Method and device for monitoring safety state of operation object and processor

Abstract

The invention discloses a method and device for monitoring the safety state of an operation object and a processor. The method comprises the following steps: acquiring an initial position of an operation object; determining the initial staying duration of the operation object staying at the initial position; based on the initial position and the initial stay duration, a target position and a target distance of the operation object are determined, the target position is used for indicating the position to which the operation object moves from the initial position, and the target distance is used for indicating the distance between the initial position and the target position; determining the safety state of the operation object based on the target position and the target distance; and outputting the safety state. The technical problem that the safety state of an operator cannot be monitored in real time is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial work safety monitoring, and in particular to a method, device and processor for monitoring the safety status of an operation object. Background Art

[0002] At present, safety belts are important equipment for protecting the life safety of workers in aerial work. They are the last line of defense for the life safety of workers. Monitoring and determining the status of safety equipment is a key step to ensure the safety of workers. In aerial work scenarios, the safety risk of workers is extremely high. Due to the complex and changeable environment at high altitude, visibility is often affected by many factors.

[0003] In the related technologies, due to various reasons, workers may accidentally lose the protection of safety equipment during the operation, which brings great safety risks to the workers. However, there is a lack of methods specifically for monitoring the safety of workers at heights in the market, which makes it difficult to effectively ensure the safety of workers and reduce safety hazards. Therefore, there is a technical problem that the safety status of workers cannot be monitored in real time.

[0004] With respect to the above-mentioned technical problem of being unable to monitor the safety status of operators in real time, no effective solution has been proposed so far. Summary of the invention

[0005] The embodiments of the present invention provide a method, device and processor for monitoring the safety status of an operating object, so as to at least solve the technical problem that the safety status of an operating person cannot be monitored in real time.

[0006] According to one aspect of an embodiment of the present invention, a method for monitoring the safety status of a work object is provided. The method may include: obtaining an initial position of the work object; determining an initial dwell time of the work object at the initial position; determining a target position and a target distance of the work object based on the initial position and the initial dwell time, wherein the target position is used to indicate a position to which the work object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position; determining the safety status of the work object based on the target position and the target distance; and outputting the safety status.

[0007] Optionally, based on the initial position and the initial dwell time, the target position and target distance of the working object relative to the initial position are determined, including: in response to the initial dwell time being greater than a dwell time threshold, obtaining the current position of the working object; determining the current position as the initial position, and determining the target distance based on the target position and the initial position.

[0008] Optionally, determining the target distance based on the target position and the initial position includes: inputting the target position and the initial position into a distance model for analysis to obtain the target distance.

[0009] Optionally, determining the safety state of the operating object based on the target position and the target distance includes: in response to the target distance being greater than a distance threshold, determining that the safety state of the operating object is a dangerous state.

[0010] Optionally, the method for monitoring the safety status of the working object further includes: acquiring the acceleration and angular velocity of the working object; and adjusting the initial position of the working object based on the acceleration and angular velocity.

[0011] Optionally, outputting the security status further includes: determining different output strategies for the security status based on different security statuses, wherein the output strategy is used to indicate a rule for outputting the security status; and outputting the security status according to the output strategy.

[0012] According to another aspect of an embodiment of the present invention, a monitoring device for the safety status of a work object is also provided. The device may include: an acquisition unit for acquiring an initial position of the work object; a first determination unit for determining an initial stay time of the work object at the initial position; a second determination unit for determining a target position and a target distance of the work object based on the initial position and the initial stay time, wherein the target position is used to indicate a position to which the work object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position; a third determination unit for determining the safety status of the work object based on the target position and the target distance; and an output unit for outputting the safety status.

[0013] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, which includes a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the method for monitoring the safety status of the job object in the embodiment of the present invention.

[0014] According to another aspect of an embodiment of the present invention, a processor is provided, which is used to run a program, wherein the method for monitoring the safety status of a job object in an embodiment of the present invention is executed when the program is run.

[0015] According to another aspect of the embodiment of the present invention, a computer program product is provided, which includes computer instructions, and when the computer instructions are executed by a processor, the method for monitoring the safety status of a working object in the embodiment of the present invention is implemented.

[0016] In an embodiment of the present invention, the initial position of the operating object is obtained; the initial dwell time of the operating object at the initial position is determined; based on the initial position and the initial dwell time, the target position and target distance of the operating object are determined, wherein the target position is used to indicate the position to which the operating object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position; based on the target position and the target distance, the safety state of the operating object is determined; and the safety state is output. In other words, the present invention monitors the position of the operating object in real time, analyzes the target position and the target distance of the operating object, and determines the safety state of the operating object, thereby solving the technical problem of being unable to monitor the safety state of the operating personnel in real time, and achieving the technical effect of monitoring the safety state of the operating personnel in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of a method for monitoring the safety status of an operating object according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of a light-emitting device for changing the position of a person working at height according to an embodiment of the present invention;

[0020] Figure 3 is a flow chart of a method for emitting light according to a position change of a high-altitude worker according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a device for monitoring the safety status of a working object according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, functional component or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, functional components or devices.

[0024] According to an embodiment of the present invention, an embodiment of a method for monitoring the safety status of a working object is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0025] Figure 1 is a flow chart of a method for monitoring the safety status of an operating object according to an embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0026] Step S101, obtaining the initial position of the operation object.

[0027] In the technical solution provided in the above step S101 of the present invention, the working object may also be referred to as a high-altitude working object or a working person.

[0028] In this embodiment, the initial position of the working object is obtained. For example, the initial position of the working object is obtained by combining a high-precision global positioning system (Global Positioning System, referred to as GPS) with an inertial measurement unit (Inertial Measurement Unit, referred to as IMU). This is only an illustrative example and does not limit the specific method of obtaining the initial position of the working object.

[0029] For example, a positioning method combining a high-precision global positioning system and an inertial measurement unit is used. GPS can provide relatively accurate absolute position information, and when the GPS signal is unstable or temporarily lost, the IMU can calculate the relative position change of the operator by measuring acceleration and angular velocity. To further improve the positioning accuracy, a Bluetooth positioning module can be added. For the GPS signal receiving part, a high-gain antenna can be used to enhance the signal receiving capability and reduce signal interference and attenuation.

[0030] Step S102, determining an initial stay time of the operation object at the initial position.

[0031] In the technical solution provided in the above step S102 of the present invention, the initial stay time may also be referred to as the stay time of the aerial workers at the same location.

[0032] In this embodiment, after the initial position of the operation object is obtained in step S101, the initial stay time of the operation object at the initial position is determined. For example, the initial stay time of the operation object at the initial position is determined by a timer, which is only an illustrative example and does not limit the specific method for determining the initial stay time of the operation object at the initial position.

[0033] For example, a timer is used to record the time that a worker working at a height stays at the same location. A high-precision crystal oscillator is used to ensure the accuracy of time recording. The automatic calibration function is set to synchronize with the network time or other standard time sources regularly to prevent the accumulation of time errors.

[0034] For another example, when the GPS data is valid, when the aerial worker stays at a certain position for 5 minutes, the control module records the coordinate value provided by the positioning device (GPS) at this time and sets it as the initial coordinate, that is, the initial position (considering the height in three-dimensional space), recorded as (X 0 ,Y 0 ,Z 0 ).

[0035] Step S103, determining the target position and target distance of the operation object based on the initial position and the initial stay time.

[0036] In the technical solution provided in the above step S103 of the present invention, the target position is used to indicate the position to which the work object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position. The target distance can also be called the displacement distance.

[0037] In this embodiment, after the initial stay time of the operation object at the initial position is determined in step S102, the target position and target distance of the operation object are determined according to the initial position and the initial stay time. For example, the target position and target distance of the operation object are determined by coordinate values, which is only an illustrative example and does not limit the specific method of the target position and target distance of the operation object.

[0038] For example, real-time coordinate acquisition and calculation: As the operator's position changes, the positioning device continuously provides new coordinate values, that is, the target position, recorded as (X 1 ,Y 1 ,Z 1). The displacement distance of the operator relative to the initial position is calculated according to the distance formula in three-dimensional space, that is, the target distance, wherein the target distance can be expressed using the following formula (1):

[0039]

[0040] Step S104: determining the safety status of the operation object based on the target position and the target distance.

[0041] In the technical solution provided in the above step S104 of the present invention, the safety state can be a dangerous state and a normal state.

[0042] In this embodiment, after the target position and target distance of the operation object are determined in step S103, the safety state of the operation object is determined according to the target position and the target distance. For example, the target distance is compared with the distance threshold to determine the safety state of the operation object. This is only an illustrative example and does not limit the specific content of determining the safety state of the operation object.

[0043] For example, assuming that the distance threshold is 1.5 meters, when the target distance is greater than 1.5 meters, it means that the target distance exceeds the distance threshold. Based on this, it can be determined that the safety status of the working object is a dangerous status.

[0044] Step S105, outputting a safe state.

[0045] In the technical solution provided in the above step S105 of the present invention, after the safety status of the operation object is determined in step S104, the safety status is output.

[0046] In this embodiment, the safety status is outputted through different light sources. For example, the light source colors corresponding to different safety states are preset, and the current safety state is matched with the preset one, so as to output the current safety state. This is only an illustrative example, and the specific method of outputting the safety state is not limited.

[0047] For example, assuming that in an emergency danger scenario, that is, when the safety state is a dangerous state, a red flashing strong light is emitted, and in a normal operation scenario, when the safety state is a normal state, a yellow solid light is emitted.

[0048] It should be noted that the above embodiments can be executed by a monitoring device for the safety status of the operating object.

[0049] In the above steps S101 to S105 of the present invention, the initial position of the operating object is obtained; the initial duration of the operating object staying at the initial position is determined; based on the initial position and the initial duration of the stay, the target position and the target distance of the operating object are determined, wherein the target position is used to indicate the position to which the operating object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position; based on the target position and the target distance, the safety state of the operating object is determined; and the safety state is output. In other words, the present invention monitors the position of the operating object in real time, analyzes the target position and the target distance of the operating object, and determines the safety state of the operating object, thereby solving the technical problem of being unable to monitor the safety state of the operating personnel in real time, and achieving the technical effect of monitoring the safety state of the operating personnel in real time.

[0050] The above method of this embodiment is further introduced below.

[0051] As an optional implementation method, based on the initial position and the initial dwell time, the target position and target distance of the working object relative to the initial position are determined, including: in response to the initial dwell time being greater than a dwell time threshold, obtaining the current position of the working object, determining the current position as the initial position, and determining the target distance based on the target position and the initial position.

[0052] In this embodiment, the initial position of the work object is updated according to the initial position and the initial stay time to obtain the target position. For example, the initial stay time is compared with the time threshold, and the initial position is updated according to the comparison result.

[0053] Optionally, when the initial stay duration is greater than the stay duration threshold, it indicates that the work object has not moved. To avoid inaccurate positioning, the initial position is updated. Based on this, the current position of the work object is obtained and the current position is determined as the initial position.

[0054] Optionally, after obtaining the target position, the target distance is determined according to the target position and the initial position. The determination of the target distance is as shown in the above formula (1), which will not be described in detail here.

[0055] As an optional implementation manner, determining the target distance based on the target position and the initial position includes: inputting the target position and the initial position into a distance model for analysis to obtain the target distance.

[0056] In this embodiment, the target position and the initial position are input into the distance model for analysis to obtain the target distance. The distance model may be as shown in the above formula (1), which will not be described in detail here.

[0057] Optionally, the target position is determined by analyzing the target distance and the initial position, and the safety status of the operating object is determined according to the target position, thereby achieving the purpose of real-time monitoring of the safety status of the operating object.

[0058] As an optional implementation manner, determining the safety state of the operating object based on the target position and the target distance includes: in response to the target distance being greater than a distance threshold, determining that the safety state of the operating object is a dangerous state.

[0059] In this embodiment, the target distance is compared with the distance threshold. When the target distance is greater than the distance threshold, it indicates that the operating object has left the safety area. Based on this, it can be determined that the safety state of the operating object is a dangerous state.

[0060] Optionally, by comparing the target distance with the distance threshold, the displacement of the working object can be accurately determined, thereby achieving the purpose of determining the safety status of the working object.

[0061] As an optional implementation manner, the method for monitoring the safety status of the working object further includes: acquiring the acceleration and angular velocity of the working object; and adjusting the initial position of the working object based on the acceleration and angular velocity.

[0062] In this embodiment, the initial position of the work object is adjusted according to the acceleration and angular velocity. For example, when the GPS signal is poor, the initial position is adjusted using the IMU.

[0063] For example, when the GPS signal is unstable or temporarily lost, the IMU can calculate the relative position change of the operator by measuring acceleration and angular velocity, thereby further improving positioning accuracy.

[0064] As an optional implementation manner, outputting the security status further includes: determining different output strategies for the security status based on different security statuses, wherein the output strategy is used to indicate a rule for outputting the security status; and outputting the security status according to the output strategy.

[0065] In this embodiment, output strategies for different security states are determined according to different security states, wherein the output strategies may be different light source output modes.

[0066] Optionally, the safety status of the operation object is output according to different output strategies, for example, the safety status of the operation object is output by adjusting different colors of the light source.

[0067] It should be noted that the above embodiments can be executed by a monitoring device for the safety status of the operating object.

[0068] In this embodiment, the initial position of the operating object is obtained; the initial dwelling time of the operating object at the initial position is determined; based on the initial position and the initial dwelling time, the target position and target distance of the operating object are determined, wherein the target position is used to indicate the position to which the operating object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position; based on the target position and the target distance, the safety state of the operating object is determined; and the safety state is output. In other words, the present invention monitors the position of the operating object in real time, analyzes the target position and the target distance of the operating object, and determines the safety state of the operating object, thereby solving the technical problem of being unable to monitor the safety state of the operating personnel in real time, and achieving the technical effect of monitoring the safety state of the operating personnel in real time.

[0069] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0070] At present, safety belts are important equipment for protecting the life safety of workers in aerial work. They are the last line of defense for the life safety of workers. Monitoring and determining the status of safety equipment is a key step to ensure the safety of workers. In aerial work scenarios, the safety risk of workers is extremely high. Due to the complex and changeable environment at high altitude, visibility is often affected by many factors.

[0071] In the related art, due to various reasons, the operator may accidentally lose the protection of the safety equipment during the operation, which brings great safety risks to the operator. However, there is a lack of methods specifically for monitoring the safety of high-altitude operators in the market, which makes it difficult to effectively ensure the safety of operators and reduce safety hazards. Therefore, there is a technical problem that the safety status of operators cannot be monitored in real time. In view of the above-mentioned technical problem that the safety status of operators cannot be monitored in real time, no effective solution has been proposed.

[0072] However, the embodiment of the present invention proposes a method for luminescence of position change of high-altitude workers, which continuously receives satellite signals through GPS to determine the initial position of the workers. At the same time, the IMU starts to measure the acceleration and angular velocity of the workers. If the GPS signal is good, the position change of the workers is determined based on the position information provided by the GPS. When the GPS signal is interfered with or temporarily lost, the IMU performs an integral operation based on the previous position information and the measured acceleration and angular velocity to infer the relative position change of the workers. Finally, the information of GPS and IMU is integrated to determine the exact position of the workers in real time; when the workers stay at a certain position for 5 minutes, the coordinate value provided by the GPS at this time is recorded and set as the initial coordinate (considering the height in three-dimensional space). As the position of the workers changes, new coordinate values ​​are continuously provided. The displacement distance of the workers relative to the initial position is calculated according to the distance formula in three-dimensional space. When the displacement distance exceeds a radius of 1.5 meters, the light-emitting element is triggered to emit light, which solves the technical problem of being unable to monitor the safety status of the workers in real time, and achieves the technical effect of real-time monitoring of the safety status of the workers.

[0073] The embodiments of the present invention are further described below.

[0074] Figure 2 It is a schematic diagram of a light-emitting device for changing the position of a high-altitude worker according to an embodiment of the present invention. The light-emitting device 200 for changing the position includes: a positioning device 201, a timer 202, a light-emitting element 203, a light source control module 204, a power module 205 and a control module 206.

[0075] Positioning device 201: A positioning method combining a high-precision global positioning system (GPS) and an inertial measurement unit (IMU) is used. GPS can provide relatively accurate absolute position information, and when the GPS signal is unstable or temporarily lost, the IMU can calculate the relative position change of the operator by measuring acceleration and angular velocity. To further improve the positioning accuracy, a Bluetooth positioning module can be added. For the GPS signal receiving part, a high-gain antenna can be used to enhance the signal receiving capability and reduce signal interference and attenuation.

[0076] Optionally, to further improve positioning accuracy, a Bluetooth positioning module can be added. When the operator is within a specific range of a Bluetooth base station, the device can receive Bluetooth signals for auxiliary positioning, which can be integrated with GPS and IMU to improve positioning accuracy and stability.

[0077] Optionally, for the GPS signal receiving part, a high-gain antenna can be used to enhance the signal receiving capability and reduce signal interference and attenuation.

[0078] Timer 202: records the time that the aerial worker stays at the same location. Timer 202 can use a high-precision crystal oscillator to ensure the accuracy of time recording. At the same time, an automatic calibration function is set to regularly synchronize with the network time or other standard time sources to prevent time error accumulation.

[0079] Light emitting element 203: covers a variety of light sources of different colors and types, such as red flashing light, yellow constant light, etc., to meet the needs of different scenes. High-brightness LED lights are used, which have the characteristics of energy saving, long life and high brightness.

[0080] Optionally, in order to improve the lighting effect, an optical lens can be used to focus and diffuse the light, and the lighting angle and range can be adjusted according to different scenes. Adding a photosensitive sensor can automatically adjust the brightness of the light-emitting element according to the ambient light intensity, so that good visibility can be maintained under different lighting conditions during the day and at night, while saving energy.

[0081] Light source control module 204: controls the light emitting element to emit corresponding light sources according to different scenes and trigger conditions.

[0082] Optionally, the light source control module 204 can use a microprocessor or a programmable logic controller (PLC) to achieve precise control of the light emitting element. Through a preset program and algorithm, according to the information of the positioning device, timer and other sensors, the current scene is judged and the appropriate light source and lighting mode are selected.

[0083] Optionally, in order to improve the flexibility of light source control, a manual switching mode can be set to allow operators to manually select the required light source under special circumstances.

[0084] Power module 205: provides stable power for the entire device and adopts rechargeable batteries, which is convenient for aerial workers to carry and use.

[0085] Optionally, the power module 205 can be a lithium-ion battery or a lithium polymer battery, which has the characteristics of high energy density and light weight. In order to extend the battery life, an intelligent charging management system can be set to automatically adjust the charging current and voltage according to the battery status to prevent overcharging and over-discharging.

[0086] Optionally, a solar charging function is added, and when there is sunlight, the solar panel is used to charge the battery to increase the endurance of the device.

[0087] Control module 206: connected to the positioning device 201, the timer 202, the light emitting element 203, the light source control module 204 and the power module 205 respectively, controls the light emitting element to emit light according to the positioning information and the timer signal, and coordinates the work of each module.

[0088] Optionally, the control module 206 can be an embedded system with high performance and low power consumption. By writing optimized algorithms and programs, efficient control and management of the device can be achieved. In order to improve the reliability and stability of the device, fault detection and self-recovery functions can be set. When a module fails, the control module can detect it in time and take corresponding measures, such as switching to a standby module, issuing a fault alarm, etc., to ensure that the device can continue to work normally.

[0089] Figure 3 The flowchart of a method for emitting light according to a position change of a high-altitude worker according to an embodiment of the present invention comprises the following steps:

[0090] Step S301, initializing parameters.

[0091] In this embodiment, after the device is started, each module is initialized, including the positioning device, timer, light emitting element, light source control module, power module, etc. The control module sets the initial state flag and is ready to receive data from each module. The initial parameters of the Kalman filter are set. The initial value of the state vector can be set based on the initial GPS positioning (if there is a valid GPS signal at this time) and the speed is assumed to be zero; the initial value of the covariance matrix is ​​set based on the prior accuracy estimate of the sensor, referring to the nominal accuracy of GPS and IMU.

[0092] Optionally, during the device startup or system initialization phase, initial parameters need to be set for the Kalman filter, including the initial value x of the state vector 0|0 (for example, it can be set based on the initial GPS position and velocity assumptions of zero), and the initial value of the covariance matrix p 0|0 (This value can be set based on an a priori estimate of the sensor's accuracy, for example, based on the nominal accuracy of GPS and IMU).

[0093] Step S302, obtaining the initial position information of the operator.

[0094] In this embodiment, the positioning device starts working to obtain the initial position information of the operator. At the same time, the timer is reset and starts timing. The control module receives and stores the initial position data transmitted by the positioning device and monitors the timer status at the same time.

[0095] Optionally, after the high-altitude worker wears the device, the GPS module continuously receives satellite signals to determine the worker's initial position. At the same time, the IMU module starts to measure the worker's acceleration and angular velocity. The control module combines the information of GPS and IMU to determine the worker's accurate position in real time.

[0096] Step S303, monitoring the position of the operator.

[0097] In this embodiment, if the operator stays at a certain position, the timer continues to count. When the stay time exceeds 5 minutes, the control module enters the position monitoring state and pays close attention to the position change information of the positioning device. At this time, the control module continuously queries the value of the timer, and once the conditions are met, the position monitoring algorithm is started to monitor the position of the operator.

[0098] Step S304, determining the displacement of the operator.

[0099] In this embodiment, when the positioning device detects that the position of the operator has changed, different displacement calculation methods are selected according to whether the GPS signal is valid.

[0100] Optionally, if the GPS signal is valid, a calculation method based on the positioning coordinates is used to calculate the displacement distance of the operator relative to the initial position. If the displacement distance exceeds a radius of 1.5 meters, the scene judgment step is entered. The control module receives GPS data, calls the coordinate calculation function to calculate the distance, and triggers the scene judgment program if the conditions are met.

[0101] Optionally, if the GPS signal is poor, a calculation method based on an inertial measurement unit (IMU) is used to calculate the relative displacement and determine whether the displacement condition is met. If so, the scene determination step is also entered.

[0102] Optionally, when the aerial worker stays at a certain position for 5 minutes, the control module records the coordinate value provided by the positioning device (GPS) at this time, and sets it as the initial coordinate (considering the height in three-dimensional space), which is recorded as (X 0 ,Y 0 ,Z 0 ).

[0103] Optionally, real-time coordinate acquisition and calculation: As the position of the operator changes, the positioning device continuously provides new coordinate values, recorded as (X 1 ,Y 1 ,Z 1 ). The displacement distance of the operator relative to the initial position can be calculated according to the distance formula in three-dimensional space as shown in the above formula (1), which will not be repeated here. When the displacement distance d exceeds the radius of 1.5 meters, the light-emitting element is triggered to emit light.

[0104] Optionally, the relative displacement calculation principle is based on the calculation of the inertial measurement unit (IMU) (when the GPS signal is poor): IMU can measure acceleration and angular velocity. In a short period of time, the displacement is calculated based on the quadratic integral of acceleration over time. Assume that the position of the operator at the initial moment is the starting point (the starting position after a 5-minute stop), at which time the velocity is zero and the displacement is zero.

[0105] Optionally, the acceleration is integrated once with respect to time to obtain the following velocity formula (2):

[0106]

[0107] Among them, v 0 is the initial velocity (zero here), and a(t) is the acceleration as a function of time. So

[0108] Optionally, the acceleration is integrated twice with respect to time to obtain the following displacement formula (3):

[0109]

[0110] Among them, s 0 is the initial displacement (can be zero). So

[0111] Optionally, distance determination: After calculating the relative displacement, calculate the equivalent displacement distance according to the three-dimensional space distance concept (considering the three-dimensional motion measured by the IMU). Assuming that the coordinates of the relative displacement in the three-dimensional space are (X′, Y′, Z′), then the equivalent displacement distance is as shown in the following formula (4):

[0112]

[0113] When the displacement distance exceeds a radius of 1.5 meters, the displacement condition is determined to be met, triggering the light-emitting element to emit light.

[0114] Optionally, introduce a variance matrix: Let the measured variance matrix of acceleration be Q a (t), the speed measurement variance matrix is ​​R v (t), the displacement measurement variance matrix is ​​R s (t). During the integration process, the variance matrix is ​​updated according to the variance propagation law. For example, the variance matrix update formula of velocity is as shown in the following formula (5):

[0115]

[0116] The update formula of the displacement variance matrix is ​​as follows (6):

[0117]

[0118] Optionally, let the state transfer matrix be F(t), the control input matrix be B(t), the process noise matrix be G(t), and the process noise variance matrix be Q(t). The state vector is the following formula (7):

[0119] x(t)=[p(t),v(t)] T (7)

[0120] Where p(t) is the position vector and v(t) is the velocity vector. The state equation can be expressed as the following formula (8):

[0121] x(t)=F(t)x(t-1)+B(t)u(t)+G(t)w(t) (8)

[0122] Among them, u(t) is the control input and w(t) is the process noise, which obeys the normal distribution with mean zero and variance Q(t).

[0123] Optionally, according to the state equation, at time k, the prior estimate of the state vector is first predicted as shown in the following formula (9):

[0124] x k|k-1 =F(k)x k-1|k-1 +B(k)u(k) (9)

[0125] Optionally, this step is to predict the state of the system at the current moment based on the optimal estimate at the previous moment and the dynamic model of the system. For example, if it is assumed that the operator moves approximately at a constant speed in a short period of time, then the predicted position is the position at the previous moment plus the speed multiplied by the time interval.

[0126] Optionally, we update the prior estimation error covariance matrix as shown in the following formula (10):

[0127] p k|k-1 =F(k)p k-1|k-1 F(k) T +G(k)Q(k)G(k) T (10)

[0128] This covariance matrix reflects the uncertainty in the predicted state, which changes as the system dynamics change and as a result of process noise.

[0129] Optionally, the Kalman gain is calculated as shown in the following formula (11):

[0130] K k =p k|k-1 H T (Hp k|k-1 H T +R) -1 (11)

[0131] Optionally, the Kalman gain is a key parameter that determines how much we trust the measured and predicted values ​​during the fusion process. Its calculation involves the prior estimation error covariance matrix, the measurement matrix, and the measurement noise covariance matrix, and is determined by weighing the uncertainty of the prediction and the uncertainty of the measurement.

[0132] Optionally, the optimal estimate of the state vector is updated according to the measurement value as shown in the following formula (12):

[0133] x k|k =x k|k-1 +K k (z k -Hx k|k-1 ) (12)

[0134] Among them, z k , is the measured value at time k. This formula reflects how to fuse the predicted value and the measured value. The Kalman gain adjusts their weights in the fusion according to the uncertainty of the two. If the measured value is more reliable (small measurement noise), the Kalman gain will make the measured value account for a larger proportion in the fused estimate; conversely, if the predicted value is more reliable (small prior estimation error covariance), the predicted value will account for a larger proportion.

[0135] Optionally, the updated posterior estimation error covariance matrix is ​​as shown in the following formula (13):

[0136] p k|k =(IK k H)p k|k-1 (13)

[0137] Optionally, this updated covariance matrix is ​​used for the next round of predictions and updates, reflecting the new uncertainty in our estimate of the system state after fusion.

[0138] Optionally, when both GPS and IMU data are available, the position information measured by GPS and the position information calculated by IMU through integration (considering velocity and acceleration integration) are used as different parts of the measurement vector. For example, let the GPS measured position be z GPS (k ) , the IMU calculates the position as z IMU (k ) , a comprehensive measurement vector can be constructed as shown in the following formula (14):

[0139] z(k)=[z GPS (k),z IMU (k)] T (14)

[0140] Optionally, according to the above Kalman filtering steps, the optimal estimate of the operator's position is updated at each moment. In this way, the fused position estimation can comprehensively utilize the absolute positioning advantages of GPS and the high-precision characteristics of IMU relative position measurement in a short period of time, effectively reduce the error influence of a single sensor, and improve the accuracy of position estimation.

[0141] Optionally, after Kalman filter fusion, the position estimate is more accurate and reliable than using GPS or IMU alone. This increase in accuracy is critical when calculating displacement distance.

[0142] Optionally, since the Kalman filter can adjust the degree of trust in different sensor data in real time, it can effectively suppress the accumulation of sensor errors. For example, in the process of IMU integral calculation of displacement, the acceleration measurement error will cause the displacement error to accumulate over time; and although the GPS signal is absolute position information, it will also be affected by various interferences and produce errors. Through Kalman filter fusion, the information of the two sensors can be dynamically utilized according to the actual situation, reducing the impact of this error accumulation on the displacement distance calculation.

[0143] Step S305, determining and outputting the scene of the operator.

[0144] In this embodiment, the control module determines the current scene by combining information from the positioning device, the timer, and other sensors.

[0145] If it is judged to be an emergency danger scene, a command is sent to the light source control module to control the light-emitting element to emit a strong red flashing light.

[0146] If it is judged as a normal operation scene, it will emit a yellow steady light. If it is judged as a special operation scene, it will emit corresponding light according to the preset light source color and mode.

[0147] Optionally, emergency and dangerous scenarios: When operators encounter emergency and dangerous situations, such as equipment failure, strong winds, etc., the device emits a strong red flashing light to attract the attention of surrounding personnel and facilitate timely rescue. Normal operation scenario: During normal operation, if the position of the operator changes, a yellow solid light is emitted as a general warning signal. Special operation scenario: According to different special operation requirements, specific light source colors and modes are preset. For example, a blue cold light is emitted during night operations to improve the visibility of operators while reducing interference with the surrounding environment.

[0148] Optionally, during the entire operation, the positioning device continues to work to ensure accurate monitoring of the position of the operator. The power module continues to supply power to the device to ensure normal operation of the device. At the same time, the control module continuously performs fault detection. If a module is found to be faulty, corresponding self-recovery measures are taken or a fault alarm is issued.

[0149] In this embodiment, the initial position of the operator is determined by continuously receiving satellite signals through GPS. At the same time, the IMU starts to measure the acceleration and angular velocity of the operator. If the GPS signal is good, the position change of the operator is determined based on the position information provided by GPS. When the GPS signal is interfered with or temporarily lost, the IMU performs an integral operation based on the previous position information and the measured acceleration and angular velocity to infer the relative position change of the operator. Finally, the information of GPS and IMU is integrated to determine the exact position of the operator in real time; when the operator stays at a certain position for 5 minutes, the coordinate value provided by GPS at this time is recorded and set as the initial coordinate (considering the height in three-dimensional space). As the position of the operator changes, new coordinate values ​​are continuously provided. The displacement distance of the operator relative to the initial position is calculated based on the distance formula in three-dimensional space. When the displacement distance exceeds a radius of 1.5 meters, the light-emitting element is triggered to emit light, which solves the technical problem of being unable to monitor the safety status of the operator in real time, and achieves the technical effect of real-time monitoring of the safety status of the operator.

[0150] According to an embodiment of the present invention, a device for monitoring the safety status of an operating object is also provided. It should be noted that the device for monitoring the safety status of an operating object can be used to execute the method for monitoring the safety status of an operating object in the method embodiment.

[0151] Figure 4 Schematic diagram of a monitoring device for the safety status of an operating object according to an embodiment of the present invention. Figure 4 As shown, the monitoring device 400 for the safety status of the operation object may include: an acquisition unit 401 , a first determination unit 402 , a second determination unit 403 , a third determination unit 404 and an output unit 405 .

[0152] The acquisition unit 401 is used to acquire the initial position of the operation object.

[0153] The first determining unit 402 is used to determine an initial stay time length of the operation object at the initial position.

[0154] The second determination unit 403 is used to determine the target position and target distance of the work object based on the initial position and the initial stay time, wherein the target position is used to indicate the position to which the work object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position.

[0155] The third determining unit 404 is used to determine the safety status of the operation object based on the target position and the target distance.

[0156] The output unit 405 is used to output the safety status.

[0157] Optionally, the second determination unit 403 may include: an acquisition module, used to acquire the current position of the work object in response to the initial stay time being greater than the stay time threshold; a first determination module, used to determine the current position as the initial position; and a second determination module, used to determine the target distance based on the target position and the initial position.

[0158] Optionally, the second determination module may include: an analysis submodule, configured to input the target position and the initial position into a distance model for analysis to obtain the target distance.

[0159] Optionally, the third determination unit 404 may include: a third determination module, configured to determine that the safety state of the working object is a dangerous state in response to the target distance being greater than a distance threshold.

[0160] Optionally, the device 400 for monitoring the safety status of the working object may further include: a first acquisition unit, used to acquire the acceleration and angular velocity of the working object; and an adjustment unit, used to adjust the initial position of the working object based on the acceleration and angular velocity.

[0161] Optionally, the output unit 405 may include: a fourth determination module, used to determine output strategies for different security states based on different security states, wherein the output strategy is used to indicate a rule for outputting the security state; and an output module, used to output the security state according to the output strategy.

[0162] In this embodiment, the initial position of the operating object is obtained; the initial dwelling time of the operating object at the initial position is determined; based on the initial position and the initial dwelling time, the target position and target distance of the operating object are determined, wherein the target position is used to indicate the position to which the operating object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position; based on the target position and the target distance, the safety state of the operating object is determined; and the safety state is output. In other words, the present invention monitors the position of the operating object in real time, analyzes the target position and the target distance of the operating object, and determines the safety state of the operating object, thereby solving the technical problem of being unable to monitor the safety state of the operating personnel in real time, and achieving the technical effect of monitoring the safety state of the operating personnel in real time.

[0163] According to an embodiment of the present invention, there is further provided a computer-readable storage medium, the storage medium comprising a stored program, wherein the program executes the method for monitoring the safety status of a job object in an embodiment of the method.

[0164] According to an embodiment of the present invention, a processor is further provided. The processor is used to run a program, wherein the program executes the method for monitoring the safety status of a job object in the method embodiment when the program is running.

[0165] According to an embodiment of the present invention, a computer program product is further provided. The computer program product includes computer instructions. When the computer instructions are executed by a processor, the method for monitoring the safety status of the operating object in the method embodiment is implemented.

[0166] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0167] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0168] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0169] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0170] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0171] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent functional component, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software functional component, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store program codes.

[0172] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for monitoring the safety status of an operating object, characterized in that: include: Get the initial position of the job object; Determining an initial stay time of the operation object at the initial position; Based on the initial position and the initial stay time, determine the target position and target distance of the operation object, wherein the target position is used to indicate the position to which the operation object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position; Determining a safety state of the operation object based on the target position and the target distance; The safe state is output.

2. The method according to claim 1, characterized in that Based on the initial position and the initial stay time, determining a target position and a target distance of the operation object relative to the initial position includes: In response to the initial stay time being greater than a stay time threshold, acquiring a current position of the operation object; Determining the current position as the initial position; The target distance is determined based on the target position and the initial position.

3. The method according to claim 2, characterized in that Determining the target distance based on the target position and the initial position includes: The target position and the initial position are input into a distance model for analysis to obtain the target distance.

4. The method according to claim 1, characterized in that: Determining the safety state of the operation object based on the target position and the target distance includes: In response to the target distance being greater than a distance threshold, it is determined that the safety state of the working object is a dangerous state.

5. The method according to claim 1, characterized in that The method further comprises: Obtaining the acceleration and angular velocity of the working object; The initial position of the work object is adjusted based on the acceleration and the angular velocity.

6. The method according to any one of claims 1 to 5, characterized in that: Outputting the safety status also includes: Determining output strategies for different security states based on the different security states, wherein the output strategies are used to indicate rules for outputting the security states; The safety status is output according to the output strategy.

7. An early warning device for the safety status of an operating object, characterized in that: include: An acquisition unit, used for acquiring an initial position of a work object; A first determining unit, configured to determine an initial stay time of the operation object at the initial position; A second determining unit is used to determine a target position and a target distance of the operation object based on the initial position and the initial stay time, wherein the target position is used to indicate a position to which the operation object moves from the initial position, and the target distance is used to indicate a distance between the initial position and the target position; A third determining unit, configured to determine a safety state of the operation object based on the target position and the target distance; An output unit is used to output the safety status.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when running.

10. A computer program product, characterized in that The computer program product comprises computer instructions, which implement the method according to any one of claims 1 to 6 when executed by a processor.

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