A seat belt empty hanging identification system and a seat belt based on hook identification

Abstract

The application provides a seat belt empty hanging identification system based on hook identification and a seat belt. The system comprises a plurality of hook sensing devices, a plurality of hook sensing devices are arranged on the safety hooks of the seat belt respectively, each hook sensing device is provided with a first acceleration sensor and a Bluetooth sending module; the empty hanging sensing device is provided with a second acceleration sensor, a Bluetooth receiving module, an analysis and judgment module, a three-dimensional modeling module and a threshold comparison module; wherein the Bluetooth receiving module is used for accepting the Bluetooth signal from each Bluetooth sending module; to generate coordinate information with distance value; the empty hanging analysis is used for comparing the real-time distance of each hook sensing device with the empty hanging distance threshold, to judge whether the safety hook is in the empty hanging state; when the real-time distance is less than the empty hanging distance threshold, it is determined that the safety hook is in the empty hanging state, and an alarm signal is generated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of construction safety identification, in particular to a safety belt empty hook identification system and safety belt based on hook identification. BACKGROUND

[0002] With the increasing requirements for the safety of operating personnel in high-altitude operation, power transmission line inspection, offshore wind power maintenance and other industries, safety belts and hooks have become key protective equipment to protect the safety of personnel. However, the traditional safety management relies on manual inspection and inspection records, and there are many blind spots, high misjudgment rate, and response lag; especially in complex environments and multi-person collaborative operation scenarios, whether the hook is truly and reliably in place, whether empty hanging or falling off, it is difficult to be discovered and handled in time, leading to potential falling risks and serious safety accident hazards. Therefore, there is an urgent need for a technical means that can realize real-time and accurate perception and judgment of the state of the safety belt hook to improve the efficiency of on-site management and control and reduce the accident rate.

[0003] In related technologies, there are several monitoring schemes based on a single sensor or a single means, such as using an acceleration sensor to detect vibration and displacement, using wireless signal strength (RSSI) for rough distance estimation, or using video / image recognition for visual monitoring; there are also positioning technologies such as UWB and BLE AoA to improve ranging and azimuth accuracy, and passive anti-falling designs through mechanical locking structures. However, these technologies each have limitations: acceleration data is difficult to distinguish between empty hanging and normal swinging, RSSI has large errors in multipath / shading environments, visual methods are significantly affected by line of sight and lighting, and a single means cannot balance accuracy, real-time performance and applicability. SUMMARY

[0004] Therefore, it is necessary to provide a safety belt empty hook identification system and safety belt based on hook identification, which can overcome at least one of the above defects.

[0005] In a first aspect, the embodiments of the present application provide a safety belt empty hook identification system based on hook identification, applied to an empty hanging sensing device, the empty hanging sensing device is arranged on the main body of the safety belt, and the system comprises:

[0006] A plurality of hook sensing devices, a plurality of hook sensing devices are arranged on the safety hooks of the safety belt, and each hook sensing device is provided with a first acceleration sensor and a Bluetooth sending module;

[0007] The empty hanging sensing device is provided with a second acceleration sensor, a Bluetooth receiving module, an analysis and judgment module, a three-dimensional modeling module and a threshold comparison module;

[0008] The Bluetooth receiving module is configured to receive Bluetooth signals from each Bluetooth sending module.

[0009] The analysis and judgment module is configured to analyze real-time distance and spatial orientation information between each hook sensing device and the empty hook sensing device according to the Bluetooth signals, to generate coordinate information with distance values.

[0010] The three-dimensional modeling module is configured to construct a three-dimensional model reflecting spatial distribution states of each hook sensing device and the empty hook sensing device based on the coordinate information.

[0011] The threshold comparison module is configured to compare real-time distances of each hook sensing device with an empty hook distance threshold according to the three-dimensional model, to determine whether the safety hook is in an empty hook state; when the real-time distance is less than the empty hook distance threshold, it is determined that the safety hook is in an empty hook state, and an alarm signal is generated.

[0012] In an embodiment of the present application, the threshold comparison module is further configured to:

[0013] determine spatial vector direction differences between each hook sensing device and the empty hook sensing device according to the spatial distribution states;

[0014] when the spatial vector direction differences between each hook sensing device and the empty hook sensing device are greater than a preset orientation threshold, it is determined to be an effective hooking;

[0015] when the direction difference is less than the preset orientation threshold, it is determined to be an empty hook.

[0016] In an embodiment of the present application, the analysis and judgment module further includes a vibration judgment analysis unit.

[0017] The vibration judgment analysis unit is configured to receive work personnel movement information collected by the second acceleration sensor, and hook movement information collected by the first acceleration sensor of each hook sensing device.

[0018] The vibration judgment analysis unit is further configured to obtain relative movement states of work personnel and hooks by comparing the work personnel movement information and the hook movement information.

[0019] In an embodiment of the present application, the analysis and judgment module is further configured to:

[0020] when the vibration judgment analysis unit determines that the hook sensing device is not moving and the work personnel is moving, the hooking state of the safety hook is determined:

[0021] if the real-time distance is less than the empty hanging distance threshold value and the space vector direction difference is less than a preset orientation threshold value, determining that the safety hook is in an empty hanging state;

[0022] if the real-time distance is greater than the empty hanging distance threshold value and the space vector direction difference is less than a preset orientation threshold value, determining that the safety hook is in an effective hooking state.

[0023] In an embodiment of the present application, the threshold comparison module is further configured to:

[0024] When the vibration judgment and analysis unit determines that the operator and the hook sensing device are both in a moving state, the hooking state of the safety hook is determined:

[0025] if the real-time distance is less than the empty hanging distance threshold value and the space vector direction difference is less than a preset orientation threshold value, determining that the safety hook is in an empty hanging state;

[0026] if the real-time distance is greater than the empty hanging distance threshold value and the space vector direction difference is greater than a preset orientation threshold value, determining that the safety hook is in an effective hooking state.

[0027] In an embodiment of the present application, the empty hanging sensing device further comprises an image processing module.

[0028] The image processing module is configured to convert the three-dimensional model generated by the three-dimensional modeling module into at least one two-dimensional plan view, and send the two-dimensional plan view to a mobile terminal.

[0029] In an embodiment of the present application, the analysis and judgment module is further configured to:

[0030] When the positions of the hook sensing devices are below the position of the empty hanging sensing device, and the distance values between the hook sensing devices and the empty hanging sensing device are greater than the empty hanging distance threshold value, the hooking state of the safety hook is determined:

[0031] When the frequency of the vibration signal collected by the second acceleration sensor is higher than a preset threshold value, and the vibration signals collected by each first acceleration sensor are all higher than a preset threshold value, it is determined that the ground is in an empty hanging state.

[0032] In an embodiment of the present application, the analysis and judgment module is further configured to:

[0033] When the positions of the hook sensing devices are below the position of the empty hanging sensing device, and the distance values between the hook sensing devices and the empty hanging sensing device are greater than the empty hanging distance threshold value, the hooking state of the safety hook is determined:

[0034] When the frequency of the vibration signal collected by the second accelerometer is lower than the preset threshold, and the frequency of the vibration signal collected by each of the first accelerometers is higher than the preset threshold, it is determined to be a high-altitude operation with no load.

[0035] In one embodiment of this application, the system further includes a locking control module, and each of the safety hooks is provided with a locking device.

[0036] Secondly, embodiments of this application provide a seat belt, the seat belt comprising:

[0037] Seat belt body;

[0038] Multiple hook sensing devices are respectively installed on the safety hooks of the seat belt;

[0039] An unattached sensor is provided on the seat belt body and is equipped with a seat belt unattached identification system based on hook identification as described in the first aspect.

[0040] Each of the hook sensing devices is also equipped with an RFID electronic tag, and the system in the empty hanging sensing device also includes an RFID electronic tag identification module and an RFID signal analysis and judgment module;

[0041] The RFID electronic tag identification module identifies the RFID electronic tag, and the RFID signal analysis and judgment module determines the distance between the RFID electronic tag and the RFID electronic tag identification module based on the signal strength of the identified RFID electronic tag; and compares the distance value of the RFID electronic tag with the no-load distance threshold.

[0042] Each of the hook sensing devices is also equipped with a gravity sensor, which is used to sense and identify the downward gravity generated when the hook hooks an object, and transmit the gravity sensing information to the empty-hanging sensing device to confirm the non-empty-hanging state.

[0043] This application provides a seatbelt unattached identification system and seatbelt based on hook recognition. By integrating Bluetooth ranging, spatial orientation perception, and acceleration sensing technologies, an intelligent unattached identification and early warning system is constructed. The system can autonomously analyze the real-time distance and spatial vector relationship between each hook and the seatbelt body, and intuitively present the spatial distribution of the hooks based on 3D modeling technology. This achieves accurate judgment and visual monitoring of the unattached state, effectively overcoming the limitations of traditional manual inspection and shifting safety assurance from post-event remediation to pre-event prevention. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of a seatbelt empty-attachment recognition system based on hook recognition, provided in an embodiment of this application.

[0045] Figure 2 is a safety belt schematic diagram provided by an embodiment of the present application.

[0046] Figure 3 is a stretched hanging state image provided by an embodiment of the present application.

[0047] Figure 4 is a non-stretched gathering state image provided by an embodiment of the present application.

[0048] Figure 5 is a non-stretched hook gathering state image provided by an embodiment of the present application.

[0049] Figure 6 is a schematic diagram of an electronic device provided by an embodiment of the present application.

[0050] Main element symbol explanation

[0051] Safety belt empty hanging identification system 100 based on hook identification

[0052] Empty hanging sensing device 1

[0053] First hook sensing device 2

[0054] Second hook sensing device 3

[0055] Third hook sensing device 4

[0056] Safety belt 200

[0057] Hook sensing device 20

[0058] First acceleration sensor 21

[0059] Bluetooth sending module 22

[0060] Second acceleration sensor 11

[0061] Bluetooth receiving module 12

[0062] Analysis and judgment module 13

[0063] Three-dimensional modeling module 14

[0064] Threshold comparison module 15

[0065] Electronic device 30

[0066] Processor 31

[0067] Memory 32 DETAILED DESCRIPTION

[0068] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application.

[0069] It should be noted that "at least one" in the embodiments of the present application means one or more, and more means two or more. Unless otherwise defined, all technical and scientific terms used in the present application have the same meanings as those commonly understood by those skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application.

[0070] It should be noted that in the embodiments of the present application, the terms "first", "second", etc. are only used for the purpose of distinguishing description, and cannot be understood as indicating or implying relative importance, nor can it be understood as indicating or implying sequence. The features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the terms "exemplary" or "for example" are used to mean an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the terms "exemplary" or "for example" are used in the specific manner to present the relevant concept.

[0071] Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0072] With the increasing demand for safety of workers in high-altitude operation, power line inspection, offshore wind power maintenance and other industries, safety belts and hooks have become key protective equipment to protect the safety of personnel. However, the traditional safety management relies on manual inspection and inspection records, and there are many blind spots, high misjudgment rate, and response lag; especially in complex environments and multi-person collaborative operation scenarios, whether the hook is truly and reliably in place, whether it is empty or falls off, it is difficult to be discovered and handled in time, leading to potential falling risks and serious safety accident hazards. Therefore, there is an urgent need for a technical means that can realize real-time and accurate perception and judgment of the state of the safety belt hook, to improve the efficiency of on-site management and control and reduce the accident rate.

[0073] In the related art, there are several monitoring schemes based on a single sensor or a single means, such as detecting vibration and displacement by using an acceleration sensor, performing rough distance estimation by using a wireless signal strength (RSSI), or performing visual monitoring by using video / image recognition; there are also positioning technologies such as UWB and BLE AoA to improve the ranging and azimuth accuracy, and passive anti-falling designs through mechanical locking structures. However, these technologies each have limitations: it is difficult to distinguish between empty hanging and normal swinging by using acceleration data, RSSI has large errors in multipath / shading environments, visual methods are significantly affected by line of sight and light, and a single means cannot balance accuracy, real-time performance, and applicability.

[0074] Therefore, the present application provides a safety belt empty hanging identification system based on hook identification and a safety belt. By fusing Bluetooth ranging, spatial orientation sensing, and acceleration sensing technology, an intelligent empty hanging identification and early warning system is constructed. The system can autonomously analyze the real-time distance and spatial vector relationship between each hook and the safety belt body, and intuitively present the spatial distribution state of the hook based on three-dimensional modeling technology, accurately judge and visually monitor the empty hanging state, and effectively overcome the limitations of traditional manual inspection, and move safety protection from post-repair to pre-prevention.

[0075] In addition, the system realizes intelligent sensing of the relative movement state of the worker and the hook by introducing acceleration sensor data. This innovation enables the system to distinguish between high-risk working conditions such as "worker moving and hook stationary", significantly improving the accuracy and reliability of empty hanging identification. Furthermore, the system also has active safety protection capability, and can automatically trigger the locking device of the effective hook when the empty hanging state is identified, providing another solid safety barrier for high-altitude workers.

[0076] The safety belt identification system and safety belt provided by the present application comprehensively use wireless communication, spatial modeling, multi-sensor data fusion, and remote monitoring technologies, and construct a multi-level and intelligent safety protection system, effectively solving the technical problem that the traditional method relies on manual work and cannot accurately identify empty hanging, and providing strong technical support for high-altitude work safety.

[0077] Figure 1 is a safety belt empty hanging identification system module schematic diagram provided by an embodiment of the present application, as Figure 1 shown is a safety belt empty hanging identification system 100 based on hook identification, applied to an empty hanging sensing device 1, the empty hanging sensing device 1 is arranged on a safety belt body of a safety belt 200, and at least includes the following parts:

[0078] In the implementation of the present application, a plurality of hook sensing devices 20 are respectively arranged on the safety hooks of the safety belt 200, and each hook sensing device 20 is provided with a first acceleration sensor 21 and a Bluetooth sending module 22.

[0079] In the implementation of the present application, the empty hook sensing device 1 is provided with a second acceleration sensor 11, a Bluetooth receiving module 12, an analysis and judgment module 13, a three-dimensional modeling module 14, and a threshold comparison module 15. The Bluetooth receiving module 12 is used to accept the Bluetooth signals from each Bluetooth sending module 22. The analysis and judgment module 13 is used to analyze the real-time distance and spatial orientation information between each hook sensing device 20 and the empty hook sensing device 1 according to the Bluetooth signals, so as to generate coordinate information with distance values. The three-dimensional modeling module 14 is used to construct a three-dimensional model reflecting the spatial distribution state of each hook sensing device 20 and the empty hook sensing device 1 based on the coordinate information. The threshold comparison module 15 is used to compare the real-time distance of each hook sensing device 20 with the empty hook distance threshold according to the three-dimensional model, so as to judge whether the safety hook is in the empty hook state; when the real-time distance is less than the empty hook distance threshold, it is determined that the safety hook is in the empty hook state, and an alarm signal is generated.

[0080] Specifically, when the system is working, the plurality of hook sensing devices 20 broadcast to the empty hook sensing device 1 at a preset period (for example, 100ms-2000ms) containing a unique identification code, acceleration samples collected by the first acceleration sensor 21, and wireless measurement information (which can be one or a combination of RSSI, AoA, ToF); the Bluetooth receiving module 12 receives the data packets sent by each hook sensing device 20 and timestamps and synchronizes the time sequence of the data packets. The analysis and judgment module 13 first pre-processes the wireless measurement values (including denoising, missing data compensation, and windowing processing), and calculates the original three-dimensional coordinates of each hook sensing device 20 relative to the empty hook sensing device 1 according to the selected positioning algorithm (for example, RSSI triangulation based on path loss model, AoA positioning based on angle, or ToF positioning based on time difference, or fusion of multiple measurements to improve robustness). Then, the original coordinates are filtered (for example, Kalman filtering / extended Kalman filtering / particle filtering) to suppress multipath and transient errors, and the three-dimensional modeling module 14 constructs a three-dimensional model in the form of a point cloud with the filtered coordinates, and generates multi-view two-dimensional screenshots or point cloud visualization results at a modeling interval set by the parameter configuration unit (which can be configured to 1s-10s) and sends them to the mobile terminal or the cloud for display and recording. The threshold comparison module 15 calculates the real-time distance of each hook based on the three-dimensional model and compares it with the preset empty hook distance threshold; at the same time, the analysis and judgment module 13 also performs spectral analysis and step count / amplitude extraction on the time and frequency domain features (such as gait rhythm, short-time high-frequency pulse, or low-frequency large swing) from the first and second acceleration sensors, and synthesizes the position feature, spatial distribution form (such as "support expansion / cluster" form metric), orientation difference, and acceleration feature into an empty hook confidence value through weighted fusion or a probability inference model. The system can set a debouncing strategy (such as continuous M times of determination or a sliding average window), and only when the empty hook confidence exceeds the preset confidence threshold and passes the debouncing check, will the response action be triggered; the response action includes sending alarm information to the mobile terminal and displaying the three-dimensional model / screenshot, recording event logs, and optionally sending a locking control instruction to the specified hook to drive the locking mechanism to close; at the same time, the system records heartbeats, low power, and communication abnormalities and triggers fault tolerance processes. To improve long-term reliability, the system also includes a calibration unit for fitting RSSI-distance model parameters or correcting AoA / ToF deviations under known geometric relationships during initial deployment or periodically, and supports device dynamic addition / removal, encrypted communication, device pairing authentication, and firmware OTA and other maintenance and security mechanisms.

[0081] It is understandable that the specific implementation of each module in this application can be optimized with various options based on the application scenario and cost / accuracy trade-offs. For example, in high-altitude operation scenarios with high accuracy requirements, UWB / ToF or BLEAoA can be prioritized to improve positioning accuracy. In cost-sensitive or severely obstructed scenarios, RSSI combined with adaptive calibration and filtering can be used to obtain sufficient robustness in judgment. The generation frequency, acceleration sampling rate (recommended 50Hz–200Hz), and jitter reduction parameter M (1≤M≤5) of the 3D model can all be adjusted by the parameter configuration unit during deployment or operation to adapt to different environments and energy consumption / latency requirements. Each judgment condition (real-time distance and unattached distance threshold, azimuth threshold, spectral feature threshold, confidence threshold, etc.) can be used as an independent criterion to trigger an alarm individually, or as input to the fusion model to jointly determine the final judgment. At the same time, the number N of hook sensing devices can be arbitrarily expanded (N≥1), and the function of the unattached sensing devices can be partially decentralized to mobile terminals or the cloud to achieve distributed computing. Furthermore, the system can be further expanded into a multimodal solution combining vision, air pressure, or magnetic sensors to cope with more complex working conditions. All of the above-mentioned optional implementation methods and parameter ranges are equivalent alternatives or preferred embodiments of this application.

[0082] In this embodiment, the threshold comparison module 15 is further configured to: determine the spatial vector direction difference between each hook sensing device and the empty hook sensing device based on the spatial distribution state. When the spatial vector direction difference between each hook sensing device and the empty hook sensing device is greater than a preset orientation threshold, it is determined to be a valid hook. When the direction difference is less than the preset orientation threshold, it is determined to be an empty hook.

[0083] Specifically, when calculating the difference in spatial vector direction, the threshold comparison module 15 first obtains the three-dimensional coordinates of each hook sensing device 20 relative to the empty hanging sensing device 1 by the three-dimensional modeling module 14. (i is the hook index), and a reference direction vector is defined at the unloaded sensor. (For example, the forward or lumbar normal vector of the human body, or a vertical vector); then calculate the spatial vector from the unattached sensor to the hook for each hook. The difference in spatial vector direction can be taken as the angle between a single hook vector and the reference vector. Or, when used in multi-hook scenarios, a statistical measure (such as maximum value, mean, or variance) of the set of angles between adjacent hook vectors is used; the threshold comparison module 15 compares the angle value with a preset orientation threshold set by the parameter configuration unit: when Or, if the statistical value is greater than a preset orientation threshold, it is assisted in determining whether the hook is valid (i.e., the hook extends outward due to weight / force direction); when or the statistical quantity is less than a preset orientation threshold, the auxiliary determination is empty hanging (i.e., the hook is close to the human body or tends to be consistent in direction). In actual calculation, in order to suppress measurement noise, the threshold comparison module 15 adopts sliding window smoothing or exponential weighted average on the vector direction, and only when the threshold condition is satisfied after a plurality of (such as M times) smoothing, it is considered as a valid criterion.

[0084] It can be understood that the selection of the reference vector can be configured according to different operation scenarios: in the scenario where the hook direction needs to be distinguished from the human body posture, the human body forward direction or the normal line in front of the chest is preferably used as the reference; in the scenario where only the "stretching / gathering" shape needs to be distinguished, the statistical quantity of the angle between the hook vectors can be directly used. The orientation threshold can be determined through a calibration process at the time of deployment (for example, the recommended range is 10°-60°, and the typical value is 20°-35°), and can be used as an adjustable parameter to balance the false alarm rate and the false negative rate; in the case where the reference vector is lacking or the positioning accuracy is low, the system can be degraded to a morphological determination method based on vector variance / point cloud shape.

[0085] In the embodiments of the present application, whether the hook sensing device 20 is in the suspended state of stretching can also be used to assist in judging whether it is empty hanging. The so-called "suspended state of stretching" refers to: in three-dimensional modeling, the point position of the hook sensing device is distributed in an outward / radiating manner relative to the empty hanging sensing device 1, and the distance between the hook and the safety belt satisfies the condition of suspension (non-close contact force). When the shape, the embodiment takes this stretching shape as one of the important bases for determining whether it is effective hooking or empty hanging - when the three-dimensional model presents obvious stretching and the distance is greater than the preset empty hanging distance threshold, it is generally determined as effective hooking; on the contrary, if it presents a non-stretching gathering shape and the distance is less than the threshold, it is determined as empty hanging.

[0086] Specifically, the three-dimensional modeling module generates the hook relative coordinate point cloud periodically (for example, every 5 seconds) and calculates the stretching measure by the threshold comparison module: the maximum or average value of the angle between adjacent hook vectors, the angle between the hook vector and the human body reference vector, or the dispersion / convex hull area based on the point cloud can be used to quantify the "stretching" degree; after quantization, it is compared with the preset angle threshold (which can be calibrated, for example, 20°-40°) and the distance threshold together as one of the shape determination conditions. At the same time, combined with the vibration frequency characteristics collected by the acceleration sensor (for example, high-frequency swinging is mostly ground empty hanging, and low-frequency or static is more likely to be a high-altitude force state), the "stretching / gathering" and "distance / vibration" multi-modal features are fused together to determine the hook state in synchronization, and after satisfying the debouncing and confidence rules, the alarm or lock control is triggered.

[0087] It can be understood that the "stretching" determination can be directly used as an explicit rule in the rule engine, or can be input as a feature into a probability fusion model or a machine learning classifier to improve robustness; when the positioning accuracy or data quality is limited, the system can be degraded to make auxiliary determination based on the dispersion of the point cloud or only rely on the acceleration correlation (cross-correlation / consistency of dominant frequency). The three typical forms that can be observed in three-dimensional modeling—(1) the suspended state of stretching, (2) the aggregated state of non-stretching, and (3) the ground aggregated state—can be used for visual display, event recording and subsequent manual review. The stretching threshold, sampling rate, modeling interval and de-bouncing number of parameters should be calibrated and written into the parameter configuration during deployment to balance the false alarm / missed alarm trade-off.

[0088] In the embodiment of the present application, the analysis and judgment module 13 further comprises a vibration judgment and analysis unit. The vibration judgment and analysis unit is configured to receive the movement information of the operating personnel collected by the second acceleration sensor 11 and the movement information of the hooks collected by the first acceleration sensors of the hook sensing devices 20. The vibration judgment and analysis unit is further configured to obtain the relative movement state of the operating personnel and the hooks by comparing the movement information of the operating personnel and the movement information of the hooks.

[0089] Specifically, the vibration judgment and analysis unit receives and pre-processes the original acceleration sequences sampled by the second acceleration sensor 11 and the first acceleration sensors 21 (the sampling rate is recommended to be 50-200Hz), and performs band-pass / low-pass filtering on the signals to remove high-frequency noise and direct current components, and then extracts time domain features (root mean square value RMS, peak value, zero-crossing rate) and frequency domain features (FFT energy spectrum, dominant frequency, bandwidth) in a sliding window (the window length is recommended to be 0.5s-3s). To determine the relative movement state of the operating personnel and the hooks, the vibration judgment and analysis unit can use one or a combination of the following two techniques: one is to compare the similarity and phase difference of the waist and hook acceleration sequences by cross-correlation or time delay estimation; the other is to extract the gait / swing rhythm (dominant frequency and instantaneous frequency) of the respective signals, and compare the consistency of the dominant frequency and energy distribution. When the waist and hook signals are highly correlated or the dominant frequencies are consistent and the phase consistency is high, it can be considered that the hooks move with the human body (possibly effective hooking); when the waist and hook signals have low correlation or the hook signals are basically stationary while the human body signals change significantly, it can be considered that the hooks do not move with the human body (indicating possible empty hooking or non-hooking). In order to improve robustness, the vibration judgment and analysis unit introduces a threshold for the correlation / consistency index (for example, the correlation coefficient threshold can be set to 0.6-0.9) and combines the continuity determination within the time window (for example, for T seconds or K windows).

[0090] It can be understood that the cross-correlation and spectrum comparison is only one of the implementation manners, and a machine learning / deep learning classifier (such as a lightweight CNN / MLP or a time-based LSTM) can also be used to perform end-to-end discrimination on the acceleration time sequence in a complex scene, and the training label source can be field calibration data. In addition, to deal with sensor step loss or communication packet loss, the vibration judgment analysis unit can also exchange information (such as the short-time change amount of the relative distance of the hook) with the positioning module as a redundant judgment basis; when the acceleration data quality is insufficient, the module uses the position and shape information in descending priority and triggers an artificial confirmation prompt.

[0091] In the embodiment of the application, the analysis and judgment module 13 is further configured to: when the vibration judgment analysis unit determines that the hook sensing device 20 is not moving and the worker is moving, judge the hanging state of the safety hook. If the real-time distance is less than the empty hanging distance threshold, and the spatial vector direction difference is less than the preset orientation threshold, it is determined that the safety hook is in an empty hanging state. If the real-time distance is greater than the empty hanging distance threshold, and the spatial vector direction difference is less than the preset orientation threshold, it is determined that the safety hook is in an effective hooking state.

[0092] Specifically, in the state where the vibration judgment analysis unit determines that the hook sensing device 20 is not moving and the worker is moving, the analysis and judgment module 13 judges the safety hook state according to the following logic: first, read the real-time distance determination result and the orientation difference determination result of the threshold comparison module 15; if the real-time distance is less than the empty hanging distance threshold (indicating that the relative position of the hook is close to the human body) and the spatial vector direction difference is less than the preset orientation threshold (indicating that the hook tends to be close to the body or consistent in direction), further combined with the vibration judgment result (hook stationary, human body moving) to determine that it is “empty hanging” - because the hook does not move with the human body and the position / orientation shows close, it may be empty hanging or placed in a non-load-bearing state; if the real-time distance is greater than the empty hanging distance threshold and the spatial vector direction difference is less than the preset orientation threshold, it is determined to be “effective hooking” - although the orientation difference is small, the distance between the hook and the human body is large and the hook is stationary, which meets the condition of being hooked and stable. To avoid transient misjudgment, this determination should also meet the debounce strategy (such as the result after continuous N windows or sliding average).

[0093] It can be understood that the “distance + orientation + vibration” compound judgment logic described above can be implemented by a rule engine (explicit Boolean / numerical rules), or can be input into a probability / Bayesian model or a trained classifier as a fusion feature vector to obtain an empty hanging confidence value; different scenes can adjust the weights to reduce false positives or false negatives. The specific values of the empty hanging distance threshold and the orientation threshold are recommended to be calibrated through field tests and written into the parameter configuration unit, and the system can also start adaptive threshold adjustment in operation to adapt to environmental changes.

[0094] In the embodiment of the present application, the threshold comparison module 15 is further configured to determine the hooking state of the safety hook when the vibration judgment analysis unit determines that both the worker and the hook sensing device are moving. If the real-time distance is less than the empty hook distance threshold and the spatial vector direction difference is less than the preset orientation threshold, it is determined to be in an empty hook state. If the real-time distance is greater than the empty hook distance threshold and the spatial vector direction difference is greater than the preset orientation threshold, it is determined to be in an effective hooking state.

[0095] Specifically, when the vibration judgment analysis unit determines that both the worker and the hook sensing device are moving, the threshold comparison module 15 and the analysis and judgment module 13 determine the hooking state according to the following rules: if the real-time distance is less than the empty hook distance threshold and the spatial vector direction difference is less than the preset orientation threshold, it is determined to be in an empty hook state (i.e., the hook moves slightly with the body, but the position and orientation indicate that it does not form a reliable load-bearing connection); if the real-time distance is greater than the empty hook distance threshold and the spatial vector direction difference is greater than the preset orientation threshold, it is determined to be in an effective hooking state (i.e., the hook is obviously offset from the body and assumes an expanded shape and moves with the body as a whole, which meets the hooking load state); for ambiguous cases between the above boundary values, the system calculates the empty hook confidence and determines whether to alarm according to the debounce rule, or marks the event as “manual confirmation / review” is required.

[0096] It can be understood that in the “both moving” scenario, the transient characteristics of the relative displacement of the hook (such as the relative displacement amplitude, the phase relationship of the relative speed and acceleration) are important supplementary information for determining whether it is a reliable hooking; the system can extract these relative kinematic characteristics and use them together with the orientation / distance characteristics for decision-making, and different levels of alarms (such as low confidence prompts, general alarms, and emergency shutdown suggestions) can be set on the real-time decision-making link to adapt to different safety strategies.

[0097] In the embodiment of the present application, the empty hook sensing device 1 further comprises an image processing module. The image processing module is configured to convert the three-dimensional model generated by the three-dimensional modeling module 14 into at least one two-dimensional plan view, and send the two-dimensional plan view to the mobile terminal.

[0098] Specifically, the image processing module is configured to convert the three-dimensional model generated by the three-dimensional modeling module 14 into at least one two-dimensional plan view, and send the two-dimensional plan view to the mobile terminal. The projection is at least one two-dimensional planar view: the module supports both orthogonal projection and perspective projection, and at least generates one of the front view, side view or top view. The projection can select a fixed viewpoint (for example, 0° in front of the wearer, 90° on the side) or an adaptive viewpoint (automatically select the viewpoint that can best display the "support / cluster" shape according to the hook distribution). The image processing module superimposes visual annotations on the image when generating a two-dimensional view: including the unique identification code of each hook, the real-time distance value, the azimuth angle, the empty hanging confidence (value or color band), and intuitively prompting the state by color coding (such as green for safety, yellow for low confidence anomaly, and red for confirmed empty hanging). The generated two-dimensional view supports compression (JPEG / PNG or scene-based vector representation), timestamp, event record ID, and is transmitted to the mobile terminal or cloud through the communication unit; at the same time, the image processing module can save multiple historical views for playback and evidence collection.

[0099] It can be understood that the image processing module does not rely on the real person image collected by the external camera, thereby avoiding privacy problems; the two-dimensional view is an abstract visual representation based on sensor reconstruction, which can be superimposed with the actual camera screen for manual review or further visual verification if necessary. The view resolution, compression ratio, update frequency (for example, 1s-10s), and annotation content can be adjusted by the parameter configuration unit to balance bandwidth, delay, and readability; in addition, when the positioning accuracy or sensor data quality is abnormal, the image processing module will mark a quality warning on the view and prompt the maintenance or manual confirmation process.

[0100] In the embodiment of the present application, the analysis and judgment module 13 is further used for: when the position of each hook sensing device 20 is located below the position of the empty hanging sensing device 1, and the distance value between the hook sensing device 20 and the empty hanging sensing device 1 is greater than the empty hanging distance threshold, judging the hanging state of the safety hook. When the frequency of the vibration signal collected by the second acceleration sensor 11 is higher than the preset threshold, and the vibration signals collected by each first acceleration sensor 21 are all higher than the preset threshold, it is determined that the ground is in an empty hanging state.

[0101] Specifically, when the analysis and judgment module 13 detects that the three-dimensional coordinates of a certain hook sensing device 20 satisfy the geometric condition that "is located below the empty hanging sensing device 1" (for example, the vertical coordinate of the hook is less than the waist reference height of the empty hanging sensing device minus a preset vertical difference , The recommended range is 0.1m-0.5m, which can be determined by on-site calibration, and the real-time distance between the hook and the empty hanging sensing device 1 is greater than the empty hanging distance threshold (Example range: 0.3m-1.0m), the vibration / spectrum determination branch is entered. The vibration determination analysis unit performs a short-time Fourier transform (STFT) or a fast Fourier transform (FFT) on the acceleration sequences collected by the second acceleration sensor 11 (waist) and all the first acceleration sensors 21 (hangers), and calculates the dominant frequency, in-band energy, and energy ratio of each channel within a window length (recommended 0.5s-3s). When the dominant frequency or the band energy of the waist sensor is higher than a preset high-frequency threshold (Example range: 1.0Hz-3.0Hz, typical value: about 1.2Hz) and the corresponding spectral features of the hanger sensors are also higher than the threshold, the system determines that it is a "ground empty hanging state". A debouncing strategy (for example, consecutive M windows meet the condition or a sliding window average) is used in the determination, and the event timestamp and the corresponding three-dimensional view are recorded for backtracking and review.

[0102] It can be understood that the logic of ground empty hanging determination is based on the intuitive fact that when the worker walks or the human body produces obvious high-frequency vibration, and the hanger also shows similar high-frequency response, it often indicates that the hanger is in contact with the ground or other rigid body and is coupled with the ground vibration, so it should be identified as a ground empty hanging. In order to consider different working conditions, the frequency threshold , the window length , the vertical difference , and the distance threshold should be determined by calibration experiments in the deployment site, and can be written into the parameter configuration unit for dynamic adjustment to reduce the false positive / false negative probability.

[0103] In the embodiments of the present application, the analysis and determination module 13 is further configured to determine the hanging state of the safety hanger when the position of each hanger sensing device 20 is located below the empty hanging sensing device 1, and the distance value between the hanger sensing device 20 and the empty hanging sensing device 1 is greater than the empty hanging distance threshold. When the frequency of the vibration signal collected by the second acceleration sensor 11 is lower than a preset threshold, and the frequency of the vibration signal collected by each first acceleration sensor 21 is higher than a preset threshold, it is determined as a high-altitude operation empty hanging state.

[0104] Specifically, when the three-dimensional position also satisfies the prerequisite condition that the hanger is located below the empty hanging sensing device and the distance is greater than the empty hanging distance threshold, but the vibration determination analysis unit detects that the vibration dominant frequency or in-band energy collected by the second acceleration sensor 11 (waist) is lower than a preset low-frequency threshold (Example: 0.1Hz-1.0Hz, typical value: about 0.5Hz), while the first acceleration sensors 21 of the hangers still show a higher dominant frequency or local energy (higher than ), the analysis and judgment module 13 determines that it is a "high-altitude operation empty hanging state". This determination also needs to meet the de-bouncing and persistence conditions (for example, the hook high frequency lasts for K seconds or is continuous for K windows, K is recommended to be 1-5), and further confirms that the hook does not form a reliable force connection in combination with the shape features such as the spread of the point cloud and the dispersion, and triggers the corresponding alarm level (which can be a high-priority alarm or a prompt for manual inspection).

[0105] It can be understood that the "high-altitude operation empty hanging" scene is usually manifested as the hook itself having a frequency significantly higher than the wearer's waist due to wind, rope swinging or high-altitude environment (the wearer is relatively static or has little vibration), so the frequency spectrum contrast can be used as an effective criterion. Like the ground empty hanging, the threshold 、 , the window length and the duration parameters should be written into the system after field calibration, and can be adjusted according to the type of operation (such as power line inspection, wind power maintenance) to adapt to different dynamic characteristics.

[0106] In the embodiment of the present application, the system further comprises a locking control module, and each safety hook is provided with a locking device. The locking control module is used to control the locking device of the remaining safety hooks determined to be in the effective hooking state to perform a locking operation when the analysis and judgment module determines that at least one safety hook is in an empty hanging state.

[0107] In the embodiment of the present application, a safety belt 200 is provided, which comprises a safety belt body. The empty hanging sensing device 1 is arranged on the safety belt body, and the empty hanging sensing device 1 is provided with the safety belt empty hanging identification system 100 based on hook identification as described above.

[0108] In the embodiment of the present application, the safety belt 200 comprises a plurality of hook sensing devices 20, and the plurality of hook sensing devices 20 are respectively arranged on the safety hooks of the safety belt 200. An RFID electronic tag is further arranged on each hook sensing device 20, and the system in the empty hanging sensing device 1 further comprises an RFID electronic tag identification module and an RFID signal analysis and judgment module. The RFID electronic tag identification module identifies the RFID electronic tag, and the RFID signal analysis and judgment module judges the distance between the RFID electronic tag and the RFID electronic tag identification module according to the signal strength of the identified RFID electronic tag; and compares the distance value of the RFID electronic tag with the empty hanging distance threshold value. A gravity sensing sensor is further arranged on each hook sensing device 20, which is used to sense and identify the downward gravity generated when the hook hooks an object, and transmit the gravity sensing information to the empty hanging sensing device for confirmation of the non-empty hanging state.

[0109] Please refer to Figures 2 to 5 , Figure 2 for a safety belt schematic diagram provided by an embodiment of the present application. Figure 3An image of a suspended state provided in an embodiment of this application. Figure 4 An image of a non-stretched aggregated state provided in an embodiment of this application. Figure 5 This is an image of a ground state without extended hooks, provided as an embodiment of this application. (See image for details.) Figure 2 The seat belt 200 shown includes at least the following components: an unattached sensing device 1, a first hook sensing device 2, a second hook sensing device 3, and a third hook sensing device 4.

[0110] In the embodiments of this application, such as Figure 2 The safety belt 200 shown includes at least: an unattached sensing device 1 (installed on the wearer's waist), and a first hook sensing device 2, a second hook sensing device 3, and a third hook sensing device 4 (each installed on a corresponding safety hook). This embodiment utilizes Bluetooth broadcast / wireless measurement information from each hook sensing device, vibration data collected by the first accelerometer, and the second accelerometer and receiving unit of the unattached sensing device to periodically reconstruct the relative coordinate point cloud of the hook at the unattached sensing device and generate a 3D model using a 3D modeling module (which can export multi-view 2D screenshots for display on mobile devices). Figure 3 The diagram shown is a schematic of the "extended suspended state" in this embodiment (hook points are extended / radially distributed). Figure 4 This is a schematic diagram of a "non-supported clustered state" (the hook points are close together and in the same direction). Figure 5 This is a schematic diagram of "non-supported aggregation on the ground" (the situation where the hook is in contact with or coupled with ground vibration). The system determines the actual attachment status of the hook by integrating three factors: "distance + shape (support / aggregation) + vibration characteristics", and triggers responses such as alarms, log recording, or interlocking control after meeting the de-jittering and confidence requirements.

[0111] Specifically, the system operation process includes: each hook sensing device broadcasts a data packet containing a unique ID, first accelerometer sampling data, and wireless measurement data (RSSI / AoA / ToF or any combination thereof) at a set period (e.g., 100ms–2000ms); after receiving the data, the unattended sensing device performs timing synchronization, noise reduction, and filtering (e.g., Kalman / Extended Kalman); and the positioning / fusion module calculates the filtered three-dimensional coordinate set. and at the waist reference point Generate a pointer vector at the location The 3D modeling module is based on point cloud expansion metrics (optional metrics: maximum / mean of the angle between adjacent vectors; angle between a vector and a human reference vector; or point cloud dispersion / convex hull area), and integrates the expansion metrics with real-time distance. (For each hook) and acceleration spectrum characteristics (window length T recommended 0.5–3s, sampling rate 50–200Hz) are input together into the threshold comparison and vibration judgment logic. If the hook is located below the waist and (Example 0.3-1.0m) and the waist part and the hook acceleration spectrum are both higher than the high frequency threshold (Example 1.0-3.0Hz), it is determined as "ground empty hanging"; if it is also located below and but the waist part frequency is lower than the low frequency threshold (Example 0.1-1.0Hz) and the hook spectrum is higher than , it is determined as "high-altitude operation empty hanging"; if the point cloud is significantly spread (the angle / discreteness exceeds the spread threshold, example angle threshold 20-40°) and the fusion confidence meets the debouncing (continuous M times of determination, M is recommended to be 1-5), it is determined as "suspended state of spread". After determining as empty hanging, the system implements the following strategies: ① records the event and saves the corresponding three-dimensional model and two-dimensional view; ② reports to the mobile terminal and prompts on the view with color / numerical value (such as red warning, empty hanging confidence value); ③ optionally sends a locking instruction to other effective hooks under the premise of meeting safety (at least keeping one effective hook, communication handshake confirmation, timeout rollback mechanism, etc.) by the locking control module.

[0112] It can be understood that the various thresholds (distance threshold , spread angle threshold, frequency threshold / , window length T, model generation interval, for example, 1-10s, debouncing number M, etc.) in the above embodiments are not fixed and can be dynamically adjusted by the parameter configuration unit to adapt to different operation types and environments (power transmission inspection, wind power maintenance, offshore operation, etc.). The spread measure can be directly used as a criterion for the rule engine, or can be input as a fusion feature into a probability model or a machine learning classifier to improve the robustness of the determination. When the positioning accuracy is reduced or the sensor data is incomplete, the system can be degraded to an auxiliary determination method based on point cloud discreteness or acceleration cross-correlation / spectrum comparison, and the operation and maintenance personnel are prompted in the form of "manual review required". The visualization Figure 3 — Figure 5 and log saving function in the above embodiments facilitate on-site review and accident evidence collection, and the locking control strategy is designed as "safety first, redundant protection", and automatic locking is only executed when multiple safety prerequisites are met, to avoid secondary risks caused by false locking.

[0113] Figure 6 An electronic device 30 is provided in an embodiment of the present application. As shown in Figure 6 , the electronic device 30 at least includes the following parts: a processor 31 and a memory 32.

[0114] In the embodiment of the present application, the memory 32 is used to store the processor 31 executable instructions, and the processor 31 is configured to execute the instructions to implement the method as Figure 1 orFigure 2 The functions of the units / modules illustrated in the above-described embodiments.

[0115] The program that works in the electronic device 30 according to an embodiment of the present application can be a program that controls a central processing unit (CPU) or the like to realize the functions of the above-described embodiments according to one aspect of the present application (a program that causes a computer to function). Then, the information processed by these devices is temporarily stored in a random access memory (RAM) when it is processed, and then stored in various ROMs such as a read only memory (Flash ROM), a hard disk drive (HDD), and the like, and read out, corrected, and written by the CPU as necessary.

[0116] Note that a part of the electronic device 30 according to the above-described embodiments can also be realized by a computer. In this case, a program for realizing the control function can be recorded in a computer-readable recording medium, and realized by reading the program recorded in the recording medium into a computer and executing it.

[0117] Note that the "computer" referred to here means a computer built in the electronic device 30, and a computer including hardware such as an OS and a peripheral device. Further, the "computer-readable recording medium" means a removable medium such as a floppy disk, a magneto-optical disk, a ROM, a CD-ROM, and the like, a storage device such as a hard disk built in the computer.

[0118] Further, the "computer-readable recording medium" can include a medium that dynamically stores a program for a short period of time, such as a communication line in the case of transmitting a program via a network such as the Internet or a communication line such as a telephone line, and a medium that stores a program for a fixed period of time, such as a volatile memory inside a computer that is a server or a client in this case. Further, the above-described program can be a program for realizing a part of the above-described functions, and can also be a program that can realize the above-described functions by being combined with a program already recorded in a computer.

[0119] Further, the electronic device 30 according to the above-described embodiments can also be realized as an assembly (device group) constituted by a plurality of devices. Each device constituting the device group can have a part or all of each function or each function block of the safety belt 200 according to the above-described embodiments. As the device group, it is sufficient to have all of each function or each function block of the safety belt 200.

[0120] It can be understood that the safety belt empty hanging identification system 100 and the safety belt 200 provided by the embodiment of the application are constructed by fusing Bluetooth ranging, space orientation sensing and acceleration sensing technology, and an intelligent empty hanging identification and early warning system is constructed. The system can independently analyze the real-time distance and space vector relationship between each hook and the main body of the safety belt, and intuitively present the spatial distribution state of the hook based on three-dimensional modeling technology, accurately judge and visually monitor the empty hanging state, effectively overcome the limitations of traditional manual inspection, and move safety guarantee from after-the-fact remedy to pre-prevention.

[0121] Those skilled in the art of the present technology should recognize that the above embodiments are only used to illustrate the present application, and are not used as a limitation on the present application, and as long as the above embodiments are appropriately changed and changed within the scope of the spirit of the present application, they fall within the scope of the present application.

Claims

1. A seat belt empty hanging recognition system based on hook recognition, applied to an empty hanging sensing device, the empty hanging sensing device is arranged on a main body of a seat belt, characterized in that, The system comprises: A plurality of hook sensing devices, each of which is arranged on a safety hook of the safety belt, and each of which is provided with a first acceleration sensor and a Bluetooth sending module; The empty hook sensing device is provided with a second acceleration sensor, a Bluetooth receiving module, an analysis and judgment module, a three-dimensional modeling module, and a threshold comparison module; The Bluetooth receiving module is used to receive Bluetooth signals from each Bluetooth sending module; The analysis and judgment module is used to analyze the real-time distance and spatial orientation information between each hook sensing device and the empty hook sensing device based on the Bluetooth signals, to generate coordinate information with distance values; The three-dimensional modeling module is used to construct a three-dimensional model reflecting the spatial distribution state of each hook sensing device and the empty hook sensing device based on the coordinate information; The threshold comparison module is used to compare the real-time distance of each hook sensing device with an empty hook distance threshold based on the three-dimensional model, to determine whether the safety hook is in an empty hook state; when the real-time distance is less than the empty hook distance threshold, it is determined that the safety hook is in an empty hook state, and an alarm signal is generated; The analysis and judgment module is also used to: When the position of each hook sensing device is below the position of the empty hook sensing device, and the distance value between the hook sensing device and the empty hook sensing device is greater than the empty hook distance threshold, the hooking state of the safety hook is determined: When the frequency of the vibration signal collected by the second acceleration sensor is higher than a preset threshold, and the vibration signals collected by each first acceleration sensor are all higher than a preset threshold, it is determined to be a ground empty hook state.

2. The hook identification based seat belt unhooking identification system according to claim 1, characterized in that, The threshold comparison module is also used to: Determine the spatial vector direction difference between each hook sensing device and the empty hook sensing device based on the spatial distribution state; When the spatial vector direction difference between each hook sensing device and the empty hook sensing device is greater than a preset orientation threshold, it is determined to be an effective hooking state; When the direction difference is less than the preset orientation threshold, it is determined to be an empty hook state.

3. The hook identification based seat belt unhooking identification system according to claim 2, characterized in that, The analysis and judgment module further comprises a vibration judgment analysis unit; The vibration judgment analysis unit is used to receive the work personnel movement information collected by the second acceleration sensor, and the hook movement information collected by the first acceleration sensor of each hook sensing device; The vibration judgment analysis unit is also used to obtain the relative movement state of the work personnel and the hook by comparing the work personnel movement information and the hook movement information.

4. The hook identification based seat belt air hanging identification system according to claim 3, characterized in that, The analysis and judgment module is also used to: When the vibration judgment analysis unit determines that the hook sensing device is not moving while the work personnel is moving, the hooking state of the safety hook is determined: If the real-time distance is less than the empty hook distance threshold, and the spatial vector direction difference is less than a preset orientation threshold, it is determined that the safety hook is in an empty hook state; If the real-time distance is greater than the empty hook distance threshold, and the spatial vector direction difference is less than a preset orientation threshold, it is determined that the safety hook is in an effective hooking state.

5. The hook identification based seat belt unhooking identification system according to claim 3, characterized in that, The threshold comparison module is also used to: When the vibration judgment analysis unit determines that the worker and the hook sensing device are both moving, the hanging state of the safety hook is determined: If the real-time distance is less than the empty hanging distance threshold, and the spatial vector direction difference is less than the preset orientation threshold, it is determined to be an empty hanging state; If the real-time distance is greater than the empty hanging distance threshold, and the spatial vector direction difference is greater than the preset orientation threshold, it is determined to be an effective hooking state.

6. The hook identification based seat belt air hanging identification system according to claim 1, characterized in that, The empty hanging sensing device further comprises an image processing module; The image processing module is used to convert the three-dimensional model generated by the three-dimensional modeling module into at least one two-dimensional plan view, and send the two-dimensional plan view to a mobile terminal.

7. The hook identification based seat belt air hanging identification system according to claim 1, characterized in that, The analysis and judgment module is further used to: When the positions of the hook sensing devices are below the position of the empty hanging sensing device, and the distance values between the hook sensing devices and the empty hanging sensing device are greater than the empty hanging distance threshold, the hanging state of the safety hook is determined: When the frequency of the vibration signal collected by the second acceleration sensor is lower than a preset threshold, and the frequencies of the vibration signals collected by each first acceleration sensor are higher than a preset threshold, it is determined to be a high-altitude operation empty hanging state.

8. The hook identification based seat belt air hanging identification system according to claim 1, characterized in that, The system further comprises a locking control module, and each safety hook is provided with a locking device.

9. A safety belt, characterized in that The safety belt comprises: a safety belt body; components for implementing the hook identification-based safety belt empty hanging identification system according to any one of claims 1 to 8, the components comprising: a plurality of hook sensing devices, each of which is arranged on a safety hook of the safety belt; an empty hanging sensing device arranged on the safety belt body; each hook sensing device is further provided with an RFID electronic tag, and the system in the empty hanging sensing device further comprises an RFID electronic tag identification module and an RFID signal analysis and judgment module; the RFID electronic tag identification module identifies the RFID electronic tag, and the RFID signal analysis and judgment module judges the distance value between the RFID electronic tag and the RFID electronic tag identification module according to the signal strength of the identified RFID electronic tag; and compares the distance value of the RFID electronic tag with an empty hanging distance threshold; each hook sensing device is further provided with a gravity sensing sensor for sensing and identifying the downward gravity generated when the hook hooks an object, and transmitting the gravity sensing information to the empty hanging sensing device for non-empty hanging state confirmation; The analysis and judgment module is further used to: When the positions of the hook sensing devices are below the position of the empty hanging sensing device, and the distance values between the hook sensing devices and the empty hanging sensing device are greater than the empty hanging distance threshold, the hanging state of the safety hook is determined: When the frequency of the vibration signal collected by the second acceleration sensor is higher than a preset threshold, and the frequencies of the vibration signals collected by each first acceleration sensor are higher than a preset threshold, it is determined to be a ground empty hanging state.

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