A dual-mode abnormality early warning method based on posture perception and a dual-end linkage system

Abstract

The application discloses a dual-mode abnormal early warning method and a dual-end linkage system based on posture sensing, and belongs to the technical field of posture sensing and intelligent early warning. The application realizes real-time collection of angular velocity and inclination angle data of a monitoring carrier through a six-axis posture sensor, adopts a dual-threshold dual-mode recognition algorithm independently developed, accurately distinguishes two types of abnormal events, namely instantaneous attitude loss of control and continuous attitude deviation, and triggers graded and differentiated early warning. Meanwhile, the application synchronously transmits early warning information to at least one supervision terminal through a wireless communication module, realizes multi-end linkage early warning and remote supervision, and solves the core pain points of the traditional scheme, such as false positives and false negatives, local single-end early warning, high recognition accuracy, strong expansibility, lightweight and easy deployment, and can be adapted to multiple application scenarios, such as campus safety, spacecraft attitude monitoring and industrial equipment protection, and has strong practicability and promotional value.

Description

Technical Field

[0001] The present invention belongs to the technical fields of attitude perception, intelligent early warning and Internet of Things, and particularly relates to a dual-modal abnormal early warning method based on attitude perception and a dual-end linkage system. Background Technique

[0002] In many fields such as daily production and life, space engineering, and industrial monitoring, the abnormal attitude of a carrier is a high-frequency safety risk source. For example, in the campus scenario, students falling and getting injured caused by pulling the stool as a prank, and backward falling accidents caused by the bad habit of tilting the stool are high-frequency safety hazards on campus; in space engineering, the sudden attitude out-of-control and continuous attitude deviation of a spacecraft in orbit will directly lead to the failure of space missions; in the industrial scenario, the abnormal attitude of engineering vehicles and mechanical equipment will cause overturning and collision accidents. There are two core pain points in the existing protection and early warning schemes for abnormal attitudes: One is the insufficient accuracy of abnormal recognition. Only a single threshold is used for judgment, and it is impossible to distinguish normal attitude adjustment from abnormal attitude change, resulting in easy false alarms and missed alarms, and it cannot adapt to complex actual application scenarios; The other is that only local single-end early warning can be realized, and remote multi-end linkage supervision cannot be realized. After a risk occurs, the management personnel cannot grasp the situation and conduct emergency disposal in a timely manner, and the protection effect is limited. At the same time, the existing schemes are mostly large-scale and fixed designs, and it is impossible to achieve lightweight and unobtrusive installation, and it is difficult to promote and apply. Therefore, there is an urgent need to develop an attitude abnormal early warning scheme that can accurately distinguish different types of attitude abnormalities, realize multi-end linkage remote supervision, and is lightweight and easy to deploy to solve the deficiencies of the existing technology. Summary of the Invention

[0003] Aiming at the defects and pain points of the existing technology, the purpose of the present invention is to provide a dual-modal abnormal early warning method based on attitude perception and a dual-end linkage system. Through a dual-threshold dual-modal intelligent recognition algorithm, it can accurately distinguish two types of abnormal events: instantaneous attitude out-of-control and continuous attitude deviation. At the same time, through wireless communication, multi-end linkage early warning and remote supervision are realized, with the advantages of high recognition accuracy, flexible deployment, and strong expansibility.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: A dual-modal abnormal early warning method based on attitude perception, comprising the following steps: S1 Real-time acquisition of the three-axis angular velocity data and inclination data of the monitored carrier through a six-axis attitude sensor; S2 Preset angular velocity thresholds and inclination thresholds, and compare the collected real-time data with the preset thresholds; S3 If the absolute value of any one axis of the real-time three-axis angular velocity exceeds the preset angular velocity threshold, it is determined as the first type of abnormal event, and the first-level early warning mode is triggered; S4 If the real-time three-axis angular velocities do not exceed the preset angular velocity threshold, but the absolute value of the real-time tilt angle exceeds the preset tilt angle threshold, it is determined to be a second type of abnormal event and triggers the second-level warning mode; The S5 warning information is transmitted synchronously to at least one monitoring terminal via a wireless communication module, enabling multi-terminal linkage warning and remote control. Furthermore, in step S3, the first type of abnormal event is the instantaneous attitude loss of the monitoring carrier, the first-level early warning mode is the highest priority early warning, which, once triggered, overrides other early warning modes, drives the early warning module to issue a continuous audible and visual early warning, and simultaneously resets the early warning timer cycle. Furthermore, in step S4, the second type of abnormal event is a continuous attitude deviation event of the monitoring carrier, and the second-level early warning mode is a secondary priority early warning. After being triggered, the early warning module is driven to issue a pulsed cyclical audible and visual early warning until the tilt angle of the monitoring carrier is restored to the preset safe range. Furthermore, in step S5, the wireless communication module includes, but is not limited to, a Bluetooth module, a WiFi module, a ZigBee module, an NB-IoT module, and a 4G / 5G cellular communication module. The warning information can be synchronously transmitted to one or more monitoring terminals through the wireless communication module, realizing bidirectional data transmission and control from a single data acquisition terminal to multiple monitoring terminals and from multiple data acquisition terminals to a single monitoring terminal. Furthermore, step S6 is also included: After receiving the warning information, the monitoring terminal uses a display module to visually distinguish between the first type of abnormal event and the second type of abnormal event using a unique digital code and a differentiated flashing frequency. Furthermore, step S7 is included: both the data acquisition terminal and the monitoring terminal store the trigger time, type, and duration data of abnormal events, and generate an abnormal event statistical report for subsequent risk analysis and management optimization. This invention also provides a dual-terminal linkage early warning system based on attitude perception to implement the above method, comprising at least one data acquisition terminal and at least one monitoring terminal; the data acquisition terminal includes a first main control module, a six-axis attitude sensor module, a first wireless communication module, a first early warning module, and a first power supply module, wherein the six-axis attitude sensor module, the first wireless communication module, and the first early warning module are all electrically connected to the first main control module; the monitoring terminal includes a second main control module, a second wireless communication module, a display module, a second early warning module, and a second power supply module, wherein the second wireless communication module, the display module, and the second early warning module are all electrically connected to the second main control module; the first wireless communication module and the second wireless communication module establish a wireless communication link to realize synchronous data transmission between the data acquisition terminal and the monitoring terminal. Further, the first main control module is an ESP32 main control chip, the second main control module is an ESP32S3 main control chip, and the six-axis attitude sensor module is an MPU6050 six-axis attitude sensor.

[0005] Compared with the prior art, the present invention has the following advantages: 1. Significantly improved recognition accuracy: This invention independently developed a dual-threshold dual-modal intelligent recognition algorithm, which accurately distinguishes between two completely different abnormal events, namely instantaneous attitude loss of control and continuous attitude deviation, by using dual parameters of angular velocity and tilt angle. This fundamentally solves the core pain points of false alarms and missed alarms in traditional solutions, and the risk recognition accuracy can reach over 99%. 2. Enables multi-terminal remote monitoring: This invention establishes a linkage architecture between the data collection terminal and the monitoring terminal through a wireless communication module, breaking through the limitations of traditional single-terminal local early warning and realizing millisecond-level synchronous transmission of risk early warning information. Managers can grasp abnormal situations and carry out emergency response in the first instance, greatly improving the safety protection effect. 3. Highly scalable: The wireless communication module of this invention covers all types of wireless communication methods such as Bluetooth, WiFi, and cellular networks. It supports networking modes of single terminal to multiple monitoring terminals and multiple data collection terminals to a single monitoring terminal. It can be adapted to multiple application scenarios such as campus security, spacecraft attitude monitoring, industrial equipment protection, and vehicle anti-tipping. At the same time, it can be expanded to have abnormal data statistical analysis functions to meet the needs of refined management. 4. Lightweight and easy to deploy: The data acquisition terminal of this invention adopts an integrated modular design, which is small in size and can be installed by adhesive structure without modifying the original structure of the monitoring carrier. The hardware cost is low and it can be quickly deployed in batches, which has strong practicality and promotion value. Attached Figure Description Figure 1 This is a schematic diagram of the hardware structure of the data acquisition terminal of the present invention; Figure 2 This is a schematic diagram of the hardware structure of the monitoring terminal of the present invention; Figure 3 This is a block diagram of the overall system architecture of the present invention. Detailed Implementation

[0006] The present invention will be further described in detail below with reference to specific embodiments. This embodiment provides a dual-modal anomaly early warning method and a dual-end linkage early warning system based on attitude perception. The specific implementation method is as follows: 1. System Hardware Setup This system consists of two parts: a data acquisition terminal and a monitoring terminal. - Data Acquisition Terminal: The first main control module uses an ESP32 main control chip, an MPU6050 six-axis attitude sensor (with a built-in three-axis gyroscope and accelerometer) as the six-axis attitude sensor module, an active buzzer as the first warning module, a Bluetooth BLE / WiFi module as the first wireless communication module, and a 7.4V lithium battery as the first power supply module. All hardware modules are soldered onto a square circuit board, achieving integrated design. The overall size is compact, and adhesive backing allows for direct attachment to the bottom of the monitoring carrier. - Monitoring Terminal: The second main control module uses an ESP32S3 main control chip, a 4-digit LED display module, an active buzzer as the second warning module, a Bluetooth BLE / WiFi module as the second wireless communication module, and a 7.4V lithium battery as the second power supply module. All hardware modules are integrated onto a square circuit board and can be placed at fixed monitoring points. The first wireless communication module of the data acquisition terminal establishes a wireless communication link with the second wireless communication module of the monitoring terminal. The data refresh cycle is 50ms, ensuring stable and delay-free communication. 2. Core Methodology Implementation Steps The dual-modal anomaly early warning method in this embodiment is implemented in the following steps: After the S1 system is powered on and initialized, the MPU6050 six-axis attitude sensor of the acquisition terminal completes zero-bias calibration. It then collects the three-axis angular velocity data, roll angle and pitch angle data of the monitoring vehicle in real time with a period of 50ms and transmits them to the ESP32 main control chip. The S2 pre-sets the angular velocity threshold to 80° / s and the tilt angle threshold to 25° in the main control program. The ESP32 main control chip compares the real-time collected data with the preset thresholds. S3 If the absolute value of any one of the real-time three-axis angular velocities exceeds 80° / s, it is determined to be a Class I abnormal event (instantaneous loss of control of the monitoring carrier's attitude, corresponding to sudden risks such as stool pulling or impact), triggering the highest priority warning mode of the first level: the ESP32 main control chip drives the active buzzer to emit a continuous audible and visual warning at a frequency of 2500Hz, with a timing period of 5 seconds. If the abnormality is triggered again within the period, the timing is reset, and at the same time, the "FAST" warning command is sent to the monitoring terminal through the wireless communication module. S4 If the real-time three-axis angular velocities do not exceed 80° / s, but the absolute value of the roll or pitch angle exceeds 25°, it is determined to be a second type of abnormal event (the monitoring carrier continuously deviates in attitude, corresponding to risks such as tilting and continuous tilting), triggering the second-level sub-priority warning mode: the ESP32 main control chip drives the active buzzer to issue a pulse-type cyclical audible and visual warning of "100ms sound, 1000ms pause", and at the same time, it sends a "SLOW" warning command to the monitoring terminal through the wireless communication module. S5 When the attitude of the monitoring carrier returns to normal and both the angular velocity and tilt angle return to the preset safe range, the warning will be stopped immediately, the buzzer will be turned off, and a "STOP" release command will be sent to the monitoring terminal. After receiving an early warning command, the S6 monitoring terminal displays the corresponding unique code on a 4-digit LED display: when receiving the "FAST" command, it displays "9901" and flashes rapidly at 100ms intervals; when receiving the "SLOW" command, it displays "7701" and flashes slowly in a pattern of 800ms on and 200ms off; when receiving the "STOP" command, it resumes the "----" standby display and can simultaneously trigger the monitoring terminal's buzzer to alert management personnel. Both the S7 data acquisition terminal and the monitoring terminal use built-in storage modules to record the trigger time, type, and duration of all abnormal events, and regularly generate abnormal event statistical reports for subsequent risk analysis and management optimization. 3. Expanded Implementation Methods In this embodiment, the wireless communication module can be replaced with a WiFi module, enabling synchronous transmission of early warning information to multiple monitoring terminals such as computers and mobile phones via a local area network / Internet, achieving cross-regional remote monitoring. Alternatively, multiple data acquisition terminals can be networked with a single monitoring terminal to achieve centralized management of dozens of data acquisition terminals from a single monitoring terminal, adapting to large-scale application scenarios such as school classrooms and factory equipment clusters. The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A dual-modal anomaly early warning method based on attitude perception, characterized in that, Includes the following steps: S1 uses a six-axis attitude sensor to collect and monitor the three-axis angular velocity and tilt angle data of the carrier in real time; S2 presets angular velocity thresholds and tilt angle thresholds, comparing the collected real-time data with the preset thresholds; S3 If the absolute value of any one of the real-time three-axis angular velocities exceeds the preset angular velocity threshold, it is determined to be a first-type abnormal event and triggers the first-level warning mode. S4 If the real-time three-axis angular velocities do not exceed the preset angular velocity threshold, but the absolute value of the real-time tilt angle exceeds the preset tilt angle threshold, it is determined to be a second type of abnormal event and triggers the second-level warning mode; The S5 warning information is transmitted synchronously to at least one monitoring terminal via a wireless communication module, enabling multi-terminal linkage warning and remote control.

2. The method according to claim 1, characterized in that, In step S3, the first type of abnormal event is the instantaneous attitude loss of the monitoring carrier. The first-level early warning mode is the highest priority early warning. After being triggered, it covers other early warning modes, drives the early warning module to issue a continuous audible and visual early warning, and resets the early warning timer cycle.

3. The method according to claim 1, characterized in that, In step S4, the second type of abnormal event is the continuous attitude deviation event of the monitoring carrier. The second-level early warning mode is a secondary priority early warning. After being triggered, the early warning module is driven to issue a pulsed cyclical audible and visual early warning until the tilt angle of the monitoring carrier is restored to the preset safe range.

4. The method according to claim 1, characterized in that, In step S1, the six-axis attitude sensor is an MPU6050 sensor with a built-in three-axis gyroscope and a three-axis accelerometer, and the data acquisition period is 50ms.

5. The method according to claim 1, characterized in that, In step S5, the wireless communication module includes, but is not limited to, Bluetooth module, WiFi module, ZigBee module, NB-IoT module, and 4G / 5G cellular communication module. The warning information can be synchronously transmitted to one or more monitoring terminals through the wireless communication module, realizing bidirectional data transmission and control from a single collection terminal to multiple monitoring terminals and from multiple collection terminals to a single monitoring terminal.

6. The method according to claim 1, characterized in that, It also includes step S6: After receiving the warning information, the monitoring terminal uses a display module to visually distinguish between the first type of abnormal event and the second type of abnormal event using a unique digital code and a differentiated flashing frequency.

7. The method according to claim 1, characterized in that, It also includes step S7: both the data acquisition terminal and the monitoring terminal store the trigger time, type, and duration data of abnormal events, and generate an abnormal event statistical report for subsequent risk analysis and management optimization.

8. A posture-aware-based dual-end linkage early warning system implementing the method of any one of claims 1-7, characterized in that, The system includes at least one data acquisition terminal and at least one monitoring terminal. The data acquisition terminal includes a first main control module, a six-axis attitude sensor module, a first wireless communication module, a first early warning module, and a first power supply module. The six-axis attitude sensor module, the first wireless communication module, and the first early warning module are all electrically connected to the first main control module. The monitoring terminal includes a second main control module, a second wireless communication module, a display module, a second early warning module, and a second power supply module. The second wireless communication module, the display module, and the second early warning module are all electrically connected to the second main control module. The first wireless communication module and the second wireless communication module establish a wireless communication link to achieve synchronous data transmission between the data acquisition terminal and the monitoring terminal.

9. The system according to claim 8, characterized in that, The data acquisition terminal adopts an integrated modular design and is installed on the monitoring carrier through an adhesive fixing structure, without the need to modify the original structure of the monitoring carrier.

10. The system according to claim 8, characterized in that, The display module is a digital tube display module or an LCD display module, which can distinguish different types of abnormal events through different digital codes and flashing frequencies.

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