A high-altitude operation status judgment and early warning system based on inertial sensor array

Abstract

The present invention relates to a high-altitude operation state judgment and early warning system based on an inertial sensor array, which is applied to the field of monitoring and alarm technology. The inertial sensor array is used to obtain the posture data of each detection node, and the spatial curve of the safety belt can be calculated. By comparing the spatial curve with a set of spatial curves of known states in the inertial sensor array, it can be obtained whether the safety belt is worn and the state of the worn safety rope. When an abnormality occurs, an early warning can be given in time to improve the operation safety of the operator, so that the state of the safety rope can be monitored in real time during high-altitude operation, and an alarm can be given in the event of an abnormality. Compared with the prior art, the monitoring effect of the safety rope is greatly improved, the safety hazard is effectively reduced, and the accident rate is reduced. In addition, the present application does not change the existing mechanical structure and safety performance of the safety belt, is not limited by the high-altitude operation environment and the use method of the safety belt, and has a wide applicability.

Description

Technical Field

[0001] The present invention relates to a high-altitude operation state judgment and early warning system, in particular to a high-altitude operation state judgment and early warning system based on an inertial sensor array and applied in the field of monitoring and alarm technology. Background Art

[0002] In the process of construction work, working at height is the most common high-risk work and one of the main causes of safety accidents. According to statistics, more than 50% of construction accidents on construction sites are caused by falling from heights, which can cause minor injuries, lifelong disability or even loss of life. How to manage the safety of high-altitude work and how to protect the workers during high-altitude work are issues that need to be solved urgently.

[0003] The main reasons for falling from heights are not wearing a safety belt or using it incorrectly. The industry has also proposed many solutions to these situations, such as video-based AI recognition of whether a safety belt is worn, modifying the hook structure of the safety belt to detect whether it is hooked, and realizing high-hanging detection through distance measurement and liquid level switches. However, these technologies basically belong to individual scenarios that use some detection of whether an object exists and whether the big hook is hung high. They solve some problems of non-standard use of safety belts in high-altitude operations, but cannot adapt well to the complex use scenarios of high-altitude operations. In addition, during operations, it is difficult to detect abnormalities in the safety belt in time, resulting in poor prevention of falling accidents. Summary of the invention

[0004] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that it is difficult to detect in time when an abnormality of the safety belt occurs during high-altitude work.

[0005] In order to solve the above problems, the present invention provides a high-altitude operation status judgment and early warning system based on an inertial sensor array, comprising a remote monitoring center, a controller installed on a safety belt, a comparison module, a communication module, an alarm module, a safety rope curve database, an inertial sensor array, and a rope body monitoring module. The comparison module, the communication module, the alarm module, and the safety rope curve database are all integrated in the controller, the inertial sensor array and the rope body monitoring module are both connected to the controller signal, and the controller is connected to the remote monitoring center signal through the communication module;

[0006] The safety belt includes a wearing part, two safety ropes are hung at the back hook of the wearing part, and the controller is located on the back hook, and the end of the safety rope away from the controller is hung on a fixed rod with a fixed height, and the inertial sensor array is installed on the surface of the safety rope, and the inertial sensor array includes a communication bus electrically connected to the controller, a plurality of inertial sensors connected to the communication bus in sequence, and a protective shell wrapped outside the plurality of inertial sensors, and the plurality of inertial sensors form a plurality of detection nodes, and the detection data of each detection node includes but is not limited to acceleration data, angular velocity data, magnetometer data, a pitch angle calculated according to the acceleration data, and an azimuth angle calculated according to the acceleration and magnetometer data;

[0007] The safety rope comprises a rope body and two hooks respectively fixedly connected to the two ends of the rope body, the two ends of the rope body monitoring module are respectively fixedly connected to the two hooks, and the middle fixed sleeve of the rope body monitoring module is arranged in the middle of the rope body.

[0008] In the above-mentioned high-altitude work status judgment and early warning system based on inertial sensor array, the status of the safety rope can be monitored in real time during high-altitude work, and an alarm can be issued in case of abnormality. Compared with the existing technology, the monitoring effect of the safety rope is greatly improved, and safety hazards are effectively reduced, and the accident rate is reduced.

[0009] As a further improvement of the present application, the method for judging the safety rope operation status using an inertial sensor array includes the following steps:

[0010] S1, obtaining the posture data of each detection node through the inertial sensor array;

[0011] S2. Calculate the safety rope space curve according to the posture data of each detection node. Specifically, the calculation is performed by establishing a three-dimensional coordinate system, and determining the three-dimensional coordinates of multiple detection nodes in the two safety ropes according to the three-dimensional coordinate system, thereby obtaining the safety rope space curve;

[0012] S3, continuously tracking the spatial curve of the seat belt for multiple times to determine whether the seat belt is worn;

[0013] S4, comparing the spatial curve of the safety rope obtained in step S2 with a set of spatial curves of known states in a safety rope curve database through a comparison module to obtain the state of the safety belt;

[0014] S5. According to the status of the seat belt obtained in step S4, the alarm module outputs different information according to different statuses;

[0015] S6. When the output is an alarm signal, the alarm module broadcasts a sound to remind the staff, and notifies the monitoring center through the communication module, so that the monitoring center can take corresponding measures in time to reduce the safety hazards of the staff.

[0016] As a further improvement of this application, the calculation steps of the three-dimensional coordinates are as follows:

[0017] S21, projecting the node length to the gravity direction and the horizontal direction using the pitch angle of the adjacent detection node, to obtain the length in the gravity direction and the length in the horizontal direction;

[0018] S22, using the azimuth of the adjacent detection node to project the horizontal length of step S21 to the North Pole direction and the east direction of the earth, to obtain the projection length in the North Pole direction and the projection length in the east direction of the earth;

[0019] S23. Add the projection length of the corresponding axial direction to the three-dimensional coordinates of the adjacent detection nodes to obtain the three-dimensional coordinates of the current detection node in the body coordinate system.

[0020] As a further improvement of the present application, the data in the safety rope curve database is a collection of spatial curves of safety ropes in various correct use scenarios and illegal use scenarios, and a similarity threshold is set between the actual spatial curve of the safety rope and the known curve in the safety rope curve database, and the known state with the highest similarity is taken as a candidate. When the similarity of the candidate is higher than the threshold, the state of the candidate is the state of the safety rope, otherwise the state of the safety rope is an unknown state;

[0021] In step S5, when the output state is an unworn state or an unknown state, an alarm signal is output; when the output state is a compliant state, a prompt signal is output.

[0022] As another improvement of the present application, the rope body monitoring module includes a rope fixing ring fixedly mounted outside the rope body, a monitoring block fixedly connected to the outer end of the rope fixing ring, and multiple monitoring sub-ropes that moveably penetrate the monitoring block, the upper and lower ends of the multiple monitoring sub-ropes are respectively fixedly connected to two hooks, and the rope body and the monitoring sub-ropes are tied with straps near the outer ends of the rope fixing ring.

[0023] As another improvement supplement to the present application, the length of one of the monitoring sub-ropes is greater than the length of the rope body, and the monitoring sub-ropes is a high-strength non-elastic structure; the remaining multiple monitoring sub-ropes are all made of elastic materials, and when the rope body is straightened, the multiple monitoring sub-ropes are in a stretched state, and the lengths of the multiple monitoring sub-ropes are different and are an arithmetic progression.

[0024] As another improved supplement of the present application, the monitoring block includes an outer protective shell fixedly connected to the rope fixing ring and an inner monitoring core clamped in the outer protective shell, a rectangular hole is opened inside the outer protective shell, a detection unit is arranged inside the rectangular hole, the detection unit includes multiple rope control units, multiple pairs of connecting rods fixedly connected between two adjacent rope control units and between the rope control unit and the inner wall of the outer protective shell, and multiple monitoring units corresponding to the multiple rope control units respectively, and the multiple rope control units correspond to multiple monitoring sub-ropes respectively.

[0025] As another improved supplement of the present application, the rope control unit includes an outer limiting frame, a rope passing tube slidably connected to the outer limiting frame, and a temporary rope limiting layer fixedly connected to the inner wall of one end of the outer limiting frame near the rope fixing ring, and multiple monitoring sub-ropes are matched with multiple rope passing tubes.

[0026] As another improvement supplement of the present application, the temporary rope limiting layer is an elastic structure. When the rope passing tube contacts the inner wall of the outer limiting frame away from the rope fixing ring, the temporary rope limiting layer contacts the rope passing tube and is in a stress-free state.

[0027] As another improved supplement to the present application, the monitoring unit includes a pressure sensor fixedly installed on the inner wall of the rectangular hole close to the rope fixing ring and a force guiding rod fixedly connected to the detection end of the pressure sensor, and a load-bearing tube is fixedly connected to one end of the outer limiting frame facing the rope fixing ring, and the end of the force guiding rod successively passes through the load-bearing tube and the outer limiting frame and extends into the temporary rope limiting layer, and the inner diameter of the load-bearing tube is consistent with the outer diameter of the force guiding rod.

[0028] In summary, the posture data of each detection node is obtained through the inertial sensor array, and the spatial curve of the safety belt can be calculated; by comparing the spatial curve with the set of spatial curves of known states in the inertial sensor array, it can be obtained whether the safety belt is worn and the state of the worn safety rope. When an abnormality occurs, a timely warning can be given to improve the work safety of the operators, so that the state of the safety rope can be monitored in real time when working at high altitudes, and an alarm can be issued in case of abnormalities. Compared with the existing technology, the monitoring effect of the safety rope is greatly improved, and safety hazards and accident rates are effectively reduced; and the present application does not change the existing mechanical structure and safety performance of the safety belt, is not limited by the environment of high-altitude operations and the use of the safety belt, and has a wide range of applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is the main principle block diagram of the first and second implementation modes of this application;

[0030] Figure 2 Schematic diagram of the safety belts of the first and second embodiments of the present application when in use;

[0031] Figure 3 A schematic diagram of multiple detection nodes formed by an inertial sensor array according to the first and second embodiments of the present application;

[0032] Figure 4 This is a schematic diagram of a safety rope according to a second embodiment of the present application;

[0033] Figure 5 A schematic diagram of the middle portion of a safety rope according to a second embodiment of the present application;

[0034] Figure 6This is a schematic diagram of monitoring the changes of the secondary rope when the safety belt is gradually straightened in the second implementation mode of the present application;

[0035] Figure 7 This is a schematic top view of a rope body monitoring module according to a second embodiment of the present application;

[0036] Figure 8 This is a schematic top view of a rope body monitoring module according to a second embodiment of the present application;

[0037] Fig. 9 This is a top view schematic diagram of the rope control unit when the safety rope of the second embodiment of the present application is gradually straightened;

[0038] Fig.10 Schematic diagram of the spatial curve of the safety rope in different situations in the second embodiment of the present application.

[0039] Description of the numbers in the figure:

[0040] 1 wearing part, 2 safety rope, 3 inertial sensor array, 4 controller, 21 rope body, 22 hook, 5 rope body monitoring module, 51 rope fixing ring, 52 monitoring block, 521 outer protective shell, 522 inner monitoring core, 501 rectangular hole, 53 monitoring auxiliary rope, 6 rope control unit, 601 connecting rod, 602 bearing tube, 61 outer limit frame, 62 rope passing tube, 63 temporary rope limit layer, 7 monitoring unit, 71 pressure sensor, 72 force guide rod. DETAILED DESCRIPTION

[0041] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0042] The first implementation method:

[0043] Figure 1 and Figure 2 A high-altitude operation status judgment and warning system based on an inertial sensor array is shown. In the figure, a represents a fixed pole, including a remote monitoring center, a controller 4 installed on a safety belt, a comparison module, a communication module, an alarm module, a safety rope curve database, and an inertial sensor array 3. The comparison module, the communication module, the alarm module, and the safety rope curve database are all integrated in the controller 4. The inertial sensor array 3 and the rope body monitoring module 5 are all connected to the controller 4 by signal. The controller 4 is connected to the remote monitoring center by signal through the communication module. The controller 4 is also provided with a global navigation satellite system, a unit module, etc., and the alarm module is mainly a sound broadcast;

[0044] The safety belt includes a wearing part 1, two safety ropes 2 are hung at the back hook of the wearing part 1, and a controller 4 is located on the back hook. The end of the safety rope 2 away from the controller 4 is hung on a fixed rod with a fixed height, and an inertial sensor array is installed on the surface of the safety rope 2.

[0045] like Figure 3 The inertial sensor array 3 includes a communication bus electrically connected to the controller 4, a plurality of inertial sensors connected to the communication bus in sequence, and a protective shell wrapped around the plurality of inertial sensors, wherein the plurality of inertial sensors form a plurality of detection nodes, wherein the inertial sensor is a 9-axis inertial sensor, so that the detection data of each detection node includes but is not limited to acceleration data, angular velocity data, magnetometer data, a pitch angle calculated according to the acceleration data, and an azimuth angle calculated according to the acceleration and magnetometer data;

[0046] like Figure 4 The safety rope 2 includes a rope body 21 and two hooks 22 respectively fixedly connected to the two ends of the rope body 21 . The two ends of the rope body monitoring module 5 are respectively fixedly connected to the two hooks 22 . The middle part of the rope body monitoring module 5 is fixedly sleeved in the middle part of the rope body 21 .

[0047] As a further improvement of the present application, the method for judging the safety rope operation state using the inertial sensor array 3 includes the following steps:

[0048] S1, obtaining the posture data of each detection node through the inertial sensor array;

[0049] S2, calculating the space curve of the safety rope 2 according to the posture data of each detection node, specifically by establishing a three-dimensional coordinate system, determining the three-dimensional coordinates of multiple detection nodes in the two safety ropes 2 according to the three-dimensional coordinate system, thereby obtaining the space curve of the safety rope 2;

[0050] The steps for calculating the three-dimensional coordinates are as follows:

[0051] S21, projecting the node length to the gravity direction and the horizontal direction using the pitch angle of the adjacent detection node, to obtain the length in the gravity direction and the length in the horizontal direction;

[0052] S22, using the azimuth of the adjacent detection node to project the horizontal length of step S21 to the North Pole direction and the east direction of the earth, to obtain the projection length in the North Pole direction and the projection length in the east direction of the earth;

[0053] S23. Add the projection length of the corresponding axial direction to the three-dimensional coordinates of the adjacent detection nodes to obtain the three-dimensional coordinates of the current detection node in the body coordinate system.

[0054] S3, continuously tracking the spatial curve of the seat belt for multiple times to determine whether the seat belt is worn;

[0055] The height where the staff stands is set to 0, and then the height of the connection between the safety rope 2 and the wearing part 1 is set as the threshold. When the length of the z-axis of the space curve below the threshold is much greater than the length of the z-axis above the threshold, the height of each point on the space curve is less than the threshold, and the maximum height of the z-axis of the space curve does not exceed the threshold, it can be judged as not being worn if the three conditions are met.

[0056] S4, comparing the spatial curve of the safety rope 2 obtained in step S2 with a set of spatial curves of known states in a safety rope curve database through a comparison module to obtain the state of the safety belt;

[0057] The data in the safety rope curve database is a collection of spatial curves of safety belts under various correct usage scenarios and illegal usage scenarios of safety belts, and a similarity threshold is set between the actual spatial curve of the safety rope 2 and the known curve in the safety rope curve database, and the known state with the highest similarity is taken as a candidate. When the similarity of the candidate is higher than the threshold, the state of the candidate is the state of the safety rope, otherwise the state of the safety rope is an unknown state; for example: the spatial curve of the safety rope fixed in the hanging state is a parabola opening upward, when the calculated spatial curve of the safety rope 2 is similar to the parabola opening upward, it is considered that the safety rope is in a hanging state, and the z-axis difference at both ends of the spatial curve can be used to determine whether the safety rope is high hanging, flat hanging or low hanging.

[0058] S5. According to the status of the seat belt obtained in step S4, the alarm module outputs different information according to different statuses;

[0059] When the output state is not worn or unknown, an alarm signal is output; when the seat belt is determined to be in compliance, a prompt signal is output.

[0060] When the output seat belt status is not worn, illegal status, or unknown status, multiple tracking can be continued to prevent false alarms; when the output seat belt status is a compliant status, a prompt signal can be output immediately if it is a continuous compliant status, otherwise multiple tracking is also required.

[0061] S6. When the output is an alarm signal, the alarm module broadcasts a sound to remind the staff, and notifies the monitoring center through the communication module, so that the monitoring center can take corresponding measures in time to reduce the safety hazards of the staff.

[0062] In summary, the posture data of each detection node is obtained through the inertial sensor array, and the spatial curve of the safety belt can be calculated; by comparing the spatial curve with the set of spatial curves of known states in the inertial sensor array 3, it can be obtained whether the safety belt is worn and the state of the worn safety rope 2. When an abnormality occurs, a timely warning can be given to improve the work safety of the operators, so that the state of the safety rope 2 can be monitored in real time when working at high altitudes, and an alarm can be issued in case of abnormalities. Compared with the existing technology, the monitoring effect of the safety rope 2 is greatly improved, and safety hazards and accident rates are effectively reduced; and the present application does not change the existing mechanical structure and safety performance of the safety belt, is not limited by the environment of high-altitude operations and the use of the safety belt, and has a wide applicability.

[0063] The second implementation method:

[0064] This embodiment is based on the first embodiment, and a rope body monitoring module 5 is added, and the rest of the parts are consistent with the first embodiment.

[0065] Figure 1 and Figure 4-5 As shown, the early warning system also includes a rope body monitoring module 5, which includes a rope fixing ring 51 fixedly sleeved on the outside of the rope body 21, a monitoring block 52 fixedly connected to the outer end of the rope fixing ring 51, and multiple monitoring sub-ropes 53 that moveably penetrate the monitoring block 52. The upper and lower ends of the multiple monitoring sub-ropes 53 are respectively fixedly connected to the two hooks 22, and the rope body 21 and the monitoring sub-ropes 53 are tied with straps near the outer ends of the rope fixing ring 51. The multiple monitoring sub-ropes 53 can be stably bound to the rope body 21 through the straps, so that they can keep consistent with the safety rope 2 and are not prone to local disorder.

[0066] The length of one of the monitoring sub-ropes 53 is greater than the length of the rope body 21, and the monitoring sub-ropes 53 are of high-strength non-elastic structure. This monitoring sub-ropes 53 serves as a backup safety rope. When the safety rope 2 is cracked or broken, it can provide the last safety guarantee for life. The monitoring unit 7 is not set at the rope control unit 6 corresponding to the non-elastic monitoring sub-ropes 53.

[0067] The remaining multiple monitoring sub-ropes 53 are all made of elastic materials, and when the rope body 21 is straightened, the multiple monitoring sub-ropes 53 are all in a stretched state. The lengths of the multiple monitoring sub-ropes 53 are different and are an arithmetic progression, so that when the safety rope 2 and the controller 4 are in different relative positions, the stretched lengths of the multiple monitoring sub-ropes 53 are different, so that the number of pressure sensors 71 that generate force data is different, and the force data generated by each pressure sensor 71 is different.

[0068] In addition, the data monitored by the pressure sensor 71 can be fed back to the controller 4. The controller 4 promptly determines whether the end of the safety rope 2 away from the controller 4 moves in time with the movement of the operator based on the data from the multiple pressure sensors 71. When it does not move with the operator, the safety rope 2 gradually changes from a parabola opening upward to a straight line. At this time, the span between the two ends of the safety rope 2 gradually increases, and the number of pressure sensors 71 that generate force data increases, and the force data also increases. As the span increases excessively, the deviation rate between the force data on the multiple pressure sensors 71 becomes smaller and smaller.

[0069] Compared with the first embodiment, the movement of the safety rope 2 can also be monitored. When the safety rope 2 gradually straightens, the alarm module in the controller 4 can be triggered and a voice broadcast can be made, so that the staff can manually pull the safety rope 2 in time to make it stably present a parabola shape, and it is not easy to restrict the movement of the staff due to gradual straightening, thereby further ensuring the safety of the staff during high-altitude operations.

[0070] like Figure 7 and Figure 8 The monitoring block 52 includes an outer protective shell 521 fixedly connected to the rope fixing ring 51 and an inner monitoring core 522 clamped in the outer protective shell 521. A rectangular hole 501 is opened inside the outer protective shell 521. A detection unit is arranged inside the rectangular hole 501. The detection unit includes a plurality of rope control units 6, a plurality of pairs of connecting rods 601 respectively fixedly connected between two adjacent rope control units 6 and between the rope control unit 6 and the inner wall of the outer protective shell 521, and a plurality of monitoring units 7 corresponding to the plurality of rope control units 6 respectively. The plurality of rope control units 6 correspond to the plurality of monitoring auxiliary ropes 53 respectively.

[0071] like Fig. 9The rope control unit 6 includes an outer limiting frame 61, a rope passing tube 62 slidably connected to the outer limiting frame 61, and a temporary rope limiting layer 63 fixedly connected to the inner wall of one end of the outer limiting frame 61 close to the rope fixing ring 51. A plurality of monitoring auxiliary ropes 53 are matched with a plurality of rope passing tubes 62. The temporary rope limiting layer 63 is an elastic structure. When the rope passing tube 62 contacts the inner wall of the outer limiting frame 61 away from the rope fixing ring 51, the temporary rope limiting layer 63 contacts the rope passing tube 62 and is in a stress-free state. The temporary rope limiting layer 63 can be used as a limiter to make the position of the monitoring auxiliary rope 53 inside relatively stable and not easy to shake back and forth. At the same time, it is not easy to In order to monitor the movement of the auxiliary rope 53 under stress, the monitoring unit 7 includes a pressure sensor 71 fixedly installed on the inner wall of the rectangular hole 501 on one side close to the rope fixing ring 51 and a force guiding rod 72 fixedly connected to the detection end of the pressure sensor 71. The end of the outer limiting frame 61 facing the rope fixing ring 51 is fixedly connected with a supporting tube 602. The end of the force guiding rod 72 passes through the supporting tube 602 and the outer limiting frame 61 in sequence and extends into the temporary rope limiting layer 63. The inner diameter of the supporting tube 602 is consistent with the outer diameter of the force guiding rod 72. The supporting tube 602 can provide certain support for the force guiding rod 72, so that it is not easy to tilt.

[0072] When workers move while working at height, such as Fig.10 , and when the safety rope 2 does not move with its adaptability, the safety rope 2 is gradually straightened from the parabola shape. At this time, the shortest monitoring auxiliary rope 53 is straightened before the safety rope 2. At this time, the length of the straightened monitoring auxiliary rope 53 gradually increases, such as Figure 6 , so that it gradually approaches the side of the safety rope 2, and then the pending rope tube 62 moves toward the side of the rope fixing ring 51, so that the temporary rope limiting layer 63 is gradually compressed and squeezed, and the force guiding rod 72 therein will gradually be subjected to the force when the temporary rope limiting layer 63 is squeezed, so that the pressure sensor 71 generates force data. As the safety rope 2 becomes straighter and straighter, the number of pressure sensors 71 generating force data increases, and the force data gradually increases. Based on this, the movement of the safety rope 2 with the movement of the staff can be monitored and an alarm can be given. The staff can adjust the safety rope 2 by themselves before it is straightened, so that when it moves at high altitude, it is not easily restricted by the straightened safety rope 2, which makes the staff more stable when working and effectively improves safety.

[0073] In addition, in this embodiment, if Fig.10The comparison module can add an operation to compare the two spatial curves of the safety ropes 2. When the spatial curves of the two safety ropes 2 are both upward-opening parabolas with similar amplitudes, it means that the two safety ropes 2 are in normal positions relative to the staff. When one of them is an upward-opening parabola and the other tends to gradually turn into a straight line, it means that the safety rope 2 gradually lags behind the user. As the amplitude of the lag gradually increases, the spatial curve of the safety rope 2 gradually becomes straight and becomes a straight line. Before reaching the third straightening situation, an alarm can also be triggered to achieve dual monitoring of the movement of the safety rope 2 with the operating personnel.

[0074] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A high-altitude operation status judgment and early warning system based on an inertial sensor array, characterized in that: The device comprises a remote monitoring center, a controller (4) installed on the safety belt, a comparison module, a communication module, an alarm module, a safety rope curve database, an inertial sensor array (3) and a rope body monitoring module (5), wherein the comparison module, the communication module, the alarm module and the safety rope curve database are all integrated in the controller (4), the inertial sensor array (3) and the rope body monitoring module (5) are all connected to the controller (4) by signals, and the controller (4) is connected to the remote monitoring center by signals via the communication module; The safety belt comprises a wearing part (1), two safety ropes (2) are hung at a back hook of the wearing part (1), and a controller (4) is located on the back hook. The end of the safety rope (2) away from the controller (4) is hung on a fixed rod with a fixed height. The inertial sensor array is installed on the surface of the safety rope (2). The inertial sensor array (3) comprises a communication bus electrically connected to the controller (4), a plurality of inertial sensors connected to the communication bus in sequence, and a protective shell wrapped around the plurality of inertial sensors. The plurality of inertial sensors form a plurality of detection nodes. The detection data of each detection node includes but is not limited to acceleration data, angular velocity data, magnetometer data, a pitch angle calculated according to the acceleration data, and an azimuth angle calculated according to the acceleration and magnetometer data. The safety rope (2) comprises a rope body (21) and two hooks (22) respectively fixedly connected to the two ends of the rope body (21); the two ends of the rope body monitoring module (5) are respectively fixedly connected to the two hooks (22); and the middle part of the rope body monitoring module (5) is fixedly sleeved in the middle part of the rope body (21); The rope body monitoring module (5) comprises a rope fixing ring (51) fixedly sleeved outside the rope body (21), a monitoring block (52) fixedly connected to the outer end of the rope fixing ring (51), and a plurality of monitoring auxiliary ropes (53) movably penetrating the monitoring block (52), the upper and lower ends of the plurality of monitoring auxiliary ropes (53) being fixedly connected to two hooks (22) respectively, and the rope body (21) and the monitoring auxiliary ropes (53) are tied with straps at the outer ends adjacent to the rope fixing ring (51).

2. The high-altitude operation status judgment and early warning system based on an inertial sensor array according to claim 1 is characterized in that: The method for determining the safety rope operation status using the inertial sensor array (3) comprises the following steps: S1, obtaining the posture data of each detection node through the inertial sensor array; S2, calculating the space curve of the safety rope (2) according to the posture data of each detection node, specifically by establishing a three-dimensional coordinate system, determining the three-dimensional coordinates of multiple detection nodes in the two safety ropes (2) according to the three-dimensional coordinate system, thereby obtaining the space curve of the safety rope (2); S3, continuously tracking the spatial curve of the seat belt for multiple times to determine whether the seat belt is worn; S4, using a comparison module to compare the spatial curve of the safety rope (2) obtained in step S2 with a set of spatial curves of known states in a safety rope curve database, to obtain a state of the safety belt; S5. According to the status of the seat belt obtained in step S4, the alarm module outputs different information according to different statuses; S6. When the output is an alarm signal, the alarm module broadcasts a sound to remind the staff, and notifies the monitoring center through the communication module, so that the monitoring center can take corresponding measures in time to reduce the safety hazards of the staff.

3. The high-altitude operation status judgment and early warning system based on the inertial sensor array according to claim 2 is characterized by: The calculation steps of the three-dimensional coordinates are as follows: S21, projecting the node length to the gravity direction and the horizontal direction using the pitch angle of the adjacent detection node, to obtain the length in the gravity direction and the length in the horizontal direction; S22, using the azimuth of the adjacent detection node to project the horizontal length of step S21 to the North Pole direction and the east direction of the earth, to obtain the projection length in the North Pole direction and the projection length in the east direction of the earth; S23. Add the projection length of the corresponding axial direction to the three-dimensional coordinates of the adjacent detection nodes to obtain the three-dimensional coordinates of the current detection node in the body coordinate system.

4. The high-altitude operation status judgment and early warning system based on an inertial sensor array according to claim 3 is characterized in that: The data in the safety rope curve database is a collection of spatial curves of safety ropes in various correct and illegal use scenarios of safety ropes, and a similarity threshold is set between the actual spatial curve of the safety rope (2) and the known curve in the safety rope curve database, and the known state with the highest similarity is taken as a candidate. When the similarity of the candidate is higher than the threshold, the state of the candidate is the state of the safety rope, otherwise the state of the safety rope is an unknown state; In step S5, when the output state is an unworn state or an unknown state, an alarm signal is output; when the output state is a compliant state, a prompt signal is output.

5. The high-altitude operation status judgment and early warning system based on an inertial sensor array according to claim 1 is characterized in that: The length of one of the monitoring auxiliary ropes (53) is greater than the length of the rope body (21), and the monitoring auxiliary rope (53) is a high-strength non-elastic structure; The remaining plurality of monitoring auxiliary ropes (53) are all made of elastic material, and when the rope body (21) is straightened, the plurality of monitoring auxiliary ropes (53) are all in a stretched state, and the plurality of monitoring auxiliary ropes (53) have different lengths and are in an arithmetic progression.

6. The high-altitude operation status judgment and early warning system based on an inertial sensor array according to claim 5 is characterized in that: The monitoring block (52) comprises an outer protective shell (521) fixedly connected to the rope fixing ring (51) and an inner monitoring core (522) clamped in the outer protective shell (521); a rectangular hole (501) is bored inside the outer protective shell (521); a detection unit is arranged inside the rectangular hole (501); the detection unit comprises a plurality of rope control units (6), a plurality of pairs of connecting rods (601) respectively fixedly connected between two adjacent rope control units (6) and between the rope control units (6) and the inner wall of the outer protective shell (521); and a plurality of monitoring units (7) respectively corresponding to the plurality of rope control units (6); the plurality of rope control units (6) respectively correspond to the plurality of monitoring auxiliary ropes (53).

7. The high-altitude operation status judgment and early warning system based on the inertial sensor array according to claim 6 is characterized by: The rope control unit (6) comprises an outer limiting frame (61), a rope passing tube (62) slidably connected to the outer limiting frame (61), and a temporary rope limiting layer (63) fixedly connected to the inner wall of one end of the outer limiting frame (61) close to the rope fixing ring (51), and a plurality of monitoring auxiliary ropes (53) are matched with a plurality of rope passing tubes (62).

8. The high-altitude operation status judgment and early warning system based on an inertial sensor array according to claim 7 is characterized in that: The temporary rope limiting layer (63) is an elastic structure, and when the rope passing tube (62) contacts the inner wall of the outer limiting frame (61) away from the rope fixing ring (51), the temporary rope limiting layer (63) contacts the rope passing tube (62) and is in a stress-free state.

9. The high-altitude operation status judgment and early warning system based on the inertial sensor array according to claim 8 is characterized by: The monitoring unit (7) comprises a pressure sensor (71) fixedly mounted on the inner wall of a side of the rectangular hole (501) close to the rope fixing ring (51), and a force guiding rod (72) fixedly connected to the detection end of the pressure sensor (71); one end of the outer limiting frame (61) facing the rope fixing ring (51) is fixedly connected to a bearing tube (602); an end of the force guiding rod (72) passes through the bearing tube (602) and the outer limiting frame (61) in sequence and extends into the temporary rope limiting layer (63); and the inner diameter of the bearing tube (602) is consistent with the outer diameter of the force guiding rod (72).

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