execution module; The emission point module is used to respond to the diameter of the hook input by the user, and perform simulation calculations based on the structural information of the safety hook to obtain the emission point position of the detection beam; Specifically, this includes: responding to the diameter of the hook input by the user, performing simulation calculations on the safety hook, so that during the calculation process, based on the structural information of the safety hook, the structural equation of the safety hook is obtained, thereby obtaining the coordinate equation of the position of the detection beam emission point; constructing a moving circle of the hook based on the diameter of the hook, and calculating the position of the detection beam emission point using the coordinate equation of the coordinate equation of the coordinate equation of the detection beam emission point, based on the coordinates of the center of the moving circle, the tangent between the emission point position and the moving circle, and the tangent point between the moving circle and the structural equation of the safety hook; The fan-shaped emission module is used to calculate the fan-shaped emission size of the detection beam based on the emission point position of the detection beam and the diameter of the hook; wherein, the fan-shaped emission size of the detection beam includes the number and angle of the detection beams; The control module is used to control the detection beam to be emitted at the emission point position in the specified fan-shaped emission size, thereby continuously monitoring whether the reflected light of the detection beam is received by the beam receiver; wherein, the reflected light is generated when the detection beam intersects or is tangential to the hook in the safety hook; The first execution module is used to generate and feed back a signal that the safety hook has been hooked if it continuously monitors and detects reflected light that can receive the detection beam; The second execution module is used to generate and feed back a signal that the safety hook is not hooked if it is continuously monitored that the reflected light of the detection beam cannot be received, thereby issuing an alarm.

8. A terminal device, characterized in that, The device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the method for detecting an object in a safety hook as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the method for detecting an object in a safety hook as described in any one of claims 1 to 6.

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