Height difference identification system and identification method for low hanging and high hanging of safety rope for safety belt

Abstract

The invention relates to the technical field of height difference recognition, in particular to a height difference recognition system and recognition method for low hanging and high hanging of a safety rope for a safety belt, and aims to quantify the'hanging point-head top 'height difference into millimeter-level numbers and solve the problem that the traditional visual inspection cannot accurately quantify the height difference. Judgment and brake interlocking are completed 0.1 s before falling, passive protection is changed into active prevention, and the falling impact load is reduced by 70% or above; through IMU inclination compensation, even if the hook deflects by 30 degrees, it can still be guaranteed that the error of delta H is smaller than 10 mm, and the false alarm rate is remarkably reduced; laser zero calibration is automatically completed after starting up, manual regular calibration is not needed, and the device adapts to severe environments such as dust and rain and snow; and the positioning precision is 2.5 m, each alarm position can be accurately traced, a personal risk portrait is formed, 'data-driven 'safety management is realized, the field violation rate is reduced by 80%, and the intrinsic safety level of high-altitude operation is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of height difference recognition technology, and in particular to a height difference recognition system and method for using a safety rope with a low anchorage at a high elevation. Background Technology

[0002] With the increasing frequency of high-altitude operations, the importance of fall protection for workers has become increasingly prominent. National standards and industry specifications require safety belts to be attached "high-mounted, low-used," meaning the safety rope attachment point must be higher than the worker's head to ensure the shortest braking distance and minimal impact force in the event of a fall. However, due to complex and variable on-site environments, workers often attach the safety rope below their waist due to space constraints, insufficient anchor points, or operational negligence, resulting in a "low-mounted, high-used" configuration. In the event of a fall, the freefall distance is increased, and the safety rope must withstand a sudden increase in impact load, which can easily lead to rope breakage, anchor point failure, or serious injury, becoming a major technical contributing factor to high-altitude fall accidents.

[0003] Current technologies for identifying "low-hanging, high-use" operations still rely on manual visual inspection or post-operation video tracing, lacking real-time, quantitative, and automated monitoring methods. Some solutions attempt to install limit switches or tilt sensors at anchor points, only determining whether the hook is "attached," but failing to obtain the relative height difference between the attachment point and the worker's head. Other solutions embed tension sensors in the safety belt webbing, triggering alarms based on fall impact thresholds, but this is passive protection after the fact, unable to provide pre-emptive warnings. More importantly, none of the above technologies solve the problem of accurately measuring "dynamic height differences": differences in worker height, variations in the standing surface, and changes in posture such as bending over / raising arms all cause real-time changes in head height, and the attachment point height may also switch with different anchor points. Traditional single-point sensors cannot simultaneously sense the height at both ends, leading to high rates of missed and false alarms. Therefore, developing a system-level solution that can continuously identify the "attachment point-head height difference" before and during operations, and immediately trigger audible and visual alarms and upload data to a platform when low-hanging, high-use occurs, has become an urgent need to improve the inherent safety of high-altitude operations. Summary of the Invention

[0004] The purpose of this invention is to provide a height difference identification system and method for safety ropes used in safety belts with low attachment points and high attachment points, aiming to solve the problem of high false alarm rates caused by the inability to monitor the relative height between the safety rope attachment point and the worker's head in real time.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a height difference recognition system for low-hanging, high-attachment safety ropes for safety belts, comprising a height acquisition module, a hanging point laser ranging module, a calculation module, a decision alarm module, a transmission positioning module, and an analysis and tracing module; the calculation module is connected to the height acquisition module, the hanging point laser ranging module, the decision alarm module, and the transmission positioning module respectively, and the transmission positioning module is connected to the analysis and tracing module and the decision alarm module respectively; The height acquisition module is used to scan the shortest distance from the top of the worker's head to the bottom of his feet in real time and output the dynamic value of the head height. The hanging point laser ranging module is used to emit pulsed laser light directly below the ground and receive the reflected signal to obtain the height of the hanging point above the ground; The calculation module is used to calculate the height difference based on the dynamic value of the head height and the height of the hanging point from the ground; The decision alarm module is used to trigger a local audible and visual alarm based on the height difference and output a braking interlock signal; The transmission and positioning module is used to upload the height difference, alarm events and BeiDou / GPS coordinates to the cloud in real time; The analysis and traceability module is used to store alarm data, height difference trends, and work paths.

[0006] The height acquisition module includes a millimeter-wave radar sensing unit, a head reflection point locking unit, and a dynamic value output unit. The millimeter-wave radar sensing unit is used to transmit 60GHz millimeter-wave radar waves and receive human body reflected echoes. The head reflection point locking unit is used to identify the highest reflection point in the three-dimensional point cloud and eliminate interference from the safety helmet brim; The dynamic value output unit is used to convert the locked overhead distance into a digital quantity.

[0007] The hanging point laser ranging module includes a laser emitting unit, a receiving unit, and a ground clearance calculation unit; The laser emitting unit is used to emit a 905nm first-level safety laser pulse directly below the ground; The receiving unit is used to acquire the round-trip time of the laser pulse and convert it into an electrical signal; The ground clearance calculation unit is used to calculate the vertical distance between the attachment point and the ground based on the flight time.

[0008] The calculation module includes an attitude compensation unit, an altitude difference calculation unit, and a filtering and smoothing unit. The attitude compensation unit is used to read the angle of the nine-axis IMU and calculate the tilt correction amount; The height difference calculation unit is used to perform real-time arithmetic calculations of the height difference; The filtering and smoothing unit is used to perform moving average filtering on the height difference to eliminate abrupt noise.

[0009] The decision alarm module includes a threshold comparison unit, an audio-visual driving unit, and an interlocking signal output unit. The threshold comparison unit is used to perform hardware comparison between the height difference and the preset warning value and danger value; The sound and light driving unit is used to drive the buzzer and the red LED to flash when the height difference is below a threshold. The interlocking signal output unit is used to output a 3.3V braking interlocking level to the speed difference controller in dangerous situations.

[0010] The transmission and positioning module includes a BeiDou / GPS positioning unit, a 4G / 5G communication unit, and a data packaging unit. The Beidou / GPS positioning unit is used to acquire the latitude and longitude coordinates of the workers at a frequency of 1Hz; The 4G / 5G communication unit is used to wirelessly upload data to the cloud via the MQTT protocol; The data packaging unit is used to encapsulate the height difference, alarm type, coordinates and timestamp into a JSON frame.

[0011] Secondly, a height difference identification method for a safety rope used for low-hanging and high-hanging applications of a safety belt, used in the height difference identification system for a safety rope used for low-hanging and high-hanging applications of a safety belt described in the first aspect, includes the following steps: The height acquisition module uses a 60GHz millimeter-wave radar to perform a fan-shaped scan of the work area, lock the highest reflection point of the human head, and output the dynamic value of head height in real time. The hanging point laser ranging module emits a 905nm laser pulse directly below the ground and obtains the height of the hanging point above the ground via Time-of-Flight (ToF) method. The calculation module reads the hook attitude angle obtained from the nine-axis IMU, calculates the tilt correction, and calculates the real-time height difference; The judgment alarm module compares the height difference with a preset threshold and activates a local audible and visual alarm. The transmission and positioning module packages and uploads the altitude difference, alarm type, BeiDou / GPS coordinates and timestamp to the cloud; The analysis and traceability module performs time-series storage, risk profile generation, and visualization of uploaded data, generating individual / team low-load high-use trend reports to achieve closed-loop management.

[0012] This invention relates to a height difference identification system and method for safety ropes used in low-hanging, high-position applications. This solution quantifies the height difference between the "hanging point and overhead" into millimeter-level numerical values, solving the problem of inaccurate quantification in traditional visual inspections. It completes the judgment and braking interlock 0.1 seconds before a fall, transforming "passive protection" into "active prevention," reducing fall impact load by over 70%. Through IMU tilt compensation, even with a 30° hook deflection, the ΔH error remains <10mm, significantly reducing the false alarm rate. Automatic laser zero-point calibration is performed upon startup, eliminating the need for manual periodic calibration and adapting to harsh environments such as dust, rain, and snow. With a positioning accuracy of 2.5m, it can accurately trace the location of each alarm, forming a personal risk profile and achieving "data-driven" safety management. This reduces on-site violation rates by 80%, significantly improving the inherent safety level of high-altitude operations. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the height difference recognition system for low-hanging, high-attachment safety ropes for safety belts provided by the present invention.

[0015] Figure 2 This is a schematic diagram of the height acquisition module.

[0016] Figure 3 It is a hanging point laser ranging module Figure 4 This is a schematic diagram of the computing module.

[0017] Figure 5 This is a schematic diagram of the judgment alarm module.

[0018] Figure 6 This is a schematic diagram of the transmission and positioning module.

[0019] Figure 7 This is a schematic diagram of the analysis and traceability module.

[0020] Figure 8 This is a flowchart of the height difference identification method for low-hanging, high-attachment safety ropes for safety belts provided by the present invention.

[0021] In the diagram: 1-Height acquisition module, 2-Hanging point laser ranging module, 3-Calculation module, 4-Decision alarm module, 5-Transmission positioning module, 6-Analysis and traceability module, 11-Millimeter-wave radar sensing unit, 12-Head reflection point locking unit, 13-Dynamic value output unit, 21-Laser emission unit, 22-Receiving unit, 23-Ground height calculation unit, 31-Attitude compensation unit, 32-Height difference calculation unit, 33-Filtering and smoothing unit, 41-Threshold comparison unit, 42-Acoustic and optical driving unit, 43-Interlocking signal output unit, 51-BeiDou / GPS positioning unit, 52-4G / 5G communication unit, 53-Data packaging unit, 61-Cloud storage unit, 62-Risk profiling unit, 63-Visual traceability unit. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0023] Please see Figures 1 to 7 In a first aspect, the present invention provides a height difference recognition system for low-hanging and high-hanging safety ropes for safety belts, including a height acquisition module 1, a hanging point laser ranging module 2, a calculation module 3, a decision alarm module 4, a transmission positioning module 5, and an analysis and tracing module 6; the calculation module 3 is connected to the height acquisition module 1, the hanging point laser ranging module 2, the decision alarm module 4, and the transmission positioning module 5 respectively, and the transmission positioning module 5 is connected to the analysis and tracing module 6 and the decision alarm module 4 respectively; The height acquisition module 1 is used to scan the shortest distance from the top of the worker's head to the bottom of his feet in real time and output the dynamic value of the head height. The hanging point laser ranging module 2 is used to emit pulsed lasers to the ground directly below and receive reflected signals to obtain the height of the hanging point above the ground. The calculation module 3 is used to calculate the height difference based on the dynamic value of the head height and the height of the hanging point from the ground; The decision alarm module 4 is used to trigger a local audible and visual alarm based on the height difference and output a braking interlock signal; The transmission and positioning module 5 is used to upload the height difference, alarm events and BeiDou / GPS coordinates to the cloud in real time; The analysis and traceability module 6 is used to store alarm data, height difference trends, and work paths.

[0024] In this embodiment, a 60GHz millimeter-wave radar SoC and its FMCW antenna array are embedded in the webbing in front of the safety belt shoulder strap. The radar window faces vertically upwards to scan and lock onto the highest reflection point of the worker's head in real time. A 905nm TOF laser, a 45° reflecting prism, and a signal processing board are integrated at the base of the hook. The laser window faces vertically downwards to emit pulses to the ground and receive echoes. A nine-axis IMU is used to acquire the spatial attitude angle θ of the hook. An analysis and traceability module 6 is deployed in the cloud and supports access from PCs and mobile phones. After powering on, the system first performs laser zero-point self-calibration: when the distance between the hanging point and the ground is detected to be <1m, the current laser ranging value is automatically written into the zero-point register to eliminate drift caused by hook wear or window contamination; then the millimeter-wave radar outputs the head height Hp at a frequency of 20Hz, and the laser ranging outputs the hanging point height Ha at a frequency of 10Hz. The calculation module 3 performs attitude compensation calculation according to ΔH=Ha−Hp−L·sinθ; the judgment alarm module 4 achieves microsecond-level response with a hardware comparator. When ΔH<+50mm, it triggers red LED flashing and buzzer warning. When ΔH≤0mm, it immediately outputs 3.3V braking interlock level to drive the speed difference controller to lock the rope; the transmission and positioning module 5 obtains positioning information through the Beidou / GPS dual-mode chip, and the 4GCat.1 module uploads ΔH, alarm event, coordinates and timestamp to the cloud via MQTToverTLS; the cloud uses a time-series database to store three years of data, generates a risk heat map of low hanging and high use for individuals / teams through streaming computing, and can export rectification reports with one click to achieve closed-loop management.

[0025] Furthermore, the height acquisition module 1 includes a millimeter-wave radar sensing unit 11, a head reflection point locking unit 12, and a dynamic value output unit 13. The millimeter-wave radar sensing unit 11 is used to transmit 60GHz millimeter-wave radar waves and receive human body reflected echoes. The head reflection point locking unit 12 is used to identify the highest reflection point in the three-dimensional point cloud and eliminate the interference of the safety helmet brim; The dynamic value output unit 13 is used to convert the locked top distance into a digital quantity.

[0026] In this embodiment, the millimeter-wave radar sensing unit 11 uses two cascaded 60GHz FMCWSoCs to form a 4-transmit 8-receive virtual array, transmitting 256 chirs per frame with a bandwidth of 5GHz and a range resolution of 3cm. The workflow is as follows: after power-on, the PLL outputs a linear frequency modulated signal, which is radiated downwards through the antenna to the lower hemisphere. The echo is processed by an LNA, mixed, and then sampled by a 12-bit ADC at 20MS / s to obtain the raw IF data. Range-FFT and Doppler-FFT are used to form a range-velocity heatmap, which is then uploaded. The head reflection point locking unit 12 operates on an STM32H7. DBSCAN clustering + Kalman tracking is performed. First, CFAR detection is used to extract candidate points in the range of 0.5-2.5m and 0-2m / s. Then, the highest and second highest clusters on the Z-axis are judged and removed based on a vertical distance of <5mm and a horizontal distance of >15mm. A Kalman filter is established for the centroid of the final head cluster to achieve stable tracking at 20Hz and output the head height distance Raw_H. The dynamic value output unit 13 sends Raw_H to the calculation module 3 via USB-CDC. At the same time, the local IIR low-pass filter (cutoff 2Hz) eliminates micro-shaking noise and forms a dynamic head height value Hp with a resolution of 1mm and a refresh rate of 20Hz.

[0027] Furthermore, the hanging point laser ranging module 2 includes a laser emitting unit 21, a receiving unit 22, and a ground clearance calculation unit 23; The laser emitting unit 21 is used to emit a 905nm first-level safety laser pulse directly below the ground; The receiving unit 22 is used to collect the round-trip time of the laser pulse and convert it into an electrical signal; The ground clearance calculation unit 23 is used to calculate the vertical distance between the attachment point and the ground based on the flight time.

[0028] In this embodiment, the laser emitting unit 21 adopts a single longitudinal groove VCSEL (peak value 25W, pulse width 5ns, repetition frequency 10kHz), and the constant current source adjusts the optical power fluctuation by <3% in a closed loop at -20℃~60℃. After the beam passes through a 2mm collimating lens, the divergence angle is <3° and it illuminates the ground vertically. The receiving unit 22 adopts a 32×1 SPAD array + 50ps resolution TDC. After accumulating 1000 pulses, a histogram is plotted and the peak value is taken to obtain the round-trip time t. The ground clearance calculation unit 23 executes Ha=c·t / 2 (c includes air refractive index correction) on the Cortex-M0+ core and performs a sliding average of 100 sets of results to output the ground clearance Ha of the hanging point with an update rate of 10Hz, a resolution of 1mm, and a range of 0.05-50m.

[0029] Furthermore, the calculation module 3 includes an attitude compensation unit 31, an altitude difference calculation unit 32, and a filtering and smoothing unit 33; The attitude compensation unit 31 is used to read the angle of the nine-axis IMU and calculate the tilt correction amount; The height difference calculation unit 32 is used to perform real-time arithmetic calculations of the height difference; The filtering and smoothing unit 33 is used to perform moving average filtering on the height difference to eliminate abrupt noise.

[0030] In this embodiment, the attitude compensation unit 31 uses an ICM-20948 nine-axis sensor to output data at 100Hz. The MCU runs Madgwick AHRS to calculate the hook pitch angle θ in real time. When |θ|>1°, the tilt correction is calculated according to δ=L·sinθ (L=95mm). The height difference calculation unit 32 reads the latest Hp and Ha in each laser update cycle (10Hz) and executes ΔH=Ha−Hp−δ. The result is stored as a 32-bit floating point. The filtering and smoothing unit 33 maintains a 10-point FIFO queue and performs a recursive average on the new ΔH. If the difference between the new value and the mean is >30mm, it is judged as a sudden noise and discarded. The output is a smoothed height difference ΔH_smooth with a delay of <100ms.

[0031] Furthermore, the decision alarm module 4 includes a threshold comparison unit 41, an audio-visual driving unit 42, and an interlocking signal output unit 43; The threshold comparison unit 41 is used to perform hardware comparison between the height difference and the preset warning value and danger value; The sound and light driving unit 42 is used to drive the buzzer and the red LED to flash when the height difference is below a threshold. The interlocking signal output unit 43 is used to output a 3.3V braking interlocking level to the speed difference controller in dangerous situations.

[0032] In this embodiment, the threshold comparison unit 41 uses a high-speed comparator TLV3501, setting a warning threshold of 0V corresponding to ΔH=+50mm and a danger threshold of 1.65V corresponding to ΔH=0mm. The DAC updates the threshold voltage via 1ms SPI to achieve software configuration. The sound and light drive unit 42 uses a PWM push-pull circuit. When warning is given, it outputs a 1kHz square wave to the buzzer (duty cycle 50%) and the red LED flashes at 1Hz. When danger occurs, the buzzer sounds continuously for 90dB and the LED flashes at 10Hz. The visual distance is >100m. The interlocking signal output unit 43 uses optocoupler isolation + NMOS open-drain (maximum sink current 500mA, rise time <10µs) to directly drive the electromagnet of the speed difference controller, completing rope locking within 0.1s.

[0033] Furthermore, the transmission and positioning module 5 includes a Beidou / GPS positioning unit 51, a 4G / 5G communication unit 52, and a data packaging unit 53; The Beidou / GPS positioning unit 51 is used to acquire the latitude and longitude coordinates of the operator at a frequency of 1Hz. The 4G / 5G communication unit 52 is used to wirelessly upload data to the cloud via the MQTT protocol; The data packaging unit 53 is used to encapsulate the height difference, alarm type, coordinates and timestamp into a JSON frame.

[0034] In this embodiment, the BeiDou / GPS positioning unit 51 uses the ATGM336H multi-system single-frequency chip, with a cold start time of <30s and a horizontal accuracy of 2.5mCEP. Data is output via UART in NMEA-0183 format. The 4G / 5G communication unit 52 uses the Cat.1 module ML302 (with built-in eSIM and support for TLS1.2 encryption). When the network is down, data is cached in 16MByteSPIFlash and automatically retransmitted after the network is restored. The data packaging unit 53 generates UTF-8 strings in the MCU according to the template {"id":"...","ΔH":...,"alert":...,"lon":...,"lat":...,"ts":...}, with each frame being <256 bytes and an additional 2-byte CRC checksum to ensure transmission reliability.

[0035] Furthermore, the analysis and traceability module 6 includes a cloud storage unit 61, a risk profiling unit 62, and a visualization and traceability unit 63; The cloud storage unit 61 is used to write the received data into the time-series database and retain it for three years; The risk profiling unit 62 is used to count the frequency of low-level hanging and high-use by personnel, work group, and date and generate a score. The visualization traceability unit 63 is used to overlay and display the operation path, alarm point location, and height difference curve on the Web terminal.

[0036] In this implementation, the cloud storage unit 61 uses InfluxDB to create an index based on "personnel-equipment-time," and sets three levels of downsampling at 30s, 5min, and 1h to save 80% of storage space and ensure that the original data can be traced back for three years. The risk profiling unit 62 uses FlinkSQL batch processing every morning to calculate the number of times each person is underutilized and overused, the average ΔH, and the duration. After normalization, a risk score of 0-100 is obtained, and a score >80 is automatically pushed to the safety administrator. The visualization and traceability unit 63 converts latitude and longitude into Web Mercator coordinates based on the Gaode Map API. Alarm points are marked with red flashing dots. Clicking on an alarm point will pop up the time, ΔH, and photo details. The Echarts line chart on the right simultaneously displays the ΔH curve of the entire operation, supports 1-second zooming and exporting PNG, and enables rapid accident review and safety education.

[0037] Please see Figure 8Secondly, a height difference identification method for low-hanging, high-hanging safety ropes of safety belts, used in the height difference identification system for low-hanging, high-hanging safety ropes of safety belts described in the first aspect, includes the following steps: The S1 height acquisition module 1 uses a 60GHz millimeter-wave radar to perform a fan-shaped scan of the work area, lock the highest reflection point of the human head, and output the dynamic value of head height in real time. Specifically, after the module is powered on, it first completes background noise learning and establishes a static clutter map; then, two cascaded 60GHz FMCWSoCs form a 4-transmit 8-receive virtual array using time-division MIMO, transmitting 256 chirp signals with a bandwidth of 5GHz per frame, which are radiated to the lower hemisphere through the antenna; the echo is sampled at 20MS / s by a 12-bit ADC after passing through an LNA and mixing, and Range-FFT and Doppler-FFT are performed to obtain a distance-velocity heatmap; the STM32H7 runs CFAR+DBSCAN clustering to extract candidate point clouds in the range of 0.5-2.5m and 0-2m / s, and removes the safety helmet brim according to the principle that the horizontal distance between the highest and second highest clusters on the Z-axis is >15mm and the vertical distance is <5mm. Finally, a Kalman filter is established for the head centroid to achieve stable tracking at 20Hz, and the dynamic head height value Hp with a resolution of 1mm is output through USB-CDC.

[0038] S2 hanging point laser ranging module 2 emits a 905nm laser pulse directly below the ground to obtain the height of the hanging point above the ground via Time-of-Flight (ToF) method, with a resolution of 1mm; Specifically, the VCSEL constant current source drive circuit emits a 905nm first-level safety laser pulse with a peak value of 25W, a pulse width of 5ns, and a repetition frequency of 10kHz under temperature closed-loop control; the beam diverges at an angle of less than 3° after passing through a 2mm collimating lens and illuminates the ground perpendicularly; a 32×1SPAD array receives the echo photons, and a histogram is formed by accumulating 1000 pulses with a resolution of 50ps using a TDC, and the round-trip time t is obtained by taking the highest peak value; the Cortex-M0+ executes Ha=c·t / 2 (including air refractive index correction) and performs a sliding average of 100 sets of results, finally outputting the hanging point height Ha above the ground with an update rate of 10Hz, a resolution of 1mm, and a range of 0.05-50m.

[0039] S3 calculation module 3 reads the hook attitude angle obtained from the nine-axis IMU, calculates the tilt correction amount, and calculates the real-time height difference; Specifically, the ICM-20948 outputs acceleration, angular velocity, and magnetic field data at 100Hz. The MCU runs Madgwick AHRS to calculate the hook pitch angle θ in real time. When |θ|>1°, the attitude compensation unit 31 calculates the tilt correction according to δ=L·sinθ (L=95mm). The height difference calculation unit 32 reads the latest Hp and Ha in each laser update cycle (10Hz), executes ΔH=Ha-Hp-δ, and stores the result as a 32-bit floating point. The filtering and smoothing unit 33 maintains a 10-point FIFO queue, performs a recursive average on the new ΔH, and if the difference between the new value and the mean is >30mm, it is judged as a sudden noise and discarded, and outputs a smooth height difference ΔH_smooth with a delay of <100ms.

[0040] S4 judgment alarm module 4 compares the height difference with a preset threshold and activates a local audible and visual alarm. Specifically, the high-speed comparator TLV3501 sets a warning threshold of 0V corresponding to ΔH = +50mm and a danger threshold of 1.65V corresponding to ΔH = 0mm. The DAC updates the threshold voltage via 1ms SPI. When ΔH_smooth < +50mm, the sound and light drive unit 42 drives the buzzer at 70dB with a 1kHz / 50% duty cycle and the red LED flashes at 1Hz. When ΔH_smooth ≤ 0mm, the buzzer is upgraded to a continuous 90dB sound, the LED flashes at 10Hz, and the interlock signal output unit 43 outputs a 3.3V / 500mA braking level through optocoupler isolation + NMOS open-drain, with a rise time <10µs. The speed difference controller electromagnet locks the rope within 0.1s.

[0041] The S5 transmission and positioning module 5 packages and uploads the altitude difference, alarm type, BeiDou / GPS coordinates and timestamp to the cloud. Specifically, the ATGM336H Beidou / GPS dual-mode chip has a cold start time of less than 30 seconds, outputs NMEA-0183 latitude and longitude at 1Hz, and has a horizontal accuracy of 2.5mCEP; the data packaging unit 53 generates a single frame of less than 256 bytes and adds a 2-byte CRC according to the JSON template {"id":"...","ΔH":...,"alert":...,"lon":...,"lat":...,"ts":...}; the Cat.1 module ML302 uploads data to the cloud via MQTToverTLS, automatically writes 16MByteSPIFlash when the network is down, and re-transmits the data after the network is restored to ensure data integrity.

[0042] The S6 analysis and traceability module 6 performs time-series storage, risk profile generation, and visualization of uploaded data, generating individual / team low-attachment-high-utilization trend reports to achieve closed-loop management; Specifically, the cloud storage unit 61 uses InfluxDB to create an index based on "personnel-equipment-time," and sets three levels of downsampling at 30s, 5min, and 1h, saving 80% of storage and retaining the original data for three years; the risk profiling unit 62 uses FlinkSQL batch processing every morning to count the number of times each person is underutilized and overused, the average ΔH, and the duration, and generates a risk score of 0-100 after normalization. A score >80 is automatically pushed to the safety administrator; the visualization and traceability unit 63 uses the Gaode Map API to convert latitude and longitude into Web Mercator coordinates, displays the work path as a blue broken line, and marks alarm points as red flashing dots. Clicking pops up the time, ΔH, and on-site photo details, and the Echarts line chart on the right simultaneously displays the entire ΔH curve, supports 1s-level zoom and PNG export, and completes data-driven closed-loop management.

[0043] The above-disclosed embodiments are merely preferred embodiments of the height difference identification system and method for low-hanging-high safety ropes of the present invention. Of course, they should not be construed as limiting the scope of the present invention. Those skilled in the art can understand that implementing all or part of the above embodiments and making equivalent changes in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A height difference recognition system for safety ropes used in low-to-high suspension applications, characterized in that, It includes a height acquisition module, a hanging point laser ranging module, a calculation module, a decision alarm module, a transmission positioning module, and an analysis and tracing module; the calculation module is connected to the height acquisition module, the hanging point laser ranging module, the decision alarm module, and the transmission positioning module respectively; the transmission positioning module is connected to the analysis and tracing module and the decision alarm module respectively. The height acquisition module is used to scan the shortest distance from the top of the worker's head to the bottom of his feet in real time and output the dynamic value of the head height. The hanging point laser ranging module is used to emit pulsed laser light directly below the ground and receive the reflected signal to obtain the height of the hanging point above the ground; The calculation module is used to calculate the height difference based on the dynamic value of the head height and the height of the hanging point from the ground; The decision alarm module is used to trigger a local audible and visual alarm based on the height difference and output a braking interlock signal; The transmission and positioning module is used to upload the height difference, alarm events and BeiDou / GPS coordinates to the cloud in real time; The analysis and traceability module is used to store alarm data, height difference trends, and work paths.

2. The height difference recognition system for low-hanging, high-attachment safety ropes for safety belts as described in claim 1, characterized in that, The height acquisition module includes a millimeter-wave radar sensing unit, a head reflection point locking unit, and a dynamic value output unit. The millimeter-wave radar sensing unit is used to transmit 60GHz millimeter-wave radar waves and receive human body reflected echoes. The head reflection point locking unit is used to identify the highest reflection point in the three-dimensional point cloud and eliminate interference from the safety helmet brim; The dynamic value output unit is used to convert the locked overhead distance into a digital quantity.

3. The height difference recognition system for low-hanging, high-attachment safety ropes for safety belts as described in claim 1, characterized in that, The hanging point laser ranging module includes a laser emitting unit, a receiving unit, and a ground clearance calculation unit; The laser emitting unit is used to emit a 905nm first-level safety laser pulse directly below the ground; The receiving unit is used to acquire the round-trip time of the laser pulse and convert it into an electrical signal; The ground clearance calculation unit is used to calculate the vertical distance between the attachment point and the ground based on the flight time.

4. The height difference recognition system for low-hanging, high-attachment safety ropes for safety belts as described in claim 1, characterized in that, The calculation module includes an attitude compensation unit, an altitude difference calculation unit, and a filtering and smoothing unit; The attitude compensation unit is used to read the angle of the nine-axis IMU and calculate the tilt correction amount; The height difference calculation unit is used to perform real-time arithmetic calculations of the height difference; The filtering and smoothing unit is used to perform moving average filtering on the height difference to eliminate abrupt noise.

5. The height difference recognition system for low-hanging, high-attachment safety ropes for safety belts as described in claim 1, characterized in that, The decision alarm module includes a threshold comparison unit, an audio-visual driving unit, and an interlocking signal output unit; The threshold comparison unit is used to perform hardware comparison between the height difference and the preset warning value and danger value; The sound and light driving unit is used to drive the buzzer and the red LED to flash when the height difference is below a threshold. The interlocking signal output unit is used to output a 3.3V braking interlocking level to the speed difference controller in dangerous situations.

6. The height difference recognition system for low-hanging, high-attachment safety ropes for safety belts as described in claim 1, characterized in that, The transmission and positioning module includes a BeiDou / GPS positioning unit, a 4G / 5G communication unit, and a data packaging unit; The Beidou / GPS positioning unit is used to acquire the latitude and longitude coordinates of the workers at a frequency of 1Hz; The 4G / 5G communication unit is used to wirelessly upload data to the cloud via the MQTT protocol; The data packaging unit is used to encapsulate the height difference, alarm type, coordinates and timestamp into a JSON frame.

7. A height difference identification method for low-hanging, high-attachment safety ropes for safety belts, used in the height difference identification system for low-hanging, high-attachment safety ropes for safety belts as described in any one of claims 1-6, characterized in that, Includes the following steps: The height acquisition module uses a 60GHz millimeter-wave radar to perform a fan-shaped scan of the work area, lock the highest reflection point of the human head, and output the dynamic value of head height in real time. The hanging point laser ranging module emits a 905nm laser pulse directly below the ground and obtains the height of the hanging point above the ground via Time-of-Flight (ToF) method. The calculation module reads the hook attitude angle obtained from the nine-axis IMU, calculates the tilt correction, and calculates the real-time height difference; The judgment alarm module compares the height difference with a preset threshold and activates a local audible and visual alarm. The transmission and positioning module packages and uploads the altitude difference, alarm type, BeiDou / GPS coordinates and timestamp to the cloud; The analysis and traceability module performs time-series storage, risk profile generation, and visualization of uploaded data, generating individual / team low-load high-use trend reports to achieve closed-loop management.

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