Safety control method and system for fall arrest device based on collision self-checking and multi-directional locking

Abstract

The application relates to the technical field of safety control of fall arresters, and relates to a fall arrester safety control method and system based on collision self-checking and multi-direction locking, which comprises the following steps: extracting target fall arresters from a target fall arrester set in sequence, and performing the following operations on the extracted target fall arresters: performing collision simulation detection on the target fall arresters to obtain collision simulation data, obtaining an acceleration dynamic threshold value, obtaining an acoustic emission dynamic threshold value, if the acceleration dynamic threshold value is greater than a preset standard acceleration threshold value, taking the acceleration dynamic threshold value as an overrun acceleration threshold value, if the acoustic emission dynamic threshold value is greater than a preset standard acoustic emission threshold value, issuing a collision alarm signal, performing a locking operation on the target fall arrester to obtain a locked fall arrester, and completing the fall arrester safety control based on collision self-checking and multi-direction locking based on the locked fall arrester set. The application can improve the safety and reliability of the fall arrester.

Description

Technical Field

[0001] This invention relates to the field of fall arrestor safety control technology, and in particular to a fall arrestor safety control method and system based on collision self-detection and multi-directional locking. Background Technology

[0002] A fall arrestor is a safety device used to prevent people or objects from falling while working at heights. Collision self-checking means the fall arrestor system can automatically detect and assess collision events. Multi-directional locking means that after detecting a collision event, the fall arrestor can lock in multiple directions to ensure that people or objects do not fall in any direction.

[0003] With the increasing complexity and diversity of high-altitude work scenarios, traditional fall arresters can no longer meet modern safety requirements. Traditional fall arresters rely on only a single type of sensor, making them susceptible to environmental noise and interference, leading to misjudgments. Furthermore, most improved fall arresters still only provide protection in a single direction, lacking effective countermeasures against multi-directional collisions and impacts. Therefore, improving the safety and reliability of fall arresters is an urgent technical problem to be solved. Summary of the Invention

[0004] This invention provides a safety control method for fall arresters based on collision self-checking and multi-directional locking, and a computer-readable storage medium. Its main purpose is to improve the safety and reliability of fall arresters and provide more comprehensive protection for personnel and equipment working at heights.

[0005] To achieve the above objectives, the present invention provides a safety control method for fall arresters based on collision self-detection and multi-directional locking, comprising:

[0006] Identify the working environment of the fall arresters, obtain an initial set of fall arresters, and filter the initial set of fall arresters according to the working environment to obtain the target set of fall arresters.

[0007] Extract the target fall arresters sequentially from the target fall arrester set, and perform the following operations on each extracted target fall arrester:

[0008] Upon receiving a collision self-test command, the system performs a collision simulation test on the target fall arrester according to the collision self-test command and the preset simulation test time, and obtains collision simulation data, which includes: acceleration data and acoustic emission data.

[0009] Acceleration dynamic thresholds are obtained based on acceleration data, and acoustic emission dynamic thresholds are obtained based on acoustic emission data. The acceleration dynamic thresholds and acoustic emission dynamic thresholds are obtained at the same time.

[0010] Compare the dynamic acceleration threshold with the preset standard acceleration threshold;

[0011] If the dynamic acceleration threshold is greater than the preset standard acceleration threshold, then the dynamic acceleration threshold is used as the over-limit acceleration threshold, and the acoustic emission dynamic threshold is compared with the preset standard acoustic emission threshold.

[0012] If the acoustic emission dynamic threshold is greater than the preset standard acoustic emission threshold, then the acoustic emission dynamic threshold is used as the over-limit acoustic emission threshold, and a collision alarm signal is issued based on the over-limit acceleration threshold and the over-limit acoustic emission threshold.

[0013] The collision alarm signal is classified to obtain collision intensity data, a locking command is received, and a locking operation is performed on the target fall arrester according to the collision intensity data and the locking command to obtain the locked fall arrester.

[0014] By summarizing the locking fall arresters, a set of locking fall arresters is obtained. Based on the set of locking fall arresters, a fall arrester safety control based on collision self-checking and multi-directional locking is completed.

[0015] Optionally, the initial fall arrestor set includes: multiple initial fall arrestors, each equipped with a rope, and each initial fall arrestor is of the same type. Each initial fall arrestor includes: a false alarm counter, a vertical braking unit, a tilt braking unit, a missed detection counter, a triaxial accelerometer, and four acoustic emission sensors. The four acoustic emission sensors are evenly distributed on a circumference with the central axis of the initial fall arrestor as the center, the included angle between the acoustic emission sensors is 90 degrees, and all are mounted on the metal structure surface of the initial fall arrestor.

[0016] Optionally, the step of performing a collision simulation test on the target fall arrester according to the collision self-test command and a preset simulation test time to obtain collision simulation data includes:

[0017] The collision simulation test is performed on the target fall arrester based on the collision self-test command, the three-axis accelerometer, the four acoustic emission sensors and the preset simulation test time to obtain initial acceleration data and initial acoustic emission data. The initial acceleration data includes multiple initial acceleration values ​​and the initial acoustic emission data includes multiple initial acoustic emission values.

[0018] A filtering operation is performed on each initial acceleration value in the initial acceleration data to obtain filtered acceleration data, which includes multiple filtered acceleration values.

[0019] Obtain the maximum and minimum filtered acceleration values ​​from the filtered acceleration data. Based on the maximum and minimum filtered acceleration values, normalize each filtered acceleration value in the filtered acceleration data to obtain normalized acceleration data.

[0020] Normalized acceleration data is used as acceleration data, and acoustic emission data is obtained based on initial acoustic emission data. Acceleration data and acoustic emission data are then used as collision simulation data.

[0021] Optionally, obtaining the dynamic acceleration threshold based on acceleration data includes:

[0022] Obtain the current detection time, and based on the current detection time, obtain the previous detection time point set from the simulated detection time, and calculate the previous mean and previous standard deviation of the previous detection time point set;

[0023] Obtain the preceding sensitivity coefficient, calculate the preceding dynamic threshold based on the preceding sensitivity coefficient, preceding mean and preceding standard deviation, and obtain the subsequent detection time point set from the simulated detection time based on the current detection time. Both the preceding and subsequent detection time point sets include 5 detection time points.

[0024] Calculate the subsequent mean and subsequent standard deviation of the subsequent detection time point set to obtain the subsequent sensitivity coefficient. Calculate the subsequent dynamic threshold based on the subsequent sensitivity coefficient, subsequent mean and subsequent standard deviation. Update the preceding dynamic threshold using the subsequent dynamic threshold to obtain the updated dynamic threshold.

[0025] Obtain the subsequent endpoint based on the subsequent detection time point set, use the subsequent endpoint as the current detection time, use the updated dynamic threshold as the subsequent dynamic threshold, and return to the step of obtaining the subsequent detection time point set from the simulated detection time based on the current detection time, until all simulated detection times have been extracted, and obtain the acceleration dynamic threshold.

[0026] Optionally, obtaining the preceding sensitivity coefficient includes:

[0027] Set the initial sensitivity coefficient, obtain the total number of detections based on the previous detection time point set, and obtain the number of false alarms and the number of missed detections based on the false alarm counter and the missed detection counter.

[0028] The false alarm adjustment factor is calculated based on the preset false alarm adjustment coefficient, the total number of detections, and the number of false alarms. The missed detection adjustment factor is calculated based on the preset missed detection adjustment coefficient, the total number of detections, and the number of missed detections.

[0029] The updated sensitivity coefficient is obtained based on the false alarm adjustment factor, the missed detection adjustment factor, and the initial sensitivity coefficient, and is used as the preceding sensitivity coefficient.

[0030] Optionally, the step of classifying the collision alarm signal to obtain collision intensity data includes:

[0031] Determine whether the collision alarm signal is within the preset first-level collision alarm signal range;

[0032] If the collision alarm signal is within the preset first-level collision alarm signal range, the pre-built audible and visual alarm unit is activated. The activated audible and visual alarm unit monitors the over-limit acceleration threshold and over-limit acoustic emission threshold in real time to obtain the changing acceleration threshold and changing acoustic emission threshold. The time of activating the audible and visual alarm unit is taken as the alarm time starting point.

[0033] Obtain the upper limit of the first-level collision alarm signal range, and compare the upper limit of the first-level range with the changing acceleration threshold and the upper limit of the first-level range with the changing acoustic emission threshold.

[0034] If the variable acceleration threshold is greater than the upper limit of the first-level interval, or the variable acoustic emission threshold is greater than the upper limit of the first-level interval, or the variable acceleration threshold is greater than the upper limit of the first-level interval and the variable acoustic emission threshold is less than or equal to the upper limit of the first-level interval, then the collision alarm signal is confirmed as the second-level collision intensity data.

[0035] If the change acceleration threshold is less than or equal to the upper limit of the first-level interval or the change acoustic emission threshold is less than or equal to the upper limit of the first-level interval, then obtain the alarm time end point of the change acceleration threshold or the change acoustic emission threshold, obtain the alarm duration based on the alarm time start point and the alarm time end point, and compare the alarm duration with the preset alarm threshold.

[0036] If the alarm duration is less than or equal to the preset alarm threshold, the audible and visual alarm unit is turned off, and false alarm intensity data is obtained.

[0037] If the alarm duration exceeds the preset alarm threshold, the collision alarm signal will be used as first-level collision intensity data.

[0038] Use Level 1 collision intensity data, false alarm intensity data, or Level 2 collision intensity data as the collision intensity data.

[0039] Optionally, the step of performing a locking operation on the target fall arrester based on the collision intensity data and the locking command to obtain the locking fall arrester includes:

[0040] Obtain the falling direction of the target fall arrestor, including: vertical fall and oblique fall;

[0041] If the collision intensity data is level one collision intensity data and the falling direction is vertical, then the vertical braking unit is used to perform a vertical locking operation on the target fall arrestor to obtain the first fall arrestor.

[0042] If the collision intensity data is level one collision intensity data and the falling direction is oblique, then the tilt braking unit is used to perform an oblique direction locking operation on the target fall arrestor to obtain a second fall arrestor.

[0043] If the collision intensity data is level two collision intensity data and the falling direction is oblique falling, or if the collision intensity data is level two collision intensity data and the falling direction is vertical falling, then the vertical braking unit and the tilt braking unit are used to perform an all-directional locking operation on the target fall arrestor to obtain a third fall arrestor.

[0044] Based on the force of the vertical braking unit and the force of the tilting braking unit obtained by the third fall arrester, if the force of the vertical braking unit or the force of the tilting braking unit is not less than the preset standard force threshold, the pre-constructed PID dynamic allocation algorithm is used to allocate the force of the vertical braking unit and the tilting braking unit respectively to obtain multiple allocation combinations.

[0045] The allocation combination is extracted sequentially from multiple allocation combinations, and the comprehensive wear value of the vertical braking unit and the tilting braking unit is calculated based on the allocation combination.

[0046] The comprehensive wear value is summarized to obtain multiple comprehensive wear values. Based on the multiple comprehensive wear values, the optimal wear value is obtained, and the allocation combination corresponding to the optimal wear value is confirmed as the optimal allocation combination.

[0047] The vertical braking unit and the tilting braking unit are re-forced according to the optimal allocation combination to obtain the fourth fall arrestor.

[0048] The first, second, third, or fourth fall arrestor is used as a locking fall arrestor.

[0049] Optionally, obtaining the fall direction of the target fall arrester includes:

[0050] A spatial rectangular coordinate system is constructed based on the triaxial accelerometer, wherein the spatial rectangular coordinate system includes: a horizontal axis, a vertical axis, and a vertical axis;

[0051] The horizontal axis acceleration, vertical axis acceleration, and vertical axis acceleration are obtained based on the acceleration data. The vertical axis acceleration is compared with the preset gravitational acceleration, and it is determined whether the horizontal axis acceleration and vertical axis acceleration are both within the preset vertical fall range.

[0052] If the vertical axis acceleration is greater than or equal to the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not within the preset vertical fall range, then the fall direction of the target fall arrestor is confirmed as a vertical fall.

[0053] If the vertical axis acceleration is greater than or equal to the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not both within the preset vertical fall range, then the fall direction of the target fall arrestor will be determined as an oblique fall.

[0054] If the vertical axis acceleration is less than the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not within the preset vertical fall range, then the fall direction of the target fall arrestor will be determined as an oblique fall.

[0055] If the vertical axis acceleration is less than the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not both within the preset vertical fall range, then the fall direction of the target fall arrestor will be determined as an oblique fall.

[0056] Optionally, the step of calculating the combined wear value of the vertical braking unit and the tilting braking unit based on the allocation combination includes:

[0057] Based on the allocation combination, obtain the vertical and inclined forces, and determine the material friction coefficient and material wear coefficient;

[0058] The friction force of the vertical braking unit is calculated based on the material friction coefficient and the vertical force, and the relative sliding distance is obtained. The vertical wear of the vertical braking unit is then calculated based on the relative sliding distance, friction force, and material wear coefficient.

[0059] The tilt wear is obtained based on the material friction coefficient, tilt braking unit and tilt force. The comprehensive wear value is obtained based on the vertical wear and tilt wear, where the comprehensive wear value is the sum of the vertical wear and tilt wear.

[0060] To achieve the above objectives, the present invention also provides a fall arrestor safety control system based on collision self-detection and multi-directional locking, comprising:

[0061] The fall arrestor screening module is used to identify the working environment of the fall arrestor, obtain an initial set of fall arrestors, and screen the initial set of fall arrestors according to the working environment to obtain a target set of fall arrestors.

[0062] The collision simulation detection module is used to sequentially extract target fall arresters from the target fall arrester set, and perform the following operations on each extracted target fall arrester: receive a collision self-test command, perform collision simulation detection on the target fall arrester according to the collision self-test command and the preset simulation detection time, and obtain collision simulation data, wherein the collision simulation data includes: acceleration data and acoustic emission data;

[0063] The collision alarm grading module is used to obtain dynamic acceleration thresholds based on acceleration data and dynamic acoustic emission thresholds based on acoustic emission data. The dynamic acceleration thresholds and dynamic acoustic emission thresholds are obtained simultaneously. The dynamic acceleration thresholds are compared with preset standard acceleration thresholds. If the dynamic acceleration thresholds are greater than the preset standard acceleration thresholds, the dynamic acceleration thresholds are taken as over-limit acceleration thresholds. The dynamic acoustic emission thresholds are also compared with preset standard acoustic emission thresholds. If the dynamic acoustic emission thresholds are greater than the preset standard acoustic emission thresholds, the dynamic acoustic emission thresholds are taken as over-limit acoustic emission thresholds. A collision alarm signal is issued based on the over-limit acceleration thresholds and over-limit acoustic emission thresholds. The collision alarm signals are graded to obtain collision intensity data.

[0064] The locking safety control module is used to receive locking commands, perform locking operations on the target fall arrester according to the collision intensity data and the locking commands, obtain the locked fall arresters, summarize the locked fall arresters to obtain a set of locked fall arresters, and complete the fall arrester safety control based on collision self-checking and multi-directional locking based on the set of locked fall arresters.

[0065] To address the above problems, the present invention also provides an electronic device, the electronic device comprising:

[0066] Memory, storing at least one instruction;

[0067] The processor executes the instructions stored in the memory to implement the above-described safety control method for fall arresters based on collision self-detection and multi-directional locking.

[0068] To address the aforementioned problems, the present invention also provides a computer-readable storage medium storing at least one instruction, which is executed by a processor in an electronic device to implement the aforementioned safety control method for a fall arrester based on collision self-detection and multi-directional locking.

[0069] To address the problems described in the background art, this invention identifies the working environment of the fall arrester, obtains an initial set of fall arresters, and then filters this initial set based on the working environment to obtain a target set of fall arresters. By identifying the working environment, this invention can select fall arresters suitable for that environment, ensuring that the performance of the fall arresters matches the actual working conditions, thereby improving the safety and reliability of the fall arresters. Target fall arresters are sequentially extracted from the target set, and the following operations are performed on each extracted target fall arrester: This invention checks each target fall arrester one by one to ensure that each fall arrester undergoes a rigorous safety inspection, avoiding omissions and improving overall safety; it receives a collision self-check command and performs the operation according to the collision self-check command and a preset simulated detection time. This invention performs collision simulation testing on the target fall arrester to obtain collision simulation data, including acceleration data and acoustic emission data. Through collision simulation testing, this invention can detect potential problems with the fall arrester in actual collisions, providing data support for subsequent safety control. Dynamic thresholds for acceleration are obtained based on the acceleration data, and dynamic thresholds for acoustic emission are obtained based on the acoustic emission data. These dynamic thresholds are obtained simultaneously. The acquisition of these dynamic thresholds reflects the real-time status of the fall arrester during actual operation, improving the timeliness of safety control. Simultaneously acquiring the dynamic thresholds for both acceleration and acoustic emission allows for a more comprehensive assessment of the fall arrester's collision state, improving safety judgment. For accuracy, this invention compares a dynamic acceleration threshold with a preset standard acceleration threshold. By comparing with the preset standard threshold, it can quickly determine whether the fall arrestor is in a safe state. If the dynamic acceleration threshold is greater than the preset standard acceleration threshold, the dynamic acceleration threshold is taken as the over-limit acceleration threshold. The invention also compares a dynamic acoustic emission threshold with a preset standard acoustic emission threshold. In cases of over-limit acceleration, this invention further compares the acoustic emission thresholds, increasing the reliability of the judgment and avoiding misjudgments. If the dynamic acoustic emission threshold is greater than the preset standard acoustic emission threshold, the dynamic acoustic emission threshold is taken as the over-limit acoustic emission threshold. Based on the over-limit acceleration threshold and the over-limit acoustic emission threshold, a collision alarm signal is issued. This invention confirms acceleration and acoustic emission... When both limits are exceeded, a collision alarm signal is issued, which can promptly remind operators to take emergency measures to prevent the accident from escalating further. Issuing alarm signals based on two over-limit thresholds improves the accuracy and reliability of the alarm. The collision alarm signals are graded to obtain collision intensity data. Locking commands are received, and locking operations are performed on the target fall arrester according to the collision intensity data and locking commands, resulting in a locked fall arrester. This invention grades collision alarm signals and can take corresponding locking measures according to different collision intensities, improving the flexibility and adaptability of safety control. Receiving locking commands and automatically executing locking operations improves the system's automation level, reduces human intervention, and improves safety. The locked fall arresters are then aggregated to obtain a locked fall arrester set.This invention, based on a locking fall arrestor system, achieves safety control of the fall arrestor through collision self-checking and multi-directional locking, forming a complete closed-loop control system that improves the system's safety and reliability. Therefore, this invention can enhance the safety and reliability of fall arrestors, providing more comprehensive protection for personnel and equipment working at heights. Attached Figure Description

[0070] Figure 1 This is a flowchart illustrating a safety control method for a fall arrester based on collision self-detection and multi-directional locking, provided in an embodiment of the present invention.

[0071] Figure 2 This is a functional block diagram of a fall arrestor safety control system based on collision self-detection and multi-directional locking provided in an embodiment of the present invention;

[0072] Figure 3 This is a schematic diagram of the structure of an electronic device that implements the safety control method for a fall arrester based on collision self-detection and multi-directional locking, according to an embodiment of the present invention.

[0073] Explanation of reference numerals in the attached figures:

[0074] 10. Electronic device; 11. Processor; 12. Memory; 13. Bus.

[0075] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0076] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0077] This application provides a fall arrester safety control method based on collision self-detection and multi-directional locking. The execution entity of the fall arrester safety control method based on collision self-detection and multi-directional locking includes, but is not limited to, at least one of the electronic devices that can be configured to execute the method provided in this application, such as a server and a terminal. In other words, the fall arrester safety control method based on collision self-detection and multi-directional locking can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0078] Reference Figure 1 The diagram shown is a flowchart illustrating a fall arrestor safety control method based on collision self-detection and multi-directional locking according to an embodiment of the present invention. In this embodiment, the fall arrestor safety control method based on collision self-detection and multi-directional locking includes:

[0079] S1. Identify the working environment of the fall arrestor, obtain the initial set of fall arrestors, and filter the initial set of fall arrestors according to the working environment to obtain the target set of fall arrestors.

[0080] In detail, the target fall arrester set includes: multiple target fall arresters, each target fall arrester is equipped with a rope, and each target fall arrester is of the same type. Each target fall arrester includes: a false alarm counter, a vertical braking unit, a tilt braking unit, a missed detection counter, a triaxial accelerometer, and four acoustic emission sensors. The four acoustic emission sensors are distributed at equal intervals on a circumference with the central axis of the target fall arrester as the center, the included angle between the acoustic emission sensors is 90 degrees, and all are mounted on the metal structure surface of the target fall arrester.

[0081] It needs to be explained that the operating environment of a fall arrester refers to the physical environment and operating conditions in which the fall arrester is actually used. The physical environment refers to the environment with factors such as temperature, humidity, altitude, or corrosive gases. Operating conditions refer to factors such as load weight, fall height, fall speed, and frequency of use. The initial fall arrester set refers to the collection of all usable fall arresters before screening. The purpose of screening is to ensure that the final selected fall arresters can adapt to the specific operating environment. The target fall arrester set refers to the collection of fall arresters that, after screening, can adapt to the operating environment and meet safety requirements. A false alarm counter is a counter used to record the number of times a target fall arrester falsely issues an alarm. A missed detection counter is a counter used to record the number of times a target fall arrester fails to issue an alarm during an actual collision. A vertical braking unit is a component in a fall arrester specifically designed to stop the movement of the target fall arrester in the vertical direction. A tilt braking unit is a component in a fall arrester specifically designed to stop the movement of the target fall arrester in the oblique direction. An acoustic emission sensor is a sensor that detects the acoustic emission signals generated by a collision event and is used to determine the severity of the collision.

[0082] S2. Extract the target fall arresters sequentially from the target fall arrester set, and perform the following operations on each extracted target fall arrester: receive the collision self-test command, perform collision simulation test on the target fall arrester according to the collision self-test command and the preset simulation test time, and obtain collision simulation data, wherein the collision simulation data includes: acceleration data and acoustic emission data.

[0083] Specifically, the step of performing a collision simulation test on the target fall arrester according to the collision self-test command and the preset simulation test time to obtain collision simulation data includes:

[0084] The collision simulation test is performed on the target fall arrester based on the collision self-test command, the three-axis accelerometer, the four acoustic emission sensors and the preset simulation test time to obtain initial acceleration data and initial acoustic emission data. The initial acceleration data includes multiple initial acceleration values ​​and the initial acoustic emission data includes multiple initial acoustic emission values.

[0085] A filtering operation is performed on each initial acceleration value in the initial acceleration data to obtain filtered acceleration data, which includes multiple filtered acceleration values.

[0086] Obtain the maximum and minimum filtered acceleration values ​​from the filtered acceleration data. Based on the maximum and minimum filtered acceleration values, normalize each filtered acceleration value in the filtered acceleration data to obtain normalized acceleration data.

[0087] Normalized acceleration data is used as acceleration data, and acoustic emission data is obtained based on initial acoustic emission data. Acceleration data and acoustic emission data are then used as collision simulation data.

[0088] It should be explained that a collision self-test command is a command issued by a computer system to initiate the collision simulation testing process of a fall arrestor. For example, an automated testing system sends a command when a collision simulation test of a fall arrestor is required; this command is the collision self-test command. The initial acceleration value refers to the raw acceleration data value recorded by the triaxial accelerometer during the collision simulation test. The initial acoustic emission value refers to the raw acoustic emission data value recorded by the acoustic emission sensor during the collision simulation test. Filtered acceleration data refers to the data obtained after performing a filtering operation on each initial acceleration value in the initial acceleration data. The maximum filtered acceleration value refers to the largest filtered acceleration value in the filtered acceleration data. The minimum filtered acceleration value refers to the smallest filtered acceleration value in the filtered acceleration data. Performing a filtering operation on each initial acceleration value in the initial acceleration data means using a filter to perform a filtering operation on each initial acceleration value in the initial acceleration data. For example, the filter can be a low-pass filter, a high-pass filter, a band-pass filter, etc. The process of normalizing each filtered acceleration value in the filtered acceleration data based on the maximum and minimum filtered acceleration values ​​to obtain normalized acceleration data refers to normalizing each filtered acceleration value in the filtered acceleration data using the following formula:

[0089]

[0090] in, Represents the first in the filtered acceleration data Normalized acceleration value of each filtered acceleration value Represents the first in the filtered acceleration data Each filtered acceleration value This represents the minimum filtered acceleration value. This represents the maximum filtered acceleration value;

[0091] The normalized acceleration values ​​are summarized to obtain the normalized acceleration data. The method for obtaining acoustic emission data based on initial acoustic emission data is the same as the method for obtaining acceleration data based on initial acceleration data, and will not be described again here.

[0092] S3. Obtain the dynamic threshold of acceleration based on acceleration data, and obtain the dynamic threshold of acoustic emission based on acoustic emission data. The dynamic threshold of acceleration and the dynamic threshold of acoustic emission are obtained at the same time.

[0093] Importantly, the method for obtaining the dynamic threshold of acoustic emission based on acoustic emission data is the same as the method for obtaining the dynamic threshold of acceleration based on acceleration data, and will not be described again here.

[0094] Specifically, the acquisition of the dynamic acceleration threshold based on acceleration data includes:

[0095] Obtain the current detection time, and based on the current detection time, obtain the previous detection time point set from the simulated detection time, and calculate the previous mean and previous standard deviation of the previous detection time point set;

[0096] Obtain the preceding sensitivity coefficient, calculate the preceding dynamic threshold based on the preceding sensitivity coefficient, preceding mean and preceding standard deviation, and obtain the subsequent detection time point set from the simulated detection time based on the current detection time. Both the preceding and subsequent detection time point sets include 5 detection time points.

[0097] Calculate the subsequent mean and subsequent standard deviation of the subsequent detection time point set to obtain the subsequent sensitivity coefficient. Calculate the subsequent dynamic threshold based on the subsequent sensitivity coefficient, subsequent mean and subsequent standard deviation. Update the preceding dynamic threshold using the subsequent dynamic threshold to obtain the updated dynamic threshold.

[0098] Obtain the subsequent endpoint based on the subsequent detection time point set, use the subsequent endpoint as the current detection time, use the updated dynamic threshold as the subsequent dynamic threshold, and return to the step of obtaining the subsequent detection time point set from the simulated detection time based on the current detection time, until all simulated detection times have been extracted, and obtain the acceleration dynamic threshold.

[0099] It should be explained that the current detection time refers to the time corresponding to the data point being processed during the simulation detection process. The preceding mean refers to the average value of the acceleration data at five consecutive time points prior to the current detection time. The preceding standard deviation refers to the standard deviation of the acceleration data at five consecutive time points prior to the current detection time. The preceding dynamic threshold is the threshold calculated based on the preceding mean and preceding standard deviation. The calculation formula in the step of calculating the preceding dynamic threshold based on the preceding sensitivity coefficient, preceding mean, and preceding standard deviation is as follows:

[0100]

[0101] in, Indicates the preceding dynamic threshold. This represents the preceding mean. Represents the sensitivity coefficient. This represents the preceding standard deviation.

[0102] Understandably, the subsequent mean refers to the average of the acceleration data at five consecutive time points after the current detection time. The subsequent standard deviation refers to the standard deviation of the acceleration data at five consecutive time points after the current detection time. The updated dynamic threshold refers to the new dynamic threshold used to update the preceding dynamic threshold. The subsequent endpoint refers to the last time point in the subsequent detection time point set. The acceleration dynamic threshold refers to the threshold dynamically calculated based on the preceding and subsequent acceleration data during the simulated detection process. The method for obtaining the subsequent sensitivity coefficient is the same as the method for obtaining the preceding sensitivity coefficient, and will not be repeated here.

[0103] Specifically, obtaining the preceding sensitivity coefficient includes:

[0104] Set the initial sensitivity coefficient, obtain the total number of detections based on the previous detection time point set, and obtain the number of false alarms and the number of missed detections based on the false alarm counter and the missed detection counter.

[0105] The false alarm adjustment factor is calculated based on the preset false alarm adjustment coefficient, the total number of detections, and the number of false alarms. The missed detection adjustment factor is calculated based on the preset missed detection adjustment coefficient, the total number of detections, and the number of missed detections.

[0106] The updated sensitivity coefficient is calculated based on the false alarm adjustment factor, the missed detection adjustment factor, and the initial sensitivity coefficient, and is used as the preceding sensitivity coefficient.

[0107] It should be explained that setting the initial sensitivity coefficient refers to an operation where the coefficient is preset manually. For example, the initial sensitivity coefficient is 2. The initial sensitivity coefficient is an initial value set at the start of operation to control the sensitivity of the dynamic threshold. The larger the initial sensitivity coefficient, the greater the sensitivity. The number of false alarms refers to the number of times the target fall arrester erroneously issues an alarm during the simulated detection time. The number of missed detections refers to the number of times the target fall arrester fails to issue an alarm when a collision actually occurs during the simulated detection time. Obtaining the total number of detections based on the previous detection time point set means treating each time point in the previous detection time point set as one detection, thus obtaining the total number of detections. The false alarm adjustment coefficient is a preset coefficient used to adjust the impact of false alarms on the sensitivity coefficient. The missed detection adjustment coefficient is a preset coefficient used to adjust the impact of missed detections on the sensitivity coefficient. The larger the false alarm adjustment coefficient, the smaller the sensitivity coefficient. The larger the missed detection adjustment coefficient, the larger the sensitivity coefficient. The missed detection adjustment factor is an incremental factor used to adjust the sensitivity coefficient, aiming to improve the system's sensitivity based on the number of missed detections, thereby reducing the possibility of missed detections. The false alarm adjustment factor is a decrementing factor used to adjust the sensitivity coefficient. Its purpose is to reduce the system's sensitivity based on the number of false alarms, thereby reducing the likelihood of false alarms. The calculation formula in the step of calculating the updated sensitivity coefficient based on the false alarm adjustment factor, the missed detection adjustment factor, and the initial sensitivity coefficient is: Updated sensitivity coefficient = Initial sensitivity coefficient - False alarm adjustment factor + Missed detection adjustment factor.

[0108] S4. Compare the dynamic acceleration threshold with the preset standard acceleration threshold. If the dynamic acceleration threshold is greater than the preset standard acceleration threshold, then the dynamic acceleration threshold is taken as the over-limit acceleration threshold. Compare the dynamic acoustic emission threshold with the preset standard acoustic emission threshold.

[0109] It should be explained that the standard acceleration threshold is a pre-set value used to determine whether acceleration data is abnormal. The over-limit acceleration threshold is the dynamic acceleration threshold after the dynamic acceleration threshold exceeds the pre-set standard acceleration threshold. For example, the dynamic acceleration threshold is 12 m / s², while the standard acceleration threshold is 10 m / s². Because 12 m / s² is greater than 10 m / s², 12 m / s² is used as the over-limit acceleration threshold. The standard acoustic emission threshold is a pre-set value used to determine whether acoustic emission data is abnormal.

[0110] S5. If the acoustic emission dynamic threshold is greater than the preset standard acoustic emission threshold, then the acoustic emission dynamic threshold is used as the over-limit acoustic emission threshold, and a collision alarm signal is issued based on the over-limit acceleration threshold and the over-limit acoustic emission threshold.

[0111] It should be explained that the over-limit acoustic emission threshold refers to the acoustic emission dynamic threshold after the acoustic emission dynamic threshold exceeds the preset standard acoustic emission threshold.

[0112] S6. Classify the collision alarm signal to obtain collision intensity data, receive the locking command, and perform a locking operation on the target fall arrester according to the collision intensity data and the locking command to obtain the locked fall arrester.

[0113] In detail, the process of grading the collision alarm signal to obtain collision intensity data includes:

[0114] Determine whether the collision alarm signal is within the preset first-level collision alarm signal range;

[0115] If the collision alarm signal is within the preset first-level collision alarm signal range, the pre-built audible and visual alarm unit is activated. The activated audible and visual alarm unit monitors the over-limit acceleration threshold and over-limit acoustic emission threshold in real time to obtain the changing acceleration threshold and changing acoustic emission threshold. The time of activating the audible and visual alarm unit is taken as the alarm time starting point.

[0116] Obtain the upper limit of the first-level collision alarm signal range, and compare the upper limit of the first-level range with the changing acceleration threshold and the upper limit of the first-level range with the changing acoustic emission threshold.

[0117] If the variable acceleration threshold is greater than the upper limit of the first-level interval, or the variable acoustic emission threshold is greater than the upper limit of the first-level interval, or the variable acceleration threshold is greater than the upper limit of the first-level interval and the variable acoustic emission threshold is less than or equal to the upper limit of the first-level interval, then the collision alarm signal is confirmed as the second-level collision intensity data.

[0118] If the change acceleration threshold is less than or equal to the upper limit of the first-level interval or the change acoustic emission threshold is less than or equal to the upper limit of the first-level interval, then obtain the alarm time end point of the change acceleration threshold or the change acoustic emission threshold, obtain the alarm duration based on the alarm time start point and the alarm time end point, and compare the alarm duration with the preset alarm threshold.

[0119] If the alarm duration is less than or equal to the preset alarm threshold, the audible and visual alarm unit is turned off, and false alarm intensity data is obtained.

[0120] If the alarm duration exceeds the preset alarm threshold, the collision alarm signal will be used as first-level collision intensity data.

[0121] Use Level 1 collision intensity data, false alarm intensity data, or Level 2 collision intensity data as the collision intensity data.

[0122] It needs to be explained that the Level 1 collision alarm signal range refers to a pre-defined range used to determine whether the intensity of the collision alarm signal falls within the Level 1 collision range. The audible and visual alarm unit is an alarm device used to emit sound and light signals when a collision event is detected to alert on-site personnel. The variable acceleration threshold refers to the change in the monitored acceleration threshold after the audible and visual alarm unit is activated. The variable acoustic emission threshold refers to the change in the monitored acoustic emission threshold after the audible and visual alarm unit is activated. For example, if the monitored acoustic emission value increases from 55dB to 60dB after the audible and visual alarm unit is activated, then the variable acoustic emission threshold is 60dB. The alarm time start point refers to the time point when the audible and visual alarm unit is activated, used to record the start time of the collision event. The Level 1 range upper limit refers to the maximum value of the Level 1 collision alarm signal range. The Level 2 collision intensity data refers to the confirmed collision intensity data when the variable acceleration threshold or variable acoustic emission threshold exceeds the Level 1 range upper limit. The alarm time end point refers to the time point when the variable acceleration threshold or variable acoustic emission threshold reaches a specific condition. Alarm duration refers to the time difference between the start and end of the alarm time, used to assess the duration of a collision event. Alarm threshold refers to a pre-set time value to ensure system safety and avoid safety issues caused by false alarms. False alarm intensity data refers to the confirmed collision intensity data when the alarm duration is less than or equal to the preset alarm threshold. Level 1 collision intensity data refers to the confirmed collision intensity data when the alarm duration exceeds the preset alarm threshold.

[0123] Specifically, the step of performing a locking operation on the target fall arrester based on collision intensity data and locking commands to obtain a locking fall arrester includes:

[0124] Obtain the falling direction of the target fall arrestor, including: vertical fall and oblique fall;

[0125] If the collision intensity data is level one collision intensity data and the falling direction is vertical, then the vertical braking unit is used to perform a vertical locking operation on the target fall arrestor to obtain the first fall arrestor.

[0126] If the collision intensity data is level one collision intensity data and the falling direction is oblique, then the tilt braking unit is used to perform an oblique direction locking operation on the target fall arrestor to obtain a second fall arrestor.

[0127] If the collision intensity data is level two collision intensity data and the falling direction is oblique falling, or if the collision intensity data is level two collision intensity data and the falling direction is vertical falling, then the vertical braking unit and the tilt braking unit are used to perform an all-directional locking operation on the target fall arrestor to obtain a third fall arrestor.

[0128] Based on the force of the vertical braking unit and the force of the tilting braking unit obtained by the third fall arrester, if the force of the vertical braking unit or the force of the tilting braking unit is not less than the preset standard force threshold, the pre-constructed PID dynamic allocation algorithm is used to allocate the force of the vertical braking unit and the tilting braking unit respectively to obtain multiple allocation combinations.

[0129] The allocation combination is extracted sequentially from multiple allocation combinations, and the comprehensive wear value of the vertical braking unit and the tilting braking unit is calculated based on the allocation combination.

[0130] The comprehensive wear value is summarized to obtain multiple comprehensive wear values. Based on the multiple comprehensive wear values, the optimal wear value is obtained, and the allocation combination corresponding to the optimal wear value is confirmed as the optimal allocation combination.

[0131] The vertical braking unit and the tilting braking unit are re-forced according to the optimal allocation combination to obtain the fourth fall arrestor.

[0132] The first, second, third, or fourth fall arrestor is used as a locking fall arrestor.

[0133] It should be explained that the vertical locking operation of the target fall arrester using the vertical braking unit refers to activating the vertical braking unit to generate braking force in the vertical direction, thereby preventing the target fall arrester from continuing to fall. The first fall arrester refers to the fall arrester that is successfully locked after the vertical locking operation. The oblique locking operation of the target fall arrester using the tilt braking unit refers to activating the tilt braking unit to generate braking force in the oblique direction, thereby preventing the target fall arrester from continuing to fall. The second fall arrester refers to the fall arrester that is successfully locked after the oblique locking operation. The omnidirectional locking operation of the target fall arrester using both the vertical and tilt braking units refers to simultaneously activating the vertical and tilt braking units, causing the fall arrester to generate braking force in both the vertical and oblique directions simultaneously, thereby comprehensively preventing the movement of the target fall arrester.

[0134] Importantly, the third fall arrester refers to the fall arrester that is successfully locked after performing an omnidirectional locking operation. The acquisition of forces on the vertical and tilting braking units based on the third fall arrester involves installing force sensors on the vertical and tilting braking units to measure braking force in real time, activating the sensors, and collecting the force values ​​of the vertical and tilting braking units during the locking process. The standard force threshold is a pre-set value used to determine whether the force borne by the braking unit is within this range. The step of using a pre-built PID dynamic allocation algorithm to allocate forces to the vertical and tilting braking units to obtain multiple allocation combinations is as follows: setting PID controller parameters, including proportional coefficient, integral coefficient, and derivative coefficient; inputting the forces on the vertical and tilting braking units into the PID controller; dynamically adjusting the braking force allocation of the vertical and tilting braking units based on the PID controller output; and generating multiple different force allocation combinations through multiple adjustments. The PID dynamic allocation algorithm is an algorithm based on proportional-integral-derivative (PI) control used to dynamically adjust the distribution of braking force between the vertical braking unit and the tilting braking unit. The proportional coefficient is a parameter in the PID controller used to adjust the control input based on the difference in braking force. A larger proportional coefficient results in a faster response to the difference. The integral coefficient is also a parameter in the PID controller used to adjust the control input based on the difference in braking force. The derivative coefficient is a parameter in the PID controller used to adjust the control input based on the rate of change of the difference in braking force. The derivative coefficient's role is to predict the trend of the difference in braking force and adjust the control input in advance, thereby improving the system's response speed and stability.

[0135] For example, during a collision with the target fall arrester, Xiao Zhang detected a force of 500N on the vertical braking unit and 300N on the tilting braking unit. The proportional coefficient was 0.5, the integral coefficient was 0.1, and the derivative coefficient was 0.05. The forces on the vertical and tilting braking units were input into a PID controller. The PID controller calculated an adjustment amount based on the difference between the forces on the vertical and tilting braking units and the standard force threshold. The adjustment amount = proportional coefficient × difference + integral coefficient × integral of the difference + derivative coefficient × derivative of the difference. The integral and derivative of the difference are both 0. The standard force threshold is 400N. The difference between the force on the vertical braking unit and the standard force threshold is 100N. The difference between the force on the tilting braking unit and the standard force threshold is: -100N, substituting the difference between the force on the vertical braking unit and the standard force threshold and the difference between the force on the tilting braking unit and the standard force threshold into the adjustment formula, we get the following distribution combination: vertical braking unit force: 450N, tilting braking unit force: 350N; distribution combination two: vertical braking unit force: 420N, tilting braking unit force: 380N; distribution combination three: vertical braking unit force: 400N, tilting braking unit force: 400N. Distribution combination one, distribution combination two, and distribution combination three are considered as multiple distribution combinations.

[0136] Specifically, obtaining the falling direction of the target fall arrester includes:

[0137] A spatial rectangular coordinate system is constructed based on the triaxial accelerometer, wherein the spatial rectangular coordinate system includes: a horizontal axis, a vertical axis, and a vertical axis;

[0138] The horizontal axis acceleration, vertical axis acceleration, and vertical axis acceleration are obtained based on the acceleration data. The vertical axis acceleration is compared with the preset gravitational acceleration, and it is determined whether the horizontal axis acceleration and vertical axis acceleration are both within the preset vertical fall range.

[0139] If the vertical axis acceleration is greater than or equal to the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not within the preset vertical fall range, then the fall direction of the target fall arrestor is confirmed as a vertical fall.

[0140] If the vertical axis acceleration is greater than or equal to the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not both within the preset vertical fall range, then the fall direction of the target fall arrestor will be determined as an oblique fall.

[0141] If the vertical axis acceleration is less than the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not within the preset vertical fall range, then the fall direction of the target fall arrestor will be determined as an oblique fall.

[0142] If the vertical axis acceleration is less than the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not both within the preset vertical fall range, then the fall direction of the target fall arrestor will be determined as an oblique fall.

[0143] It should be explained that constructing a spatial rectangular coordinate system based on the triaxial accelerometer means constructing a spatial rectangular coordinate system with the target fall arrester as the origin. A triaxial accelerometer is a sensor capable of measuring acceleration along three orthogonal directions (X, Y, and Z axes). Obtaining the horizontal, vertical, and longitudinal accelerations based on the acceleration data means reading real-time acceleration data from the triaxial accelerometer. The acceleration data at each time point contains three components: horizontal, vertical, and longitudinal acceleration. Gravitational acceleration refers to the acceleration of an object near the Earth's surface due to gravity, with a standard value of approximately 9.81 m / s². The vertical fall range refers to a pre-defined range used to determine whether the horizontal and longitudinal accelerations are within the vertical fall range.

[0144] In detail, the calculation of the combined wear value of the vertical braking unit and the tilting braking unit based on the allocation combination includes:

[0145] Based on the allocation combination, obtain the vertical and inclined forces, and determine the material friction coefficient and material wear coefficient;

[0146] The friction force of the vertical braking unit is calculated based on the material friction coefficient and the vertical force, and the relative sliding distance is obtained. The vertical wear of the vertical braking unit is then calculated based on the relative sliding distance, friction force, and material wear coefficient.

[0147] The tilt wear is obtained based on the material friction coefficient, tilt braking unit and tilt force. The comprehensive wear value is obtained based on the vertical wear and tilt wear, where the comprehensive wear value is the sum of the vertical wear and tilt wear.

[0148] It should be explained that the formula for calculating the friction force in the step of calculating the friction force of the vertical braking unit based on the material friction coefficient, vertical force, and other factors is as follows:

[0149]

[0150] in, Represents friction. Indicates the coefficient of friction of the material. This indicates vertical force. The formula for calculating the vertical wear of the vertical braking unit based on the relative sliding distance, friction force, and material wear coefficient is as follows:

[0151]

[0152] in, Indicates the amount of vertical wear. Indicates the material wear coefficient. This indicates the relative sliding distance.

[0153] It should be explained that vertical force refers to the force exerted by the vertical braking unit during locking. Tilt force refers to the force exerted by the tilting braking unit during locking. The coefficient of friction is the coefficient of friction between the material of the vertical braking unit and the target fall arrester. A higher coefficient of friction results in greater friction and more severe wear. Relative sliding distance refers to the distance the braking unit slides relative to the target fall arrester during locking. Tilt wear refers to the amount of wear caused by friction in the tilting braking unit during locking. Vertical wear refers to the amount of wear caused by friction in the vertical braking unit during locking.

[0154] S7. Summarize the locking fall arresters to obtain a set of locking fall arresters. Based on the set of locking fall arresters, complete the fall arrester safety control based on collision self-checking and multi-directional locking.

[0155] It should be explained that the set of locking fall arresters refers to the collection of all locking fall arresters.

[0156] To address the problems described in the background art, this invention identifies the working environment of the fall arrester, obtains an initial set of fall arresters, and then filters this initial set based on the working environment to obtain a target set of fall arresters. By identifying the working environment, this invention can select fall arresters suitable for that environment, ensuring that the performance of the fall arresters matches the actual working conditions, thereby improving the safety and reliability of the fall arresters. Target fall arresters are sequentially extracted from the target set, and the following operations are performed on each extracted target fall arrester: This invention checks each target fall arrester one by one to ensure that each fall arrester undergoes a rigorous safety inspection, avoiding omissions and improving overall safety; it receives a collision self-check command and performs the operation according to the collision self-check command and a preset simulated detection time. This invention performs collision simulation testing on the target fall arrester to obtain collision simulation data, including acceleration data and acoustic emission data. Through collision simulation testing, this invention can detect potential problems with the fall arrester in actual collisions, providing data support for subsequent safety control. Dynamic thresholds for acceleration are obtained based on the acceleration data, and dynamic thresholds for acoustic emission are obtained based on the acoustic emission data. These dynamic thresholds are obtained simultaneously. The acquisition of these dynamic thresholds reflects the real-time status of the fall arrester during actual operation, improving the timeliness of safety control. Simultaneously acquiring the dynamic thresholds for both acceleration and acoustic emission allows for a more comprehensive assessment of the fall arrester's collision state, improving safety judgment. For accuracy, this invention compares a dynamic acceleration threshold with a preset standard acceleration threshold. By comparing with the preset standard threshold, it can quickly determine whether the fall arrestor is in a safe state. If the dynamic acceleration threshold is greater than the preset standard acceleration threshold, the dynamic acceleration threshold is taken as the over-limit acceleration threshold. The invention also compares a dynamic acoustic emission threshold with a preset standard acoustic emission threshold. In cases of over-limit acceleration, this invention further compares the acoustic emission thresholds, increasing the reliability of the judgment and avoiding misjudgments. If the dynamic acoustic emission threshold is greater than the preset standard acoustic emission threshold, the dynamic acoustic emission threshold is taken as the over-limit acoustic emission threshold. Based on the over-limit acceleration threshold and the over-limit acoustic emission threshold, a collision alarm signal is issued. This invention confirms acceleration and acoustic emission... When both limits are exceeded, a collision alarm signal is issued, which can promptly remind operators to take emergency measures to prevent the accident from escalating further. Issuing alarm signals based on two over-limit thresholds improves the accuracy and reliability of the alarm. The collision alarm signals are graded to obtain collision intensity data. Locking commands are received, and locking operations are performed on the target fall arrester according to the collision intensity data and locking commands, resulting in a locked fall arrester. This invention grades collision alarm signals and can take corresponding locking measures according to different collision intensities, improving the flexibility and adaptability of safety control. Receiving locking commands and automatically executing locking operations improves the system's automation level, reduces human intervention, and improves safety. The locked fall arresters are then aggregated to obtain a locked fall arrester set.This invention, based on a locking fall arrestor system, achieves safety control of the fall arrestor through collision self-checking and multi-directional locking, forming a complete closed-loop control system that improves the system's safety and reliability. Therefore, this invention can enhance the safety and reliability of fall arrestors, providing more comprehensive protection for personnel and equipment working at heights.

[0157] like Figure 2 The diagram shown is a functional block diagram of a fall arrestor safety control system based on collision self-inspection and multi-directional locking provided in an embodiment of the present invention.

[0158] The collision self-detection and multi-directional locking-based fall arrestor safety control system 100 of this invention can be installed in an electronic device. Depending on the functions implemented, the collision self-detection and multi-directional locking-based fall arrestor safety control system 100 may include a fall arrestor screening module 101, a collision simulation detection module 102, a collision alarm grading module 103, and a locking safety control module 104. The module described in this invention can also be called a unit, referring to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, stored in the memory of the electronic device.

[0159] The fall arrestor screening module 101 is used to identify the working environment of the fall arrestor, obtain an initial set of fall arrestors, and screen the initial set of fall arrestors according to the working environment of the fall arrestor to obtain a target set of fall arrestors.

[0160] The collision simulation detection module 102 is used to sequentially extract target fall arresters from the target fall arrester set, and perform the following operations on each extracted target fall arrester: receive a collision self-test command, perform collision simulation detection on the target fall arrester according to the collision self-test command and the preset simulation detection time, and obtain collision simulation data, wherein the collision simulation data includes: acceleration data and acoustic emission data;

[0161] The collision alarm grading module 103 is used to obtain an acceleration dynamic threshold based on acceleration data and an acoustic emission dynamic threshold based on acoustic emission data. The acceleration dynamic threshold and the acoustic emission dynamic threshold are obtained at the same time. The acceleration dynamic threshold is compared with a preset standard acceleration threshold. If the acceleration dynamic threshold is greater than the preset standard acceleration threshold, the acceleration dynamic threshold is taken as an over-limit acceleration threshold. The acoustic emission dynamic threshold is compared with a preset standard acoustic emission threshold. If the acoustic emission dynamic threshold is greater than the preset standard acoustic emission threshold, the acoustic emission dynamic threshold is taken as an over-limit acoustic emission threshold. A collision alarm signal is issued based on the over-limit acceleration threshold and the over-limit acoustic emission threshold. The collision alarm signal is graded to obtain collision intensity data.

[0162] The locking safety control module 104 is used to receive locking commands, perform locking operations on the target fall arrester according to the collision intensity data and the locking commands, obtain the locked fall arresters, summarize the locked fall arresters to obtain a set of locked fall arresters, and complete the fall arrester safety control based on collision self-checking and multi-directional locking based on the set of locked fall arresters.

[0163] In detail, the modules in the collision self-detection and multi-directional locking-based fall arrestor safety control system 100 described in this embodiment of the invention employ the same methods as described above during use. Figure 1 The method used is the same as the collision self-checking and multi-directional locking safety control method for fall arresters described in the article, and can produce the same technical effect, so it will not be repeated here.

[0164] like Figure 3 The diagram shown is a structural schematic of an electronic device that implements a safety control method for a fall arrester based on collision self-detection and multi-directional locking, according to an embodiment of the present invention.

[0165] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a safety control method program for a fall arrester based on collision self-testing and multi-directional locking.

[0166] The memory 11 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as the portable hard drive of the electronic device 1. In other embodiments, the memory 11 can be an external storage device of the electronic device 1, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 1. Furthermore, the memory 11 includes both internal storage units and external storage devices of the electronic device 1. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 1, such as the code of a fall arrester safety control method program based on collision self-checking and multi-directional locking, but also to temporarily store data that has been output or will be output.

[0167] In some embodiments, the processor 10 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., a safety control method program for a fall arrester based on collision self-detection and multi-directional locking), and calls data stored in the memory 11 to perform various functions of the electronic device 1 and process data.

[0168] The bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize the connection and communication between the memory 11 and at least one processor 10, etc.

[0169] Figure 3 Only electronic devices with components are shown; it will be understood by those skilled in the art that... Figure 3 The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0170] For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) to power the various components. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0171] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, a Bluetooth interface, etc.), which is typically used to establish communication connections between the electronic device 1 and other electronic devices.

[0172] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), and optionally, a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device 1 and to display a visual user interface.

[0173] The safety control method program for fall arresters based on collision self-detection and multi-directional locking, stored in the memory 11 of the electronic device 1, is a combination of multiple instructions. When run in the processor 10, it can achieve the following:

[0174] Identify the working environment of the fall arresters, obtain an initial set of fall arresters, and filter the initial set of fall arresters according to the working environment to obtain the target set of fall arresters.

[0175] Extract the target fall arresters sequentially from the target fall arrester set, and perform the following operations on each extracted target fall arrester:

[0176] Upon receiving a collision self-test command, the system performs a collision simulation test on the target fall arrester according to the collision self-test command and the preset simulation test time, and obtains collision simulation data, which includes: acceleration data and acoustic emission data.

[0177] Acceleration dynamic thresholds are obtained based on acceleration data, and acoustic emission dynamic thresholds are obtained based on acoustic emission data. The acceleration dynamic thresholds and acoustic emission dynamic thresholds are obtained at the same time.

[0178] Compare the dynamic acceleration threshold with the preset standard acceleration threshold;

[0179] If the dynamic acceleration threshold is greater than the preset standard acceleration threshold, then the dynamic acceleration threshold is used as the over-limit acceleration threshold, and the acoustic emission dynamic threshold is compared with the preset standard acoustic emission threshold.

[0180] If the acoustic emission dynamic threshold is greater than the preset standard acoustic emission threshold, the acoustic emission dynamic threshold is used as the over-limit acoustic emission threshold, and a collision alarm signal is issued based on the over-limit acceleration threshold and the over-limit acoustic emission threshold.

[0181] The collision alarm signal is classified to obtain collision intensity data, a locking command is received, and a locking operation is performed on the target fall arrester according to the collision intensity data and the locking command to obtain the locked fall arrester.

[0182] By summarizing the locking fall arresters, a set of locking fall arresters is obtained. Based on the set of locking fall arresters, a fall arrester safety control based on collision self-checking and multi-directional locking is completed.

[0183] Specifically, the processor 10's implementation method for the above instructions can be found in [reference needed]. Figures 1 to 3 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.

[0184] Furthermore, if the modules / units integrated in the electronic device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0185] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor of an electronic device, can perform the following:

[0186] Identify the working environment of the fall arresters, obtain an initial set of fall arresters, and filter the initial set of fall arresters according to the working environment to obtain the target set of fall arresters.

[0187] Extract the target fall arresters sequentially from the target fall arrester set, and perform the following operations on each extracted target fall arrester:

[0188] Upon receiving a collision self-test command, the system performs a collision simulation test on the target fall arrester according to the collision self-test command and the preset simulation test time, and obtains collision simulation data, which includes: acceleration data and acoustic emission data.

[0189] Acceleration dynamic thresholds are obtained based on acceleration data, and acoustic emission dynamic thresholds are obtained based on acoustic emission data. The acceleration dynamic thresholds and acoustic emission dynamic thresholds are obtained at the same time.

[0190] Compare the dynamic acceleration threshold with the preset standard acceleration threshold;

[0191] If the dynamic acceleration threshold is greater than the preset standard acceleration threshold, then the dynamic acceleration threshold is used as the over-limit acceleration threshold, and the acoustic emission dynamic threshold is compared with the preset standard acoustic emission threshold.

[0192] If the acoustic emission dynamic threshold is greater than the preset standard acoustic emission threshold, the acoustic emission dynamic threshold is used as the over-limit acoustic emission threshold, and a collision alarm signal is issued based on the over-limit acceleration threshold and the over-limit acoustic emission threshold.

[0193] The collision alarm signal is classified to obtain collision intensity data, a locking command is received, and a locking operation is performed on the target fall arrester according to the collision intensity data and the locking command to obtain the locked fall arrester.

[0194] By summarizing the locking fall arresters, a set of locking fall arresters is obtained. Based on the set of locking fall arresters, a fall arrester safety control based on collision self-checking and multi-directional locking is completed.

[0195] In the embodiments provided by this invention, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative, and actual implementations may have other classification methods.

[0196] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0197] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0198] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0199] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A safety control method for fall arresters based on collision self-detection and multi-directional locking, characterized in that, The method includes: Identify the working environment of the fall arresters, obtain an initial set of fall arresters, and filter the initial set of fall arresters according to the working environment to obtain the target set of fall arresters. Extract the target fall arresters sequentially from the target fall arrester set, and perform the following operations on each extracted target fall arrester: Upon receiving a collision self-test command, the system performs a collision simulation test on the target fall arrester according to the collision self-test command and the preset simulation test time, and obtains collision simulation data, which includes: acceleration data and acoustic emission data. Acceleration dynamic thresholds are obtained based on acceleration data, and acoustic emission dynamic thresholds are obtained based on acoustic emission data. The acceleration dynamic thresholds and acoustic emission dynamic thresholds are obtained at the same time. The step of obtaining the dynamic acceleration threshold based on acceleration data includes: Obtain the current detection time, and based on the current detection time, obtain the previous detection time point set from the simulated detection time, and calculate the previous mean and previous standard deviation of the previous detection time point set; Obtain the preceding sensitivity coefficient, calculate the preceding dynamic threshold based on the preceding sensitivity coefficient, preceding mean and preceding standard deviation, and obtain the subsequent detection time point set from the simulated detection time based on the current detection time. Both the preceding and subsequent detection time point sets include 5 detection time points. Calculate the subsequent mean and subsequent standard deviation of the subsequent detection time point set to obtain the subsequent sensitivity coefficient. Calculate the subsequent dynamic threshold based on the subsequent sensitivity coefficient, subsequent mean and subsequent standard deviation. Update the preceding dynamic threshold using the subsequent dynamic threshold to obtain the updated dynamic threshold. Obtain the subsequent endpoint based on the subsequent detection time point set, use the subsequent endpoint as the current detection time, use the updated dynamic threshold as the subsequent dynamic threshold, return to the step of obtaining the subsequent detection time point set from the simulated detection time based on the current detection time, until all simulated detection times have been extracted, and obtain the acceleration dynamic threshold. The acquisition of the preceding sensitivity coefficient includes: Set the initial sensitivity coefficient, obtain the total number of detections based on the previous detection time point set, and obtain the number of false alarms and the number of missed detections based on the false alarm counter and the missed detection counter. The false alarm adjustment factor is calculated based on the preset false alarm adjustment coefficient, the total number of detections, and the number of false alarms. The missed detection adjustment factor is calculated based on the preset missed detection adjustment coefficient, the total number of detections, and the number of missed detections. The updated sensitivity coefficient is obtained based on the false alarm adjustment factor, the missed detection adjustment factor and the initial sensitivity coefficient, and the updated sensitivity coefficient is used as the preceding sensitivity coefficient. Compare the dynamic acceleration threshold with the preset standard acceleration threshold; If the dynamic acceleration threshold is greater than the preset standard acceleration threshold, then the dynamic acceleration threshold is used as the over-limit acceleration threshold, and the acoustic emission dynamic threshold is compared with the preset standard acoustic emission threshold. If the acoustic emission dynamic threshold is greater than the preset standard acoustic emission threshold, then the acoustic emission dynamic threshold is used as the over-limit acoustic emission threshold, and a collision alarm signal is issued based on the over-limit acceleration threshold and the over-limit acoustic emission threshold. The collision alarm signal is classified to obtain collision intensity data, a locking command is received, and a locking operation is performed on the target fall arrester according to the collision intensity data and the locking command to obtain the locked fall arrester. By summarizing the locking fall arresters, a set of locking fall arresters is obtained. Based on the set of locking fall arresters, a fall arrester safety control based on collision self-checking and multi-directional locking is completed.

2. The fall arrestor safety control method based on collision self-detection and multi-directional locking as described in claim 1, characterized in that, The initial fall arrestor set includes: multiple initial fall arrestors, each equipped with a rope, and each initial fall arrestor is of the same type. Each initial fall arrestor includes: a false alarm counter, a vertical braking unit, a tilt braking unit, a missed detection counter, a triaxial accelerometer, and four acoustic emission sensors. The four acoustic emission sensors are evenly distributed on a circumference with the central axis of the initial fall arrestor as the center, the included angle between the acoustic emission sensors is 90 degrees, and all are mounted on the metal structure surface of the initial fall arrestor.

3. The fall arrestor safety control method based on collision self-detection and multi-directional locking as described in claim 2, characterized in that, The collision simulation test of the target fall arrester is performed according to the collision self-test command and the preset simulation test time to obtain collision simulation data, including: The collision simulation test is performed on the target fall arrester based on the collision self-test command, the three-axis accelerometer, the four acoustic emission sensors and the preset simulation test time to obtain initial acceleration data and initial acoustic emission data. The initial acceleration data includes multiple initial acceleration values ​​and the initial acoustic emission data includes multiple initial acoustic emission values. A filtering operation is performed on each initial acceleration value in the initial acceleration data to obtain filtered acceleration data, which includes multiple filtered acceleration values. Obtain the maximum and minimum filtered acceleration values ​​from the filtered acceleration data. Based on the maximum and minimum filtered acceleration values, normalize each filtered acceleration value in the filtered acceleration data to obtain normalized acceleration data. Normalized acceleration data is used as acceleration data, and acoustic emission data is obtained based on initial acoustic emission data. Acceleration data and acoustic emission data are then used as collision simulation data.

4. The fall arrestor safety control method based on collision self-detection and multi-directional locking as described in claim 3, characterized in that, The process of classifying collision alarm signals to obtain collision intensity data includes: Determine whether the collision alarm signal is within the preset first-level collision alarm signal range; If the collision alarm signal is within the preset first-level collision alarm signal range, the pre-built audible and visual alarm unit is activated. The activated audible and visual alarm unit monitors the over-limit acceleration threshold and over-limit acoustic emission threshold in real time to obtain the changing acceleration threshold and changing acoustic emission threshold. The time of activating the audible and visual alarm unit is taken as the alarm time starting point. Obtain the upper limit of the first-level collision alarm signal range, and compare the upper limit of the first-level range with the changing acceleration threshold and the upper limit of the first-level range with the changing acoustic emission threshold. If the variable acceleration threshold is greater than the upper limit of the first-level interval, or the variable acoustic emission threshold is greater than the upper limit of the first-level interval, or the variable acceleration threshold is greater than the upper limit of the first-level interval and the variable acoustic emission threshold is less than or equal to the upper limit of the first-level interval, then the collision alarm signal is confirmed as the second-level collision intensity data. If the change acceleration threshold is less than or equal to the upper limit of the first-level interval or the change acoustic emission threshold is less than or equal to the upper limit of the first-level interval, then obtain the alarm time end point of the change acceleration threshold or the change acoustic emission threshold, obtain the alarm duration based on the alarm time start point and the alarm time end point, and compare the alarm duration with the preset alarm threshold. If the alarm duration is less than or equal to the preset alarm threshold, the audible and visual alarm unit is turned off, and false alarm intensity data is obtained. If the alarm duration exceeds the preset alarm threshold, the collision alarm signal will be used as first-level collision intensity data. Use Level 1 collision intensity data, false alarm intensity data, or Level 2 collision intensity data as the collision intensity data.

5. The fall arrestor safety control method based on collision self-detection and multi-directional locking as described in claim 4, characterized in that, The step of performing a locking operation on the target fall arrester based on collision intensity data and locking commands to obtain a locked fall arrester includes: Obtain the falling direction of the target fall arrestor, including: vertical fall and oblique fall; If the collision intensity data is level one collision intensity data and the falling direction is vertical, then the vertical braking unit is used to perform a vertical locking operation on the target fall arrestor to obtain the first fall arrestor. If the collision intensity data is level one collision intensity data and the falling direction is oblique, then the tilt braking unit is used to perform an oblique direction locking operation on the target fall arrestor to obtain a second fall arrestor. If the collision intensity data is level two collision intensity data and the falling direction is oblique falling, or if the collision intensity data is level two collision intensity data and the falling direction is vertical falling, then the vertical braking unit and the tilt braking unit are used to perform an all-directional locking operation on the target fall arrestor to obtain a third fall arrestor. Based on the force of the vertical braking unit and the force of the tilting braking unit obtained by the third fall arrester, if the force of the vertical braking unit or the force of the tilting braking unit is not less than the preset standard force threshold, the pre-constructed PID dynamic allocation algorithm is used to allocate the force of the vertical braking unit and the tilting braking unit respectively to obtain multiple allocation combinations. The allocation combination is extracted sequentially from multiple allocation combinations, and the comprehensive wear value of the vertical braking unit and the tilting braking unit is calculated based on the allocation combination. The comprehensive wear value is summarized to obtain multiple comprehensive wear values. Based on the multiple comprehensive wear values, the optimal wear value is obtained, and the allocation combination corresponding to the optimal wear value is confirmed as the optimal allocation combination. The vertical braking unit and the tilting braking unit are re-forced according to the optimal allocation combination to obtain the fourth fall arrestor. The first, second, third, or fourth fall arrestor is used as a locking fall arrestor.

6. The fall arrestor safety control method based on collision self-detection and multi-directional locking as described in claim 5, characterized in that, The process of obtaining the fall direction of the target fall arrester includes: A spatial rectangular coordinate system is constructed based on the triaxial accelerometer, wherein the spatial rectangular coordinate system includes: a horizontal axis, a vertical axis, and a vertical axis; The horizontal axis acceleration, vertical axis acceleration, and vertical axis acceleration are obtained based on the acceleration data. The vertical axis acceleration is compared with the preset gravitational acceleration, and it is determined whether the horizontal axis acceleration and vertical axis acceleration are both within the preset vertical fall range. If the vertical axis acceleration is greater than or equal to the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not within the preset vertical fall range, then the fall direction of the target fall arrestor is confirmed as a vertical fall. If the vertical axis acceleration is greater than or equal to the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not both within the preset vertical fall range, then the fall direction of the target fall arrestor will be determined as an oblique fall. If the vertical axis acceleration is less than the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not within the preset vertical fall range, then the fall direction of the target fall arrestor will be determined as an oblique fall. If the vertical axis acceleration is less than the preset gravitational acceleration, and the horizontal axis acceleration and vertical axis acceleration are not both within the preset vertical fall range, then the fall direction of the target fall arrestor will be determined as an oblique fall.

7. The fall arrestor safety control method based on collision self-detection and multi-directional locking as described in claim 6, characterized in that, The calculation of the combined wear value of the vertical braking unit and the tilting braking unit based on the allocation combination includes: Based on the allocation combination, obtain the vertical and inclined forces, and determine the material friction coefficient and material wear coefficient; The friction force of the vertical braking unit is calculated based on the material friction coefficient and the vertical force, and the relative sliding distance is obtained. The vertical wear of the vertical braking unit is then calculated based on the relative sliding distance, friction force, and material wear coefficient. The tilt wear is obtained based on the material friction coefficient, tilt braking unit and tilt force. The comprehensive wear value is obtained based on the vertical wear and tilt wear, where the comprehensive wear value is the sum of the vertical wear and tilt wear.

8. A safety control system for a fall arrester based on collision self-detection and multi-directional locking, characterized in that, The system includes: The fall arrestor screening module is used to identify the working environment of the fall arrestor, obtain an initial set of fall arrestors, and screen the initial set of fall arrestors according to the working environment to obtain a target set of fall arrestors. The collision simulation detection module is used to sequentially extract target fall arresters from the target fall arrester set, and perform the following operations on each extracted target fall arrester: receive a collision self-test command, perform collision simulation detection on the target fall arrester according to the collision self-test command and the preset simulation detection time, and obtain collision simulation data, wherein the collision simulation data includes: acceleration data and acoustic emission data; The collision alarm grading module is used to obtain dynamic acceleration thresholds based on acceleration data and dynamic acoustic emission thresholds based on acoustic emission data. The dynamic acceleration thresholds and dynamic acoustic emission thresholds are obtained simultaneously. The dynamic acceleration thresholds are compared with preset standard acceleration thresholds. If the dynamic acceleration thresholds are greater than the preset standard acceleration thresholds, the dynamic acceleration thresholds are taken as over-limit acceleration thresholds. The dynamic acoustic emission thresholds are also compared with preset standard acoustic emission thresholds. If the dynamic acoustic emission thresholds are greater than the preset standard acoustic emission thresholds, the dynamic acoustic emission thresholds are taken as over-limit acoustic emission thresholds. A collision alarm signal is issued based on the over-limit acceleration thresholds and over-limit acoustic emission thresholds. The collision alarm signals are graded to obtain collision intensity data. The locking safety control module is used to receive locking commands, perform locking operations on the target fall arrester according to the collision intensity data and locking commands, obtain the locked fall arresters, summarize the locked fall arresters to obtain a set of locked fall arresters, and complete the fall arrester safety control based on collision self-checking and multi-directional locking based on the set of locked fall arresters. The step of obtaining the dynamic acceleration threshold based on acceleration data includes: Obtain the current detection time, and based on the current detection time, obtain the previous detection time point set from the simulated detection time, and calculate the previous mean and previous standard deviation of the previous detection time point set; Obtain the preceding sensitivity coefficient, calculate the preceding dynamic threshold based on the preceding sensitivity coefficient, preceding mean and preceding standard deviation, and obtain the subsequent detection time point set from the simulated detection time based on the current detection time. Both the preceding and subsequent detection time point sets include 5 detection time points. Calculate the subsequent mean and subsequent standard deviation of the subsequent detection time point set to obtain the subsequent sensitivity coefficient. Calculate the subsequent dynamic threshold based on the subsequent sensitivity coefficient, subsequent mean and subsequent standard deviation. Update the preceding dynamic threshold using the subsequent dynamic threshold to obtain the updated dynamic threshold. Obtain the subsequent endpoint based on the subsequent detection time point set, use the subsequent endpoint as the current detection time, use the updated dynamic threshold as the subsequent dynamic threshold, return to the step of obtaining the subsequent detection time point set from the simulated detection time based on the current detection time, until all simulated detection times have been extracted, and obtain the acceleration dynamic threshold. The acquisition of the preceding sensitivity coefficient includes: Set the initial sensitivity coefficient, obtain the total number of detections based on the previous detection time point set, and obtain the number of false alarms and the number of missed detections based on the false alarm counter and the missed detection counter. The false alarm adjustment factor is calculated based on the preset false alarm adjustment coefficient, the total number of detections, and the number of false alarms. The missed detection adjustment factor is calculated based on the preset missed detection adjustment coefficient, the total number of detections, and the number of missed detections. The updated sensitivity coefficient is obtained based on the false alarm adjustment factor, the missed detection adjustment factor, and the initial sensitivity coefficient, and is used as the preceding sensitivity coefficient.

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