A method for low-speed anti-falling identification of an intelligent high-altitude safety belt

Abstract

The application provides a kind of intelligent high-altitude safety belt low-speed anti-falling identification method, belongs to high-altitude operation safety monitoring technical field.The technical scheme is: obtaining the operation state data of personnel and safety belt restraint system, determining personnel motion state, actual restraint response and operation function mode;Determine the constraint intervention state and the physical response opportunity interval, respectively judge the positive constraint failure state and the reverse constraint failure state;Determine the active recovery state and the sustained effectiveness of the two types of constraint failure state;When personnel continuously descend at low speed, at least one constraint failure state is continuously effective and the active recovery state is not established, determine the low-speed out-of-control descent state and generate the identification result.The beneficial effects of the present application are: it can identify low-speed out-of-control descent by combining personnel motion, constraint response and operation function mode, which is beneficial to reduce false identification of normal descent, work positioning adjustment and controlled descent, and improve the accuracy of low-speed falling identification.

Description

Technical Field

[0001] This invention relates to the field of high-altitude operation safety monitoring technology, and in particular to a method for identifying low-speed fall prevention using intelligent high-altitude safety belts. Background Technology

[0002] As high-altitude work safety management develops towards digitalization and intelligence, safety belts are gradually transforming from simple passive protective equipment into intelligent protection systems that integrate human motion monitoring, constraint force detection, communication transmission, and risk identification functions.

[0003] Existing fall detection technologies typically utilize parameters such as acceleration, attitude, velocity, displacement, rope tension, or impact load to identify rapid falls and impact events by threshold judgment, time series analysis, or multi-sensor fusion. Some technologies can also combine changes in safety rope tension, descent device status, and personnel movement trends to generate risk alarms, providing technical support for monitoring and safety management of high-altitude operations.

[0004] However, some existing methods mainly establish identification rules for fall events with obvious characteristics such as free fall, rapid descent, or sudden increase in impact load, and usually use acceleration, velocity, force, or duration exceeding a preset threshold as the basis for judgment.

[0005] When a person moves slowly and continuously in a decreasing direction, and the corresponding motion characteristics resemble a normal descent, a position adjustment during work positioning, or a normal controlled descent, relying solely on motion or force parameters is insufficient to accurately determine whether the descent has gone out of control. Existing methods often struggle to simultaneously consider different operational modes, effective constraint paths, activity margins, and constraint intervention states to determine whether the seatbelt restraint system has met the physical conditions required to respond or bear weight. Consequently, it is difficult to further distinguish between missing, delayed, insufficient, or interrupted actual constraint responses. Even if force is detected on the restraint components, it cannot be concluded that the person's movement is effectively controlled. It is still necessary to determine whether the post-response changes in the person's movement meet the reverse inhibition requirements of non-load-bearing movement, work positioning bearing, or controlled descent modes.

[0006] In addition, existing methods do not adequately consider the active recovery by personnel, the continued effectiveness of constraint failure states, and the correspondence between different states over continuous time ranges. This can easily lead to misjudging normal controlled descent as a dangerous event, or failing to identify continuous low-speed uncontrolled descent when safety constraints fail to function as expected. Summary of the Invention

[0007] The purpose of this invention is to provide an intelligent high-altitude safety belt low-speed fall prevention identification method that can combine personnel movement, constraint response and work function mode recognition to identify low-speed uncontrolled descent, which is beneficial to reduce misidentification of normal descent, work positioning adjustment and controlled descent, and improve the accuracy of low-speed fall identification.

[0008] This invention is achieved through the following measures: 1. A method for intelligent high-altitude safety belt low-speed fall prevention identification, characterized by comprising the following steps: S1, acquire the operational status data of high-altitude workers and their safety belt restraint systems, and determine the personnel's motion status, actual restraint response, and operational function mode; S2, determine the constraint intervention state based on the operation status data, and determine the physical response opportunity range based on the operation status data and the constraint intervention state; S3, when the physical response opportunity interval indicates that the safety constraint should be responded to, a positive response expectation is determined based on the operation status data; when the actual constraint response does not meet the positive response expectation, a positive constraint failure state is determined. S4, when the actual constraint response indicates that the safety constraint has been responded to, the reverse inhibition expectation is determined according to the operation function mode; when the personnel movement change after the response does not conform to the reverse inhibition expectation, the reverse constraint failure state is determined. S5. Determine the active recovery state based on the personnel movement state, and determine the continued effectiveness of the two types of constraint failure states based on the formation conditions of the two types of constraint failure states and the active recovery state. S6, when the person continues to descend at a low speed, at least one constraint failure state remains effective, and the active recovery state is not established, determine the low-speed uncontrolled descent state and generate a low-speed fall identification result.

[0009] The invention also has the following specific features: Step S1 includes: The system collects raw motion data of workers at height using a human motion monitoring device and raw force data along the force transmission path of the safety belt restraint system using a safety restraint response monitoring device. The raw motion data and raw force data are time-aligned and generated as human motion monitoring data and safety restraint monitoring data, respectively. The work status data includes at least the human motion monitoring data, the safety restraint monitoring data, and work function mode configuration information. The movement state of the person is determined based on the changes in the human motion monitoring data within a continuous time range. The movement state of the person includes the movement direction state, the movement continuity state, and the posture state. The operation function mode is determined based on the operation function mode configuration information and the connection status of at least one of the safety rope, positioning rope and descent device. The operation function mode includes non-load-bearing movement mode, work positioning load-bearing mode and controlled descent mode. The actual constraint response is determined based on the force reference state corresponding to the operation function mode and the changes in the safety constraint monitoring data within a continuous time range. The actual constraint response includes the constraint response stage and the constraint response change state.

[0010] Step S2, which involves determining the constraint intervention status based on the work status data, includes: Based on the personnel movement status and the operation function mode, and combined with at least one of the following in the safety belt restraint system: the connection status of the restraint components, the amount of safety rope released, the relative height change of the personnel, and the relative direction information of the attachment point, the changing trend of the required length of the effective restraint path and the degree of consumption of the activity margin are determined; wherein, the effective restraint path is the connection path that can transmit restraint force between the personnel and the attachment point or load-bearing device according to the current connection, detour, and guidance relationship, and the activity margin is the margin that the restraint components allow for normal personnel movement before reaching the condition of transmitting restraint force; The constraint intervention state is determined based on the changing trend of the required length of the effective constraint path and the degree of consumption of the activity margin. The constraint intervention state includes non-intervention state, intervention approaching state, response condition met state, and bearing condition met state. In the non-load-bearing movement mode, when the movement of the person does not continuously increase the length required for the effective constraint path and does not cause the seat belt restraint system to approach the physical conditions that should be responded to, the non-intervention state is determined; when the movement of the person continuously increases the length required for the effective constraint path and consumes the activity margin, but has not yet reached the point where the restraint member should transmit restraint force, the intervention approach state is determined; when the person continues to move in the current direction of movement, which should cause the restraint member to start or continue to transmit restraint force, the response condition is determined; when the restraint member should bear all or part of the person's load, the load-bearing condition is determined. In the working positioning bearing mode or the controlled descent mode, the response condition establishment state or the bearing condition establishment state is determined according to the current operation stage and load transfer relationship; The determination of the constraint intervention state is not contingent upon the actual constraint response having already occurred.

[0011] Step S2, which involves determining the physical response opportunity range based on the operation status data and the constraint intervention status, includes: Based on the constraint intervention status, the degree of consumption of the activity margin, the degree of determination of the effective constraint path relationship, the continuity of the constraint intervention status, and the operation function mode, the physical response opportunity interval is determined, which includes a no-response interval, a responsive interval, a response interval, and a load-bearing interval. When the system is in the non-intervention state, or in the intervention approaching state but it can be confirmed that the activity margin is still sufficient to meet the current personnel movement, the no-response interval is determined; when the intervention approaching state continues, but the degree of certainty of the activity margin or the effective constraint path relationship is insufficient to confirm that the constraint member must respond, the responsive interval is determined; when the response condition is continuously confirmed, and the personnel movement, the activity margin, and the effective constraint path jointly indicate that the constraint member should start or continue to transmit constraint force, the respondable interval is determined; when the bearing condition is met, and the current operation stage requires the constraint member to bear all or part of the personnel load, the bearing interval is determined. When the personnel movement state, the activity margin, the effective constraint path, or the operation function mode changes, the physical response opportunity interval is shifted to the interval corresponding to the changed physical conditions; wherein, the response interval and the bearing interval indicate that the safety constraint should be responded to.

[0012] Step S3 includes: The positive response expectation is determined based on the operation status data and the constraint intervention status. The positive response expectation includes response initiation expectation, response phase expectation, response change expectation, and response duration expectation. A positive response observation process is set up based on the normal response process of the seat belt restraint system, and the actual restraint response is compared with the expected positive response. The positive constraint failure states include: a response missing state where the actual constraint response has not yet started after the positive response observation process ends; a response delay state where the actual constraint response starts or reaches the expected response stage after the positive response observation process ends; a response insufficiency state where the actual constraint response has been generated but has not reached the constraint response stage, constraint response change state, or bearing requirement corresponding to the expected positive response; and a response interruption state where the actual constraint response once reached the expected positive response but was abnormally weakened or interrupted during the period when the safety constraint should have responded.

[0013] Step S4 includes: Based on the operational function mode and the constraint response stage and constraint response change state corresponding to the actual constraint response, the expected reverse suppression is determined; wherein, the operational function mode includes non-load-bearing movement mode, work positioning load-bearing mode, and controlled descent mode; In the non-load-bearing movement mode, the reverse inhibition is expected to include a reduction in the continuous movement of the person along the direction of height reduction, and a transition to a finite movement that stops or ceases to develop along the direction of height reduction. In the working positioning and bearing mode, the reverse suppression is expected to include a reduction in the downward trend of personnel and to maintain a relatively stable height after the load transfer is completed, or only to perform posture or position adjustments that do not result in continuous downward movement; In the controlled descent mode, the reverse inhibition expectation includes maintaining a relationship between the motion state of the descent device, the actual constraint response, and the descent motion of the personnel, corresponding to the allowed descent, deceleration, braking, or stop state; Within a continuous time range after the seat belt restraint system generates a response, the change in the person's motion after the response is determined based on the person's motion state, and the change in the person's motion after the response is compared with the expected reverse inhibition. When the change in personnel movement after the response does not conform to the expected reverse inhibition corresponding to the operation function mode, the reverse constraint failure state is determined.

[0014] Step S5, which involves determining the active recovery state based on the person's movement state, includes: When the descent trend of a person continues to weaken, the continuity of descent is interrupted, or an upward trend appears, and the corresponding change in movement is not due to the normal function of the rope rebound, the descent device, or the normal response of the seat belt restraint system, and is accompanied by at least one of the following: adjustment of the person's posture, change of movement direction, or change of load-bearing relationship, an active recovery sign is identified. After the aforementioned signs of active recovery appear, the process enters the active recovery confirmation process, and continuously determines whether the personnel descent is interrupted, whether the personnel posture adjustment is completed, and whether the personnel movement remains stable. When the continuous movement of personnel along the direction of decreasing height stops and the height remains basically stable or forms a continuous upward trend without reverting to a continuous descent, and when the change in the actual constraint response or load-bearing relationship is adapted to the personnel regaining active support, active support reconstruction is confirmed, and the active recovery state is determined to be established. When only the active recovery indication is identified or the active recovery is in the process of pending confirmation, it is determined that the active recovery status has not been established.

[0015] Step S5, which involves determining the continued effectiveness of the two types of constraint failure states based on the formation conditions of the two types of constraint failure states and the active recovery state, includes: After the positive constraint failure state is formed, the physical response opportunity interval, the expected positive response, and the actual constraint response are continuously monitored; when the physical response opportunity interval still indicates that the safety constraint should be responded to, the actual constraint response still does not meet the expected positive response, and the active recovery state is not established, the positive constraint failure state is kept in effect. After the reverse constraint failure state is formed, the actual constraint response, the reverse suppression expectation, and the personnel movement change after the response are continuously monitored; when the actual constraint response continues to exist, the current operation relationship still requires the constraint component to control the personnel movement, the personnel movement change after the response still does not meet the reverse suppression expectation, and the active recovery state is not established, the reverse constraint failure state is kept in effect. When the conditions for the formation of the corresponding constraint failure state no longer hold, or when the active recovery state is established and the current dangerous motion condition corresponding to the corresponding constraint failure state disappears, it is determined that the corresponding constraint failure state no longer remains valid. When the conditions for the formation of the corresponding constraint failure state disappear and then reappear, the corresponding constraint failure state and its continued validity are re-determined based on the personnel movement state, the physical response opportunity interval, and the actual constraint response after the reappearance.

[0016] Step S6, which describes determining a low-speed runaway descent state when the person continues to descend at a low speed, at least one constraint failure state remains effective, and the active recovery state is not established, includes: Determine the continuous time range of the personnel's continuous low-speed descent, the continuous time range of at least one of the positive constraint failure state and the reverse constraint failure state that is continuously effective, and the continuous time range of the active recovery state that is not established, and align each continuous time range in time. When the personnel continue to descend at a low speed, at least one constraint failure state remains effective, and the active recovery state is not established, all of which are simultaneously established and continuously confirmed during the same continuous operation process, the low-speed uncontrolled descent state is determined.

[0017] Step S6, generating the low-speed fall identification result, includes: The low-speed fall identification result is generated based on the low-speed uncontrolled descent state, and the start time of the person's continuous low-speed descent and the determination time of the low-speed uncontrolled descent state are recorded. After the low-speed runaway descent state is formed, the continuous effectiveness of at least one of the following is continuously monitored: the personnel continue to descend at a low speed; the positive constraint failure state and the reverse constraint failure state; and the active recovery state. The low-speed runaway descent state is maintained when the personnel continue to descend at a low speed, at least one constraint failure state remains valid, and the active recovery state remains invalid. The current low-speed runaway descent state ends when the personnel stop descending at a low speed, both the positive constraint failure state and the negative constraint failure state cease to be valid, or the active recovery state is established. When the operation function mode changes, the positive response expectation and the reverse inhibition expectation are updated according to the changed operation function mode, with the time when the operation function mode changes as the dividing line. Based on this, the continued validity of the positive constraint failure state and the reverse constraint failure state is re-determined, and the low-speed runaway descent state is re-evaluated. When the person continues to descend at a low speed without interruption, at least one constraint failure state remains effective, and the active recovery state is not established, the current low-speed uncontrolled descent state is maintained; when the original dangerous physical process ends and the above three conditions are met again, a new low-speed fall identification result is generated.

[0018] The beneficial effects of this invention are: it can identify low-speed uncontrolled descent by combining personnel movement, constraint response and work function mode, which helps to reduce misidentification of normal descent, work positioning adjustment and controlled descent, and improve the accuracy of low-speed fall identification; This invention determines the constraint intervention state and physical response opportunity range based on personnel movement status, actual constraint response, and operational function mode. When a safety constraint should respond, it identifies a positive constraint failure state by comparing the actual constraint response with the expected positive response. When an actual constraint response has occurred, it identifies a negative constraint failure state by comparing the personnel movement changes after the response with the expected negative inhibition. Simultaneously, it combines the active recovery state and the continued effectiveness of both types of constraint failure states to perform time alignment and joint judgment on continuous low-speed descent of personnel. This helps distinguish between normal descent movements initiated by personnel, position adjustments during work positioning, normal controlled descent, and low-speed uncontrolled descent, reducing misidentification and omissions caused by judging based on a single movement threshold or force threshold. It also improves adaptability to different high-altitude operation processes such as non-load-bearing movement, load-bearing work positioning, and controlled descent, and enhances the accuracy of low-speed fall identification. Attached Figure Description

[0019] Figure 1 This is an overall flowchart of the intelligent high-altitude safety belt low-speed fall prevention identification method provided in Embodiment 1 of the present invention. Detailed Implementation

[0020] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0021] Example 1 This embodiment provides a method for identifying low-speed fall arrest using intelligent high-altitude safety belts, used to identify low-speed uncontrolled descent states that occur during climbing, moving, work positioning, or controlled descent of high-altitude workers. This embodiment uses the example of personnel climbing ladders, towers, scaffolding, or building components for high-altitude work, and the invention is not limited to specific work locations, work objects, or the specific structure of the safety belt restraint system.

[0022] Workers operating at heights wear full-body safety harnesses. These harnesses are connected to anchor points or load-bearing devices via at least one of the following: safety rope, positioning rope, connecting strap, load-bearing rope, descent device, and connectors, forming a safety harness restraint system. The restraint components include at least one of the following: safety rope, positioning rope, connecting strap, load-bearing rope, and components that cooperate with it to transmit restraint forces or bear the load on the worker. The safety restraint refers to the restraining effect of the safety harness restraint system transmitting restraint forces or bearing all or part of the worker's load through corresponding restraint components.

[0023] The operational modes include a non-load-bearing movement mode, a work positioning and load-bearing mode, and a controlled descent mode. In the non-load-bearing movement mode, personnel primarily rely on their hands, feet, or the work surface for active support, with the safety rope serving as a backup restraint, and can be in a slack or pre-tensioned state. As personnel continuously move in the direction that prompts the safety rope to engage, the safety rope's slack is gradually consumed, and it can enter the initial response stage or the load-bearing response stage. In the work positioning and load-bearing modes and the controlled descent mode, the positioning rope, safety rope, load-bearing rope, or descent device can continuously bear all or part of the personnel's load at the start of the operation or during the operation, without requiring the restraint components to gradually transition from a slack state to the load-bearing response stage as a prerequisite for judgment.

[0024] To acquire operational status data of workers at height and their safety harness restraint systems, a human motion monitoring device and a safety restraint response monitoring device are installed on the full-body safety harness. These devices are communicatively connected to a data processing device. The human motion monitoring device collects raw motion data from the worker and generates human motion monitoring data based on this data. The safety restraint response monitoring device collects raw force data along the force transmission path of the safety harness restraint system and generates safety restraint monitoring data based on this data.

[0025] In this embodiment, the human motion monitoring device employs an inertial detection unit, which is located in the waist or back connection area of ​​the full-body seatbelt to collect acceleration and angular motion data of the person. The safety restraint response monitoring device employs a tension detection unit, which is located at the force connection position of the restraint component, connector, or full-body seatbelt to detect force changes along the force transmission path of the seatbelt restraint system.

[0026] In this embodiment, the force transmission path describes the transmission path of the restraint force when the seat belt restraint system has generated actual force, and is used to determine the detection location of the original force data and the actual restraint response; the effective restraint path in step S2 describes the connection path that can transmit the restraint force between the person and the attachment point or load-bearing device according to the current connection, detour, and guidance relationship. The effective restraint path can be determined before the actual restraint response is generated, and can also form a corresponding force transmission path after the actual restraint response is generated; the two represent different states.

[0027] The data processing device can be installed on the full-body seat belt, or it can be a mobile terminal, edge processing device, or back-end server that communicates with the full-body seat belt. The data processing device receives human motion monitoring data and safety restraint monitoring data according to a unified time base, so that the human movement process and the response process of the seat belt restraint system establish a time correspondence.

[0028] The operational status data includes at least human motion monitoring data, safety restraint monitoring data, and operational function mode configuration information. It may also include at least one auxiliary status information among restraint component connection status, safety rope extension, personnel relative height change, descent device movement status, and anchor point relative direction information. The data processing device executes steps S1 to S6 based on the operational status data to identify whether the high-altitude worker is in a low-speed, uncontrolled descent state.

[0029] S1. Acquire operational status data of high-altitude workers and their safety belt restraint systems to determine personnel motion status, actual restraint response, and operational function mode, specifically including: The human motion monitoring device continuously collects raw motion data of workers at height, while the safety restraint response monitoring device continuously collects raw force data along the force transmission path of the safety belt restraint system. The data processing device performs unified time stamping and time alignment on the raw motion and force data, establishes a time correspondence between the worker's movement process and the safety belt restraint system's response process, and generates separate human motion monitoring data and safety restraint monitoring data.

[0030] The raw motion data includes at least acceleration data and angular motion data collected by the inertial detection unit, and the raw force data includes at least force data collected by the tension detection unit. The operational status data includes at least human motion monitoring data, safety constraint monitoring data, and operational function mode configuration information, and may also include at least one of the following auxiliary status information: constraint component connection status, safety rope extension, personnel relative height change, descent device motion status, and attachment point relative direction information.

[0031] The data processing device checks whether the original motion data and the original force data are continuous, within the effective detection range, and maintain a time correspondence. For isolated abrupt changes, it does not directly identify them as changes in the overall movement of the personnel or changes in the actual constraint response. Instead, it combines the continuous changes before and after the abrupt change with the time correspondence between the two types of data to determine whether it belongs to a change in the current working state.

[0032] The data processing device establishes an initial reference state when the system is first run or recalibrated. Specifically, an initial static reference state is established based on human motion monitoring data when personnel remain stationary or in a stable posture; a corresponding force reference state is established based on the operational function mode, pre-operation static test results, normal operation samples, or a preset normal force range.

[0033] After the system is running, the initial reference state is updated only using confirmed normal historical operation data that have completed the judgments of steps S1 to S6 and have not formed a positive constraint failure state, a reverse constraint failure state, or a low-speed runaway descent state during the corresponding complete operation process; during the period when the positive constraint failure state, the reverse constraint failure state, or the low-speed runaway descent state continues, the update of the initial reference state is suspended.

[0034] When generating human motion monitoring data, the data processing device corrects the coordinate direction of the raw motion data according to the installation direction of the inertial detection unit, the direction of gravity, and the initial stable posture of the person. This enables the human motion monitoring data to characterize the movement trend, motion continuity, and trunk posture changes of the person along the height direction, without requiring the precise reconstruction of the person's absolute height, descent distance, or complete three-dimensional trajectory based on the inertial detection data.

[0035] The data processing device determines the movement state of a person based on changes in human motion monitoring data over a continuous time range. The movement state includes the simultaneous existence of movement direction state, movement continuity state, and posture state; the movement direction state indicates that the person is in an ascending, descending, or basically stable state; the movement continuity state indicates that the corresponding movement is continuous, accelerating, decelerating, or stopped; and the posture state indicates that the person is in a stable, adjusting, or unstable state.

[0036] When human motion monitoring data indicates that a person is moving continuously in the direction of decreasing height, and the corresponding changes are different from the short-term changes caused by bending over, squatting, or a single torso descent, it is determined that the person is in a descent state. For a continuous low-speed descent trend with an approximately uniform speed, verification is performed by combining at least one of the following: the amount of safety rope released, the change in the person's relative height, or the motion state of the descent device, in order to reduce the cumulative deviation caused by relying solely on continuous integration of inertial detection data. Step S1 generates information on the descent direction, descent continuity, and speed change, but does not directly determine whether the person is in a continuous low-speed descent or a low-speed uncontrolled descent state.

[0037] The data processing device determines the work function mode based on the work function mode configuration information and the connection status of at least one of the safety rope, positioning rope, and descent device. The non-load-bearing movement mode corresponds to the work process in which the safety rope serves as a backup constraint; the work positioning and bearing mode corresponds to the work process in which the positioning rope or corresponding constraint component continuously bears at least part of the personnel load; and the controlled descent mode corresponds to the work process in which the descent device or bearing rope continuously bears the load and allows the personnel to descend in a controlled manner.

[0038] When the operation function mode configuration information matches the corresponding connection status, the current operation function mode is determined; when the two are inconsistent or the existing information is insufficient to determine the specific operation function mode, the operation function mode is entered into a pending confirmation state, and an pending confirmation flag is output. The pending confirmation state is a temporary processing state when the operation function mode has not yet been determined, and does not belong to any of the non-load-bearing movement mode, work positioning load-bearing mode, or controlled descent mode.

[0039] While the operation function mode is pending confirmation, the data processing device continues to perform state processing that does not depend on the specific operation function mode. Subsequent steps do not result in a reverse constraint failure state or other mode-related judgment results that depend on the specific operation function mode. The current operation function mode is determined only after the operation function mode configuration information, corresponding connection status, and continuous operation status meet the determination conditions of the corresponding operation function mode.

[0040] The data processing device continuously processes the raw force data according to the force reference state corresponding to the determined operating function mode, determines whether the force occurs, whether it continues and its trend, and determines the actual constraint response based on the safety constraint monitoring data.

[0041] When the operation function mode is pending confirmation, the data processing device determines the actual constraint response, which is independent of the specific operation function mode, based on the static detection results before operation, the connection status of the constraint components, the corresponding force reference status, and the changes in safety constraint monitoring data within a continuous time range. For load response stages, load transfer relationships, or load requirements that need to be distinguished based on the specific operation function mode, the judgment continues after the operation function mode is confirmed.

[0042] The actual constraint response includes a constraint response phase and a constraint response change state; the constraint response phase includes a non-response phase, a start response phase, and a bearing response phase; the constraint response change state includes an enhanced state, a maintained state, a weakened state, and an interrupted state.

[0043] When the force applied relative to the corresponding force reference state does not exceed the normal fluctuation range and has a continuous change, it is determined to be in the non-response stage; when the force continuously increases from the relaxed state or the pre-tensioned state, it is determined to be the beginning of the response stage; when the corresponding constraint component forms a continuous force and bears all or part of the personnel load, it is determined to be the bearing response stage. The data processing device determines the constraint response change state based on the direction and duration of the force change during the continuous judgment period.

[0044] Actual constraint response is not equivalent to any non-zero force. The data processing device determines whether a force change constitutes an actual constraint response by considering whether the force change exceeds the normal fluctuation range, whether it occurs continuously, and whether it forms a time correspondence with changes in personnel movement. For the working positioning load-bearing mode and the controlled descent mode, the increase in force is not a necessary condition, but rather the actual constraint response is determined based on whether the original load-bearing response is maintained and whether it weakens or is interrupted.

[0045] When only one constraint member forms an effective constraint path, the actual constraint response is determined based on the force change of that constraint member. When multiple constraint members form an effective constraint path, the overall actual constraint response of the seat belt restraint system is determined by combining the connection status and force change of each constraint member, so as to avoid misjudging the normal load transfer between constraint members as a weakening or interruption of response.

[0046] Through the above processing, step S1 outputs the personnel movement status and actual constraint response with time correspondence, and outputs the determined operation function mode; when the operation function mode has not yet been determined, it outputs the operation function mode pending confirmation flag, and restricts subsequent judgments that depend on the specific operation function mode according to the aforementioned rules.

[0047] S2. Determine the constraint intervention state based on the operation status data, and determine the physical response opportunity range based on the operation status data and the constraint intervention state, specifically including: The data processing device determines the trend of change of the length required for the effective constraint path and the degree of consumption of the activity margin based on the personnel movement status and operation function mode determined in step S1, and in combination with at least one of the following: the connection status of the constraint components, the amount of safety rope released, the change of the relative height of the personnel and the relative direction of the attachment point. This is to determine whether the personnel movement has caused the safety belt restraint system to reach the physical conditions that should transmit the restraint force or bear the personnel load.

[0048] The effective constraint path refers to the connection path that, according to the current connection, detour, and guidance relationships, can transmit constraint forces between personnel and the attachment point or load-bearing device. The required length of the effective constraint path refers to the path length required to establish or maintain the effective constraint path under the current connection, detour, and guidance relationships, and is not equivalent to the natural length, actual release, or elastic elongation of the constraint member. The allowance for movement refers to the margin that allows personnel to move normally before the constraint member reaches the condition for transmitting constraint forces.

[0049] When personnel movement increases the length required for the effective constraint path, the activity margin is consumed accordingly; when personnel movement decreases the length required for the effective constraint path, or increases the release of the constraint member, the activity margin can be maintained or increased. The activity margin characterizes the physical state of the constraint member from which it begins to transmit constraint force, and does not directly characterize whether an actual constraint response has been generated.

[0050] The data processing device determines whether the movement of personnel continuously promotes the engagement of constraint components based on the personnel's movement direction, movement continuity, and the changing trend of the length required for the effective constraint path. When the personnel are directly connected to the attachment point or load-bearing device, the changing trend of the length required for the effective constraint path is determined based on the movement trend of the personnel relative to the attachment point or load-bearing device. When there is detour, guidance, or multiple constraint components acting together, the actual impact of personnel movement on the length required for the effective constraint path is determined based on the current connection, detour, and guidance relationships.

[0051] When the operational status data includes information such as the amount of safety rope extended, changes in the relative height of personnel, the movement status of the descent device, or the relative direction of the anchor points, the data processing device determines the degree of consumption of the activity margin and the changing trend of the required length of the effective constraint path based on the aforementioned auxiliary status information. When the existing operational status data is insufficient to directly determine the specific degree of consumption of the activity margin, a trend judgment is made based on the personnel movement trend, the connection status of the constraint components, and the changes in the required length of the effective constraint path within the previous continuous time range.

[0052] Actual constraint response can be used to verify whether constraint components have engaged and whether the effective constraint path relationship has changed, but it is not a necessary condition for determining the constraint intervention state. Even if the seat belt restraint system has not yet generated an actual constraint response, as long as the current personnel movement and constraint relationship indicate that the corresponding constraint component has approached or reached the physical conditions under which constraint force should be transmitted, the corresponding constraint intervention state can still be determined.

[0053] The constraint intervention state is used to characterize the physical engagement process between personnel movement and the seat belt restraint system. It is a desired physical state determined based on personnel movement state, work function mode, effective constraint path and activity margin, and is not equivalent to the actual constraint response determined in step S1.

[0054] The data processing device determines the constraint intervention state as non-intervention state, intervention approaching state, response condition established state, or bearing condition established state based on the changing trend of the required length of the effective constraint path and the degree of consumption of the activity margin.

[0055] In non-load-bearing movement mode, when the movement of personnel does not continuously increase the length required for the effective constraint path and does not cause the seat belt restraint system to approach the physical conditions that should be responded to, it is determined to be in a non-intervention state; when the movement of personnel continuously increases the length required for the effective constraint path and consumes the activity margin, but has not yet reached the level where the restraint component should transmit the restraint force, it is determined to be in an intervention approaching state; when the personnel continue to move in the current direction of movement, which should cause the restraint component to start or continue to transmit the restraint force, it is determined to be in a response condition met state; when the restraint component should bear all or part of the personnel's load, it is determined to be in a load-bearing condition met state.

[0056] In the working positioning and bearing mode or the controlled descent mode, the response condition or bearing condition is determined based on the current operation stage and load transfer relationship, without requiring sequential passage through the non-intervention state and the intervention approach state. Specifically, when the current operation stage requires the corresponding constraint component to start or continue to transmit constraint force, it is determined as a response condition being met; when the current operation stage requires the corresponding constraint component to bear or continue to bear all or part of the personnel load, it is determined as a bearing condition being met.

[0057] When step S1 outputs the operation function mode pending confirmation flag, the data processing device can determine the non-intervention state, intervention approach state, or response condition established state, which is independent of the specific operation function mode, based on the personnel movement state, constraint component connection state, effective constraint path, and activity margin. For the bearing condition established state, which needs to be determined based on the specific operation function mode, the current operation stage, or the load transfer relationship, the judgment continues after the operation function mode is confirmed.

[0058] The data processing device further determines the physical response opportunity interval based on the constraint intervention status, the degree of consumption of activity margin, the degree of certainty of effective constraint path relationships, the continuity of the constraint intervention status, and the operational function mode. The physical response opportunity interval is used to characterize whether the safety constraint should generate an actual constraint response under the current physical conditions, and whether the actual constraint response has anomaly judgment significance, including the no-response interval, the responsive interval, the respondable interval, and the bearable interval.

[0059] The degree of certainty regarding the effective constraint path relationship is used to characterize the extent to which the current operational status data confirms the effective constraint path, the required length of the effective constraint path, and the activity margin. A higher degree of certainty is achieved when it can be directly determined based on the connection status of constraint components, the amount of safety rope extended, changes in the relative height of personnel, the relative direction information of the anchor points, or preset connection relationships; a relatively lower degree of certainty is achieved when it can only be inferred from personnel movement trends, the connection status of constraint components, and continuous historical states.

[0060] When the area is in a non-interventional state, or in an intervention-approaching state but the activity margin is sufficient to meet the current movement of personnel, it is determined as a non-response-required interval; when the intervention-approaching state persists, but the activity margin or the degree of certainty of the effective constraint path relationship is insufficient to confirm that the constraint component must generate a response, it is determined as a responsive interval.

[0061] Within the non-response and responsive intervals, a positive constraint failure state is not determined simply because the actual constraint response is in the non-response stage. When a response condition is met for the first time but has not yet been continuously confirmed, or when the existing operational status data is insufficient to confirm that the constraint component must generate a response, the constraint can remain in the responsive interval, and subsequent operational status data can continue to be monitored.

[0062] When the response condition is continuously confirmed, and the personnel movement, activity margin, and effective constraint path jointly indicate that the constraint member should start or continue to transmit constraint force, it is determined as the response interval; when the bearing condition is confirmed, and the current operation stage requires the corresponding constraint member to bear all or part of the personnel load, it is determined as the bearing interval.

[0063] Both the response interval and the bearing interval indicate that the safety constraint should respond. Specifically, the response interval requires the corresponding constraint component to begin or continue to transmit the constraint force; the bearing interval further requires the corresponding constraint component to enter or maintain the bearing response phase and bear all or part of the load of personnel.

[0064] There is no fixed one-to-one correspondence between constraint intervention status and physical response opportunity interval. The physical response opportunity interval is determined not only by the current constraint intervention status, but also by the activity margin, the certainty of the effective constraint path relationship, the duration of constraint intervention status, and the operational function mode.

[0065] When step S1 outputs a work function mode pending confirmation flag, and the physical conditions for which safety constraints should be responded to do not depend on the specific work function mode, the response range can be determined; when whether a response should be generated or personnel load should be borne depends on the specific work function mode, the responsive range is maintained, and after the work function mode is confirmed, the physical response opportunity range is re-determined according to the corresponding work function mode.

[0066] The physical response opportunity interval is a physical event interval that shifts with changes in personnel movement status, activity margin, effective constraint path, and operational function mode, rather than a time window of fixed duration. When personnel cease their movement to facilitate the engagement of constraint components, the required length of the effective constraint path decreases, constraint components regain activity margin, the effective constraint path changes, or the operational function mode changes and is confirmed, the data processing device shifts the physical response opportunity interval to the interval corresponding to the changed physical conditions. It does not require a step-by-step shift according to the order of no-response interval, responsive interval, respondable interval, and bearable interval.

[0067] When the physical conditions corresponding to the condition that the response condition or the condition that the bearing condition is met continue to exist, even if the seat belt restraint system has generated an actual restraint response, the response interval or the bearing interval will remain unchanged, so that step S3 can determine whether the actual restraint response meets the positive response expectation. When the corresponding physical conditions no longer exist, the physical response opportunity interval is re-determined based on the changed personnel movement state, effective restraint path, activity margin, and work function mode.

[0068] Through the above processing, step S2 uses the constraint intervention state to describe the physical engagement process of the seat belt restraint system in establishing constraint conditions, and uses the physical response opportunity interval to determine whether the safety constraint should respond and whether the actual constraint response has abnormal judgment significance, thereby providing a judgment basis for step S3 to determine the positive response expectation and the positive constraint failure state.

[0069] S3. When the physical response opportunity interval indicates that the safety constraint should be responded to, a positive response expectation is determined based on the operational status data; when the actual constraint response does not meet the positive response expectation, a positive constraint failure state is determined, specifically including: When step S2 determines that the current situation is in the response range or the bearing range, the data processing device initiates a positive response judgment and determines the expected positive response based on the operation status data and constraint intervention status.

[0070] The positive response expectation is used to characterize the actual constraint response that the seat belt restraint system should have after reaching the physical conditions that require a response. It includes the response initiation expectation, response stage expectation, response change expectation, and response duration expectation.

[0071] The data processing device determines the expected positive response based on personnel movement status, operational function mode, corresponding force reference status, constraint intervention status, physical response opportunity range, effective constraint path, and confirmed normal historical operational data. The expected positive response is determined based on the current expected physical conditions and is not determined by the actual constraint response. The actual constraint response is used to determine the constraint response stage at the start of the positive response judgment and accordingly selects the response initiation, response enhancement, entry into bearing, or response maintenance process to be tracked.

[0072] Within the response interval, the positive response is expected to at least require the constraint member corresponding to the current effective constraint path to begin or continue to transmit constraint force; within the load-bearing interval, the positive response is expected to further require the corresponding constraint member to enter or maintain the load-bearing response phase and bear all or part of the personnel load.

[0073] If the actual constraint response is already in the initial response stage or the load-bearing response stage before entering the response interval or the load-bearing interval, it is not required to go through the previous constraint response stage again. Instead, it is determined whether the actual constraint response should continue to enhance, maintain, or sustain the load-bearing capacity based on the current operating function mode and the physical response opportunity interval.

[0074] Different operational modes employ positive response expectations adapted to their operational relationships. In non-load-bearing movement mode, the safety rope should progress from the non-response stage to the initial response stage, and then enter the load-bearing response stage within the load-bearing range. In work positioning and load-bearing mode, the positioning rope or corresponding restraint components should be reinforced according to the normal load transfer process and enter or maintain the load-bearing response stage. In controlled descent mode, the descent device or load-bearing rope should maintain the load-bearing response while allowing for normal force fluctuations. Positive response expectations do not employ a uniform force value applicable to all operational modes.

[0075] The responsive interval in step S2 is used to determine whether the existing physical conditions are sufficient to confirm that the safety constraint should be responded to; the positive response observation process in this step is used to determine whether the actual constraint response is formed, reached and maintained in accordance with the normal physical response process after it has been confirmed that the safety constraint should be responded to. The judgment objects and initiation conditions of the two are different.

[0076] The data processing device sets up a positive response observation process based on the normal response process of the seat belt restraint system. The positive response observation process starts when the system enters the response range or the load-bearing range, and determines whether the actual restraint response is formed, reached and maintained as expected based on at least one of the following physical processes: normal engagement, deformation, mechanical action, conversion from pre-tension to load-bearing, and normal load transfer between restraint components or lowering devices.

[0077] When the system is first run, a positive response observation basis is established based on the equipment's preset data, pre-operation test results, equipment debugging data, or confirmed normal response samples. After the system is running, the positive response observation basis is updated only using confirmed normal historical operation processes that have completed steps S1 to S6 and have not formed a positive constraint failure state, a reverse constraint failure state, or a low-speed runaway descent state during the corresponding complete operation process; updates are suspended during the period when the above-mentioned abnormal states persist.

[0078] The positive response observation process does not employ a uniform fixed duration applicable to all constrained components and operational functional modes. Its termination boundary is determined based on pre-configured normal device response processes, connection or engagement state changes, the transition of force changes from the formation stage to the stable stage, and confirmed normal response samples. The termination boundary can be set using continuous time length, the number of continuous sampling periods, corresponding response stage completion conditions, or a combination of these conditions. If the actual constraint response never occurs, the positive response observation process is not extended indefinitely.

[0079] The data processing device compares the actual constraint response with the expected positive response under a unified time reference, determines whether the actual constraint response starts as expected, whether it reaches the expected constraint response stage during the normal response formation process, whether the constraint response change state meets expectations, and whether the already formed response continues to be maintained, and determines the positive constraint failure state based on the comparison results.

[0080] When the physical conditions corresponding to the response interval or the bearing interval continue to exist, and the actual constraint response has not started after the positive response observation process ends, the response missing state is determined.

[0081] The response delay state is determined when the actual constraint response is initiated only after the positive response observation process has ended, or when the actual constraint response has been initiated but reaches the expected constraint response stage only after the positive response observation process has ended.

[0082] When an actual constraint response has been generated, but the expected constraint response stage, constraint response change state, or carrying capacity requirement corresponding to the current operation function mode has not been reached by the end of the positive response observation process, an insufficient response state is determined.

[0083] When the actual constraint response has reached the expected positive response, but is abnormally weakened or interrupted during the period when the physical conditions corresponding to the response interval or the bearing interval still exist, and no longer meets the expected positive response, the response interruption state is determined.

[0084] The states of missing response, delayed response, insufficient response, and interrupted response are all considered positive constraint failure states. Specifically, the insufficient response state is established when the actual constraint response has been generated but has not yet reached the expected positive response; the interrupted response state is established when the actual constraint response has previously reached the expected positive response.

[0085] If the response is missing and the actual constraint response has not yet started after the response is missing, the response is missing. When the actual constraint response is delayed in starting, the response delay status and the previously formed response missing history abnormal events are recorded. Step S5 determines whether the corresponding positive constraint failure status is valid based on whether the actual constraint response meets and continues to meet the positive response expectation.

[0086] If the response is insufficient and the actual constraint response still does not meet the expected positive response, the response is insufficient. When the actual constraint response is delayed to the expected constraint response stage, the response delay status and the previously formed response insufficiency historical abnormal events are recorded. Step S5 determines whether the corresponding positive constraint failure status is still valid based on whether the actual constraint response continues to meet the expected positive response.

[0087] When normal load removal, physical response opportunity range shift, or load transfer to another constrained member occurs, the response interruption state is uncertain. When the physical response opportunity range shifts from the respondable range or the load-bearing range to the non-respondable range or the respondable range, the positive constraint failure state will no longer continue to form according to the original positive response expectation.

[0088] When multiple constraint components together form an effective constraint path, the judgment is made based on the overall actual constraint response of the seat belt restraint system. When the force on one constraint component weakens while another constraint component simultaneously establishes load, and the overall actual constraint response of the seat belt restraint system still meets the expected positive response, the state of insufficient response or interrupted response is uncertain.

[0089] When step S1 outputs the operation function mode pending confirmation flag, the data processing device can determine the response initiation expectation independent of the specific operation function mode based on the effective constraint path, constraint intervention status, and physical response opportunity range. For the response stage expectation, load requirements, load transfer relationship, and response duration expectation that need to be determined based on the specific operation function mode, no corresponding mode-related positive constraint failure state is formed before the operation function mode is confirmed.

[0090] Once the operational function mode is confirmed, the expected positive response is determined based on the confirmed operational function mode, the personnel movement status, constraint intervention status, physical response opportunity range, and actual constraint response. The previously confirmed operational function mode is not used to re-form the mode-related positive constraint failure state for previous operational stages whose mode affiliation cannot be confirmed.

[0091] Through the above processing, after step S3 indicates that the safety constraint should respond within the physical response opportunity interval, it determines whether the seat belt restraint system forms, reaches and maintains the actual constraint response as expected in the positive response, and outputs the corresponding positive constraint failure state and historical abnormal event record; whether the positive constraint failure state continues to be effective is further determined by step S5.

[0092] S4. When the actual constraint response indicates that the safety constraint has been activated, determine the expected reverse inhibition based on the operational function mode; if the personnel movement changes after the response do not conform to the expected reverse inhibition, determine the reverse constraint failure state, specifically including: When step S1 determines that the actual constraint response has entered the start response stage or the bearing response stage, the data processing device begins to record and track the changes in personnel movement after the response, and determines the reverse suppression expectation based on the operation function mode and the constraint response stage and constraint response change state corresponding to the actual constraint response.

[0093] The reverse inhibition expectation is used to characterize the inhibition or controlled changes that personnel movement should exhibit in the current operational function mode after the seat belt restraint system generates an actual restraint response. These inhibition or controlled changes include a weakening of the personnel's movement trend along the direction of descent, an interruption of descent continuity, cessation of descent, a shift to limited movement that no longer continues along the direction of descent, maintaining basic height stability during the work positioning and carrying process, or only performing posture or position adjustments that do not result in continuous downward movement, and maintaining a correspondence between the personnel's descent movement and the permissible descent, deceleration, braking, or stopping states of the descent device.

[0094] Step S3 is used to determine whether the seat belt restraint system has formed, achieved, and maintained an actual restraint response according to the physical conditions that should be responded to; step S4 is used to determine whether the actual restraint response that has been generated has caused personnel movement to exhibit suppressed or controlled changes in accordance with the current operational function mode. The fact that an actual restraint response has been generated or has met the expected positive response does not necessarily indicate that personnel movement has been effectively controlled.

[0095] The data processing device determines the starting point for reverse inhibition judgment based on the formation process of the actual constraint response and changes in the current operating status. When the actual constraint response enters the starting response stage from the non-response stage, the moment of entering the starting response stage is taken as the starting point for reverse inhibition judgment; when the actual constraint response has been continuously in the load-bearing response stage, the corresponding moments when the positioning load-bearing process begins, the controlled descent process begins, the personnel transition from a basically stable height to continuous descent, the motion state of the descent device changes, the load-bearing relationship changes, or the operating function mode changes and is confirmed are taken as the starting points for reverse inhibition judgment.

[0096] The data processing device extracts the personnel's motion state within a continuous time range before and after the starting point of the reverse suppression judgment. Under a unified time reference, it compares the personnel's motion trend along the height direction, descent continuity, speed change trend, pause state, and posture state to determine the personnel's motion changes after the response. For a continuous low-speed descent with an approximately uniform speed, the device combines at least one of the following for verification: the amount of safety rope released, the change in the personnel's relative height, or the motion state of the descent device, to reduce the cumulative deviation caused by continuously judging the descent trend using only inertial detection data.

[0097] The data processing device is equipped with an initial reverse inhibition observation process and a continuous reverse inhibition monitoring process. The initial reverse inhibition observation process is used to determine whether, after the actual constraint response is generated or a new constraint control process begins, the personnel movement transitions into the state required by the current work function mode during normal physical processes. The continuous reverse inhibition monitoring process is used to determine whether the already formed personnel movement state is maintained while the actual constraint response persists and the current work relationship still requires the constraint components to exert an inhibitory or controlling effect on the personnel movement.

[0098] Upon initial system startup, initial reverse restraint observation criteria are established based on the device characteristics of the seatbelt restraint system, pre-operation test results, equipment debugging data, or confirmed normal reverse restraint samples. After system operation, the initial reverse restraint observation criteria are updated only using confirmed normal historical operation processes that have completed steps S1 to S6 and have not resulted in a positive restraint failure state, a reverse restraint failure state, or a low-speed runaway descent state during the corresponding complete operation process; updates are suspended during the duration of the aforementioned abnormal states.

[0099] The initial reverse suppression observation process does not employ a uniform fixed duration applicable to all operational functional modes. Its termination boundary is determined based on the formation of corresponding constraint responses, personnel load transfer, changes in the descent device state, and the changes in personnel movement state that should be completed under normal circumstances, as well as confirmed normal reverse suppression samples. The termination boundary can be set using continuous time length, number of continuous sampling cycles, personnel movement state transition completion conditions, or a combination of the above conditions.

[0100] If personnel transition to a movement state that meets the expected reverse inhibition, the initial reverse inhibition observation process can be terminated early; if personnel do not exhibit the expected movement changes, the initial reverse inhibition observation process will not be extended indefinitely.

[0101] In non-load-bearing descent mode, the safety rope serves as a backup restraint to limit further descent after the person loses active support. The corresponding reverse restraint is expected to involve a gradual weakening of the person's continuous movement along the direction of descent, transitioning to a limited movement that stops or ceases to develop along the direction of descent.

[0102] The limited motion allows for short-term movement of personnel due to deformation of the constraint components, body swaying, or posture adjustment, but continuous movement of personnel along the direction of height reduction will not continue. When the actual constraint response has begun or intensified, but the personnel still maintain their original downward trend, the descent speed does not decrease, or a sustained low-speed descent continues, it is determined that the post-response change in personnel motion does not conform to the expected reverse inhibition under the non-load-bearing movement mode.

[0103] Short-term rebound, body swaying, or localized posture adjustment are not considered as the sole basis for establishing a reverse constraint failure state; however, if the person continues to move in the direction of decreasing height after the aforementioned short-term movement ends, the change in the person's movement after the response should be judged based on the preceding and following continuous movement process to determine whether it conforms to the reverse inhibition expectation.

[0104] In the working positioning and bearing mode, the positioning rope or corresponding constraint component is used to bear all or part of the personnel's load. The corresponding reverse suppression is expected to include that when the personnel transfer from active support to positioning and bearing, the downward trend weakens as the actual constraint response is formed or enhanced, and the height remains basically stable after the load transfer is completed, or only posture or position adjustments that do not form a continuous downward movement are made.

[0105] When the actual constraint response has been formed or maintained, but the personnel continue to descend and the downward trend does not weaken with the establishment of the positioning bearing relationship, or when the personnel stabilize for a short time and then resume a continuous descent that is not a normal posture adjustment or position adjustment, it is determined that the personnel movement changes after the response do not conform to the reverse inhibition expectation under the working positioning bearing mode.

[0106] The normal posture adjustment or position adjustment can be determined based on at least one of the following: changes in the relative height of the personnel, whether the descent is continuous, the connection relationship of the positioning rope and its range of motion, and confirmed normal historical operation data. It does not require the restoration of the personnel's precise spatial coordinates.

[0107] In controlled descent mode, the descent device or support rope allows personnel to move continuously in the direction of descent. The reverse restraint expectation does not require personnel to stop descending, but requires that the motion state of the descent device, the actual constraint response, and the personnel's descent motion maintain a relationship corresponding to the allowed descent, deceleration, braking, or stop state.

[0108] When the operational status data includes the movement status of the descent device, the expected reverse suppression should be determined based on the permissible descent, deceleration, braking, or stop status of the descent device. When the descent device is in the permissible descent state, personnel can continue to descend, but the personnel's descent movement should correspond to the corresponding permissible descent state; when the descent device enters the deceleration or braking state, the personnel's descent trend should weaken accordingly; when the descent device enters the stop state, personnel should transition to a stop or a basically stable altitude state.

[0109] When the motion status of the descent device is not obtained, the expected reverse inhibition is determined based on at least one external normal criterion from the controlled descent requirements configured before the operation, the results of the pre-operation test, and the confirmed normal historical operation data. The initial stage of the current descent process is considered a confirmed initial controlled descent state only when the external normal criterion is met and the connection status of the descent device and the actual constraint response meet the controlled descent requirements; the current descent process that is not confirmed is not used to establish its own normal controlled descent relationship.

[0110] When the actual constraint response remains in the load response phase, and the person exhibits abnormal acceleration, fails to reduce the descent trend after being required to decelerate or brake, continues to descend after being required to stop, or the original controlled descent relationship is disrupted during continuous reverse inhibition monitoring, it is determined that the post-response change in the person's motion does not conform to the expected reverse inhibition under the controlled descent mode. The continued low-speed descent of the person does not directly determine the reverse constraint failure state; it is still necessary to determine whether the continued low-speed descent conforms to the current controlled descent relationship.

[0111] After the initial reverse suppression observation process is completed, in the non-load-bearing movement mode, the continuous movement of personnel along the height reduction direction does not weaken and transitions to a stop or limited movement; in the working positioning load-bearing mode, the downward trend of personnel does not weaken, or after the load transfer is completed, the height does not remain basically stable and continuous downward movement is still formed; in the controlled descent mode, when there is no corresponding relationship between the motion state of the descent device, the actual constraint response and the descent movement of personnel, it is determined that the change in personnel movement after the response does not meet the reverse suppression expectation, and the reverse constraint failure state is determined.

[0112] If the movement of personnel has already met the expected reverse inhibition, but during the continuous reverse inhibition monitoring process, the movement state reverts to a state that does not meet the expected reverse inhibition, the reverse constraint failure state is also determined.

[0113] When an actual constraint response is generated, the recording and tracking of personnel movement changes after the response can begin; however, a reverse constraint failure judgment is only formed when the current operation function mode, the constraint response stage corresponding to the actual constraint response, and the current operation process indicate that the actual constraint response should play a role in inhibiting or controlling personnel movement.

[0114] Accidental forces caused by friction, shaking, or short-term contact of constraint components within the non-response interval or the respondable interval should not be used to directly determine the reverse constraint failure state even if there is no significant change in personnel movement.

[0115] The reverse inhibition judgment can be executed in parallel with the positive response judgment in step S3, without being contingent on the end of the positive response observation process or the actual constraint response meeting the positive response expectation. When the actual constraint response has been generated, even if there is a response delay state or an insufficient response state at the same time, the judgment on whether a reverse constraint failure state has been formed is still based on the changes in personnel movement after the response; when the actual constraint response has not yet been generated, the reverse inhibition judgment is not initiated.

[0116] When multiple constraint components together form an effective constraint path, the determination is based on the overall actual constraint response of the seat belt restraint system and the overall movement changes of the personnel. If the load is transferred normally between different constraint components and the personnel movement always conforms to the expected reverse inhibition, the reverse constraint failure state is uncertain; if the overall actual constraint response of the seat belt restraint system still exists, but the personnel movement does not show corresponding inhibition or controlled changes, the reverse constraint failure state is determined.

[0117] When step S1 outputs the operation function mode pending confirmation flag, the data processing device records the continuous personnel movement changes after the actual constraint response is generated, but does not form a reverse constraint failure state dependent on the specific operation function mode.

[0118] Once the operational function mode is confirmed, the expected reverse inhibition and the starting point for reverse inhibition judgment are determined based on the confirmed operational function mode, the personnel movement status at that time, the actual constraint response, and the continuous operation relationship. Judgment is only made for continuous operation stages that can be identified as belonging to the operational function mode based on the operational function mode configuration information, the connection status of constraint components, the movement status of the descent device, and the continuous operation relationship; for previous operation stages whose mode cannot be identified, the mode-related reverse constraint failure state is not re-formed using the subsequently confirmed operational function mode.

[0119] The current continuous reverse inhibition monitoring process ends when the actual constraint response no longer exists, the current operation phase no longer requires the constraint component to control personnel movement, the operation function mode changes and is confirmed, or the effective constraint path changes. Specifically, when the actual constraint response weakens abnormally or is interrupted, step S3 determines whether a response interruption state has occurred; when the operation function mode or effective constraint path changes, the reverse inhibition expectation, the reverse inhibition judgment starting point, and the subsequent applicable continuous reverse inhibition monitoring process are redefined based on the changed operation state.

[0120] If the movement of personnel does not change as expected with the actual constraint response during the initial reverse inhibition observation process, but weakens or stops only after a significant change in posture, direction of movement, or load-bearing relationship, the reverse constraint failure state that has already been formed will not be revoked based on the subsequent movement change. Whether the subsequent movement change constitutes active recovery by the personnel will be further determined by step S5.

[0121] When the existing operational status data is insufficient to distinguish whether the corresponding motion change is due to the action of the seat belt restraint system, the action of the descent device, or the active recovery action of the personnel, the corresponding continuous operation process record is retained, and the active recovery status is not determined in step S4; the active recovery status and its impact on the continued effectiveness of the reverse restraint failure status are further determined in step S5.

[0122] Through the above processing, after the seat belt restraint system generates an actual restraint response, step S4 determines the expected reverse inhibition based on the work function mode and compares whether the personnel movement changes after the response conform to the expected reverse inhibition. When the personnel movement changes after the response do not transition to or continuously maintain the state required by the corresponding work function mode, a reverse restraint failure state is determined; whether the reverse restraint failure state remains effective is further determined by step S5.

[0123] S5. Determine the active recovery state based on the personnel movement state, and determine the continued effectiveness of the two types of constraint failure states based on the formation conditions of the two types of constraint failure states and the active recovery state, specifically including: The data processing device continuously acquires personnel movement status, actual constraint response, constraint intervention status, physical response opportunity range, operation function mode, and load-bearing relationship, and determines whether personnel show signs of active recovery based on continuous operation status data. When step S3 determines a positive constraint failure state or step S4 determines a reverse constraint failure state, it further determines whether the two types of constraint failure states remain effective based on the formation conditions and active recovery status of the corresponding constraint failure states.

[0124] The term "active recovery indicator" refers to an improvement trend in personnel movement that may interrupt the original continuous decline and re-establish active support. The term "active recovery confirmation process" refers to the process of continuously confirming whether the improvement trend further develops into active support reconstruction after the appearance of active recovery indicators. Neither active recovery indicator nor active recovery confirmation process is equivalent to an active recovery state; an active recovery state is only determined when active support reconstruction is confirmed.

[0125] The data processing device identifies signs of active recovery based on the movement trend of the person along the height direction, the continuity of descent, the trend of speed change, the change of movement direction, the posture adjustment process, and the posture stability state. It also verifies the results by combining at least one of the following: actual constraint response, relative height change of the person, safety rope release amount, constraint intervention state, motion state of the descent device, and load-bearing relationship. It does not require direct detection of the person's hand grip position, foot step position, or other specific active support position.

[0126] When a person's descent trend continues to weaken, the continuity of descent is interrupted, or an upward trend emerges, and the corresponding movement changes are not due to rope rebound, the normal function of the descent device, or the normal response of the seat belt restraint system, and are accompanied by at least one of the following: adjustment of the person's posture, change of movement direction, or change of load-bearing relationship, signs of active recovery are identified.

[0127] A single decrease in speed, momentary pause, isolated posture change, short-term swing, rope rebound, or normal deformation of restraint components are not sufficient evidence to establish an active recovery status. When personnel decelerate or stop due to normal restraint of the safety rope, normal load of the positioning rope, or normal deceleration or braking of the descent device, step S4 should be followed to determine whether the corresponding personnel movement change conforms to the expected reverse inhibition. The active recovery status should not be determined solely based on the deceleration or stopping result.

[0128] After signs of active recovery appear, the data processing device enters the active recovery confirmation process and continuously judges whether the movement of personnel along the direction of height reduction is interrupted, whether the personnel posture adjustment is completed, whether the personnel movement remains stable, and whether the load-bearing relationship has changed in accordance with the active support reconstruction.

[0129] The active recovery confirmation process does not use a uniform fixed duration. Its confirmation boundary is determined based on the interruption of the personnel's descent movement, the completion of attitude adjustment, the stability of the personnel's movement, changes in load-bearing relationships, and confirmed normal active recovery samples. It can be set by continuous time length, number of continuous sampling cycles, corresponding state change completion conditions, or a combination of the above conditions.

[0130] When the continuous movement of personnel along the direction of decreasing height stops, and in subsequent continuous judgments, the height remains basically stable or forms a continuous upward trend without reverting to continuous descent, and the changes in the actual constraint response or load-bearing relationship are adapted to the personnel regaining active support, active support reconstruction is confirmed, and the active recovery state is determined to be established.

[0131] The actual constraint response does not necessarily disappear completely after active support reconstruction. In the working positioning and bearing mode, the positioning rope or corresponding constraint components can still bear part of the personnel load. The personnel movement state is the main basis for determining the active recovery state, and the relationship between the actual constraint response and load bearing is used to verify whether the changes in personnel movement are adapted to the active support reconstruction.

[0132] When the existing operational status data can confirm that the personnel's descent has stopped, but is insufficient to distinguish whether the corresponding change is due to the action of the seat belt restraint system, the action of the descent device, or the personnel's active recovery action, the active recovery pending confirmation process is maintained, and subsequent personnel movement status, actual restraint response, and load-bearing relationship are acquired, without directly determining that the active recovery status has been established.

[0133] If only signs of active recovery are identified, or if the active recovery is still pending confirmation, the active recovery status is deemed not established. If the signs of active recovery fail to develop into active support reconstruction, and personnel resume a continuous descent, the current active recovery pending confirmation process ends, and a reassessment of whether new signs of active recovery appear is made based on subsequent personnel movement patterns.

[0134] After a positive constraint failure state is formed, the data processing device continuously monitors the physical response opportunity range, the expected positive response, and the actual constraint response. When the physical response opportunity range still indicates that the safety constraint should respond, the actual constraint response still does not meet the expected positive response, and the active recovery state is not established, the positive constraint failure state remains valid.

[0135] Among them, the response missing state remains valid as long as the physical conditions corresponding to the response interval or the bearing interval continue to exist and the actual constraint response has not yet started; the response insufficient state remains valid as long as the actual constraint response has not yet reached the constraint response stage corresponding to the expected positive response, the constraint response change state, or the bearing requirement; the response interruption state remains valid as long as the current physical conditions still require the actual constraint response to continue to exist, but the actual constraint response is still abnormally weakened or interrupted.

[0136] For response delay states, when the actual constraint response delay starts or the delay reaches the expected constraint response stage, the corresponding response delay historical abnormal event is recorded; when the actual constraint response has not yet reached and continues to meet the positive response expectation, the corresponding positive constraint failure state remains valid; when the actual constraint response has reached and continues to meet the positive response expectation, the corresponding positive constraint failure state no longer remains valid.

[0137] When the physical response opportunity interval shifts to the no-response interval or the responsive interval, or when the actual constraint response reaches and continues to meet the positive response expectation, the corresponding positive constraint failure state is determined to no longer be valid, but the historical abnormal event record of the previously formed positive constraint failure is retained.

[0138] After the reverse constraint failure state is formed, the data processing device continuously monitors the actual constraint response, the expected reverse suppression, and the changes in personnel movement after the response. When the actual constraint response persists, the current work relationship still requires the constraint component to control personnel movement, the changes in personnel movement after the response still do not meet the expected reverse suppression, and the active recovery state is not established, the reverse constraint failure state remains effective.

[0139] If the movement of personnel only weakens, pauses, swings, or undergoes local posture adjustments for a short period of time, and then resumes continuous descent, and the conditions for the formation of the reverse constraint failure state never disappear, the original reverse constraint failure state and its original starting point shall continue to be maintained.

[0140] When the personnel movement changes after the response transition to and continue to maintain a state that conforms to the expected reverse inhibition, or when the current work relationship no longer requires the constraint components to control personnel movement, the reverse constraint failure state is determined to no longer be effective. When the actual constraint response no longer exists, the subsequent no-response process is not described as a reverse constraint failure state. Instead, step S3 determines whether a response interruption state or other positive constraint failure state has been formed based on the current physical response opportunity range and the expected positive response.

[0141] When the active recovery state is established, it is further determined whether the current dangerous motion condition corresponding to the corresponding constraint failure state has disappeared. When the personnel remain highly stable or form a continuous upward trend without reverting to a continuous downward trend, and the corresponding current dangerous motion condition has disappeared, it is determined that the corresponding constraint failure state is no longer valid; when the active recovery state has been established but the corresponding current dangerous motion condition has not disappeared, the corresponding constraint failure state is terminated not only based on the active recovery state.

[0142] The corresponding constraint failure state is no longer valid and is not used to revoke previously formed historical abnormal event records. When the conditions for the formation of the corresponding constraint failure state never disappear, the corresponding constraint failure state and its original starting point are maintained; when the conditions for the formation of the corresponding constraint failure state substantially disappear and then re-established, the corresponding constraint failure state and its continued validity are re-determined based on the personnel movement state, physical response opportunity range, actual constraint response, and work function mode after the re-establishment.

[0143] When the operational function mode changes and is confirmed, or when the effective constraint path changes, the formation conditions and continued effectiveness of the two types of constraint failure states are reassessed based on the changed personnel movement state, physical response opportunity range, positive response expectation, negative inhibition expectation, and actual constraint response. The judgment results related to the mode before the change are not directly replaced by the judgment results after the change.

[0144] When multiple constraint components together form an effective constraint path, the conditions for the formation of the corresponding constraint failure state are determined based on the overall actual constraint response of the seat belt restraint system, the overall load-bearing relationship, and the overall motion state of the personnel. If normal load transfer causes the overall actual constraint response and personnel motion to return to the expected state, the corresponding constraint failure state is determined to no longer be effective; if only a local constraint component undergoes a change in state while the overall conditions for the formation of the seat belt restraint system remain in effect, the corresponding constraint failure state continues to exist.

[0145] Through the above processing, step S5 identifies signs of active recovery based on the continuous movement of personnel, and confirms whether the active support has been rebuilt through the active recovery confirmation process; at the same time, it determines whether the positive constraint failure state and the reverse constraint failure state are still effective, providing step S6 with the results of the active recovery state and the continued effectiveness of the two types of constraint failure states.

[0146] S6. When a person continues to descend at a low speed, at least one constraint failure state remains effective, and the active recovery state is not established, a low-speed uncontrolled descent state is determined and a low-speed fall identification result is generated, specifically including: Based on the personnel's motion state determined in step S1, the data processing device continuously judges the personnel's motion trend along the height direction, descent continuity, motion change amplitude, and speed change trend to determine whether the personnel are continuously descending at a low speed. The judgment of continuous low-speed descent is used to describe the personnel's motion state, and is not based on whether the seat belt restraint system has failed as a condition for its validity. It corresponds to the continuous effectiveness and active recovery status of the positive restraint failure status and reverse restraint failure status output in step S5 according to a unified time base.

[0147] The continuous low-speed descent of personnel refers to the continuous movement of personnel along the direction of height reduction during the continuous judgment process, and the corresponding personnel movement characteristics are within the low-speed descent range. The low-speed descent range is determined based on at least one of the following: equipment test results, pre-operation test results, installation location of the inertial detection unit, normal operation samples, simulated low-speed sliding process, and high-speed descent control process.

[0148] When the system is first run, the low-speed descent range is established based on preset equipment data, pre-operation test results, or confirmed normal operation samples. After the system is running, the low-speed descent range is updated only using confirmed normal historical operation data that have completed the judgments of steps S1 to S6 and have not formed a positive constraint failure state, a reverse constraint failure state, or a low-speed runaway descent state during the corresponding complete operation; updates are suspended during the period when the above-mentioned abnormal states persist.

[0149] The assessment of low-speed descent does not require precise calculation of the absolute descent speed, descent distance, or complete trajectory of the person based on inertial detection data. The data processing device, based on human motion monitoring data corrected for coordinate orientation, divides the person's motion characteristics into a range of stillness or normal fluctuation, a range of low-speed descent, and a range of high-speed descent.

[0150] When the operational status data also includes changes in the relative height of personnel, the amount of safety rope extended, or the movement status of the descent device, the above auxiliary status information is used to verify whether the personnel are continuously descending. If the auxiliary status information can confirm that the personnel's height is not continuously decreasing, then the continuous low-speed descent of personnel is not confirmed.

[0151] The data processing device is equipped with a low-speed descent confirmation process. When a person continues to move in the direction of decreasing height, and the corresponding movement characteristics of the person remain within the range of low-speed descent, the low-speed descent trend is confirmed; if the low-speed descent trend still exists after reaching a preset confirmation boundary, the person is confirmed to be continuing to descend at a low speed.

[0152] The preset confirmation boundary is determined based on the normal posture adjustment process, equipment detection characteristics, pre-operation test results, and confirmed normal historical operation data. It can be set by continuous time length, number of continuous sampling cycles, state change completion conditions, or a combination of the above conditions.

[0153] A person's continuous low-speed descent can manifest as a slow descent at an approximately uniform speed, or as a slow descent interspersed with brief pauses, body swaying, or localized posture adjustments. When the aforementioned brief changes end and the person continues to move in the direction of height reduction, and the preceding and following descent segments remain continuous in terms of direction and trend, without forming a sustained stable height, continuous ascent, or independent normal operational movement, the preceding and following descent segments are considered as the same continuous low-speed descent process.

[0154] The continuous low-speed descent of personnel is considered complete when they maintain a high degree of stability, exhibit a continuous upward trend, or transition to independent normal operational movements. A mere momentary pause, short-term swaying, or localized posture adjustment does not directly indicate the end of the continuous low-speed descent.

[0155] Normal descent movements initiated by personnel, position adjustments during work positioning, and normal controlled descents can all manifest as continuous low-speed descents at the motion level. Whether the above movements constitute low-speed uncontrolled descent is not determined by changing the criteria for judging continuous low-speed descent, but by whether at least one constraint failure state remains effective and whether an active recovery state is established; whether the constraint relationships in the corresponding work process are abnormal is determined by steps S3 to S5.

[0156] The data processing device determines the continuous time range of the personnel's continuous low-speed descent, the continuous time range of at least one of the positive constraint failure state and the reverse constraint failure state that is continuously effective, and the continuous time range of the active recovery state that is not established, and performs time alignment on the above continuous time ranges.

[0157] When the personnel continue to descend at a low speed, at least one constraint failure state remains effective, and the active recovery state is not established, all of which occur simultaneously during the same continuous operation process and are continuously confirmed during the continuous judgment process, the low-speed runaway descent state is determined.

[0158] A positive constraint failure state and a negative constraint failure state can remain valid individually or simultaneously. When one constraint failure state ceases to be valid while the other remains valid, the condition for at least one constraint failure state to remain valid continues to be satisfied.

[0159] Active recovery status is not established when only signs of active recovery are identified or when active recovery is pending confirmation; however, if the continuous low-speed descent of personnel has ended, even if active recovery status has not been established, it is uncertain or no longer possible to maintain the low-speed uncontrolled descent status.

[0160] The data processing device determines the moment when the continuous low-speed descent of personnel, the continuous validity of at least one constraint failure state, and the failure of the active recovery state are all established and continuously confirmed in the same continuous operation process as the moment when the low-speed uncontrolled descent state is determined, and the starting moment of the continuous low-speed descent of personnel can be traced and confirmed based on the continuous personnel movement state record.

[0161] The data processing device generates a low-speed fall identification result based on the low-speed uncontrolled descent state. The low-speed fall identification result includes at least the low-speed uncontrolled descent state, the determination result of the person's continuous low-speed descent, the type of continuous effective constraint failure state, and the determination result of active recovery state. It may also include the current operation function mode, the start time of the person's continuous low-speed descent, the determination time of the low-speed uncontrolled descent state, the constraint response stage corresponding to the actual constraint response, the physical response opportunity interval, and the corresponding continuous operation state data.

[0162] When step S1 outputs the operation function mode pending confirmation flag, the data processing device determines whether a low-speed uncontrolled descent state has been formed based on the already formed and continuously effective constraint failure state, the personnel's continuous low-speed descent, and the active recovery state. It does not use the unconfirmed operation function mode to supplement the formation of a constraint failure state that depends on the specific operation function mode.

[0163] The low-speed fall identification result can output alarm information or form an event record through a prompting device, mobile terminal, edge processing device, or back-end server. After the low-speed uncontrolled descent state is formed, the data processing device continuously monitors whether the personnel continue to fall at a low speed, at least one constraint failure state remains effective, and the active recovery state is not established, and whether these conditions continue to be met simultaneously.

[0164] When the above three conditions continue to be met simultaneously, the current low-speed uncontrolled descent state is maintained; when the personnel no longer continue to descend at low speed, the positive constraint failure state and the reverse constraint failure state are no longer effective, or the active recovery state is established, the current low-speed uncontrolled descent state ends, and the corresponding low-speed fall identification results and historical abnormal event records are retained.

[0165] If a person experiences a brief pause, or shows signs of active recovery but fails to develop into an active recovery state, and then continues to descend at a low speed, and at least one constraint failure state remains effective and an active recovery state is never established, the event will continue to be treated as the same low-speed uncontrolled descent event, and the low-speed uncontrolled descent state will not be redefined or a new low-speed fall identification result will not be generated.

[0166] When the operation function mode changes and is confirmed, the positive response expectation and the negative inhibition expectation are updated according to the changed operation function mode, with the time of the change as the dividing line. Then, step S5 re-determines the continued validity of the positive constraint failure state and the negative constraint failure state, and the data processing device re-judges the low-speed runaway descent state accordingly.

[0167] After the change in the operation mode is confirmed, if the personnel continue to descend at a low speed without interruption, at least one constraint failure state remains effective, and the active recovery state is not established, the current low-speed runaway descent state is maintained; when the changed positive response expectation and negative inhibition expectation indicate that both types of constraint failure states are no longer effective, the current low-speed runaway descent state ends.

[0168] When the continuous low-speed descent of personnel has ended, both types of constraint failure states are no longer valid, or the active recovery state is established, and after the original dangerous physical process ends, personnel resume continuous low-speed descent, at least one constraint failure state becomes valid again, and the active recovery state is not established, and this is continuously confirmed during the same continuous operation, a new low-speed uncontrolled descent state is determined, and a new low-speed fall identification result is generated.

[0169] When multiple constraint components together form an effective constraint path, step S6 adopts the result of the continuous effectiveness of the overall constraint failure state of the seat belt constraint system determined in step S5, and does not determine the low-speed runaway descent state or generate a low-speed fall identification result separately due to the local state change of a single constraint component.

[0170] Through the above processing, step S6 aligns and jointly judges the continuous low-speed descent of personnel, the continued validity of at least one constraint failure state, and the failure of the active recovery state to determine the low-speed uncontrolled descent state, and generates, maintains or terminates the corresponding low-speed fall identification result.

[0171] The technical features of this invention not described can be implemented by or using existing technology, and will not be repeated here. Of course, the above description is not a limitation of this invention, and this invention is not limited to the examples above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention should also be within the protection scope of this invention.

Claims

1. A method for intelligent high-altitude safety belt low-speed fall prevention identification, characterized in that, Includes the following steps: S1, acquire the operational status data of high-altitude workers and their safety belt restraint systems, and determine the personnel's motion status, actual restraint response, and operational function mode; S2, determine the constraint intervention state based on the operation status data, and determine the physical response opportunity range based on the operation status data and the constraint intervention state; S3, when the physical response opportunity interval indicates that the safety constraint should be responded to, a positive response expectation is determined based on the operation status data; when the actual constraint response does not meet the positive response expectation, a positive constraint failure state is determined. S4, when the actual constraint response indicates that the safety constraint has been responded to, the reverse inhibition expectation is determined according to the operation function mode; when the personnel movement change after the response does not conform to the reverse inhibition expectation, the reverse constraint failure state is determined. S5. Determine the active recovery state based on the personnel movement state, and determine the continued effectiveness of the two types of constraint failure states based on the formation conditions of the two types of constraint failure states and the active recovery state. S6, when the person continues to descend at a low speed, at least one constraint failure state remains effective, and the active recovery state is not established, determine the low-speed uncontrolled descent state and generate a low-speed fall identification result.

2. The method for low-speed fall protection identification of intelligent high-altitude safety belts according to claim 1, characterized in that, Step S1 includes: The system collects raw motion data of workers at height using a human motion monitoring device and raw force data along the force transmission path of the safety belt restraint system using a safety restraint response monitoring device. The raw motion data and raw force data are time-aligned and generated as human motion monitoring data and safety restraint monitoring data, respectively. The work status data includes at least the human motion monitoring data, the safety restraint monitoring data, and work function mode configuration information. The movement state of the person is determined based on the changes in the human motion monitoring data within a continuous time range. The movement state of the person includes the movement direction state, the movement continuity state, and the posture state. The operation function mode is determined based on the operation function mode configuration information and the connection status of at least one of the safety rope, positioning rope and descent device. The operation function mode includes non-load-bearing movement mode, work positioning load-bearing mode and controlled descent mode. The actual constraint response is determined based on the force reference state corresponding to the operation function mode and the changes in the safety constraint monitoring data within a continuous time range. The actual constraint response includes the constraint response stage and the constraint response change state.

3. The method for low-speed fall protection identification of intelligent high-altitude safety belts according to claim 1, characterized in that, Step S2, which involves determining the constraint intervention status based on the work status data, includes: Based on the personnel movement status and the operation function mode, and combined with at least one of the following in the safety belt restraint system: the connection status of the restraint components, the amount of safety rope released, the relative height change of the personnel, and the relative direction information of the attachment point, the changing trend of the required length of the effective restraint path and the degree of consumption of the activity margin are determined; wherein, the effective restraint path is the connection path that can transmit restraint force between the personnel and the attachment point or load-bearing device according to the current connection, detour, and guidance relationship, and the activity margin is the margin that the restraint components allow for normal personnel movement before reaching the condition of transmitting restraint force; The constraint intervention state is determined based on the changing trend of the required length of the effective constraint path and the degree of consumption of the activity margin. The constraint intervention state includes non-intervention state, intervention approaching state, response condition met state, and bearing condition met state. In the non-load-bearing movement mode, when the movement of the person does not continuously increase the length required for the effective constraint path and does not cause the seat belt restraint system to approach the physical conditions that should be responded to, the non-intervention state is determined; when the movement of the person continuously increases the length required for the effective constraint path and consumes the activity margin, but has not yet reached the point where the restraint member should transmit restraint force, the intervention approach state is determined; when the person continues to move in the current direction of movement, which should cause the restraint member to start or continue to transmit restraint force, the response condition is determined; when the restraint member should bear all or part of the person's load, the load-bearing condition is determined. In the working positioning bearing mode or the controlled descent mode, the response condition establishment state or the bearing condition establishment state is determined according to the current operation stage and load transfer relationship; The determination of the constraint intervention state is not contingent upon the actual constraint response having already occurred.

4. The method for low-speed fall protection identification of intelligent high-altitude safety belts according to claim 3, characterized in that, Step S2, which involves determining the physical response opportunity range based on the operation status data and the constraint intervention status, includes: Based on the constraint intervention status, the degree of consumption of the activity margin, the degree of determination of the effective constraint path relationship, the continuity of the constraint intervention status, and the operation function mode, the physical response opportunity interval is determined, which includes a no-response interval, a responsive interval, a response interval, and a load-bearing interval. When the system is in the non-intervention state, or in the intervention approaching state but it can be confirmed that the activity margin is still sufficient to meet the current personnel movement, the no-response interval is determined; when the intervention approaching state continues, but the degree of certainty of the activity margin or the effective constraint path relationship is insufficient to confirm that the constraint member must respond, the responsive interval is determined; when the response condition is continuously confirmed, and the personnel movement, the activity margin, and the effective constraint path jointly indicate that the constraint member should start or continue to transmit constraint force, the respondable interval is determined; when the bearing condition is met, and the current operation stage requires the constraint member to bear all or part of the personnel load, the bearing interval is determined. When the personnel movement state, the activity margin, the effective constraint path, or the operation function mode changes, the physical response opportunity interval is shifted to the interval corresponding to the changed physical conditions; wherein, the response interval and the bearing interval indicate that the safety constraint should be responded to.

5. The method for low-speed fall protection identification of intelligent high-altitude safety belts according to claim 1, characterized in that, Step S3 includes: The positive response expectation is determined based on the operation status data and the constraint intervention status. The positive response expectation includes response initiation expectation, response phase expectation, response change expectation, and response duration expectation. A positive response observation process is set up based on the normal response process of the seat belt restraint system, and the actual restraint response is compared with the expected positive response. The positive constraint failure states include: a response missing state where the actual constraint response has not yet started after the positive response observation process ends; a response delay state where the actual constraint response starts or reaches the expected response stage after the positive response observation process ends; a response insufficiency state where the actual constraint response has been generated but has not reached the constraint response stage, constraint response change state, or bearing requirement corresponding to the expected positive response; and a response interruption state where the actual constraint response once reached the expected positive response but was abnormally weakened or interrupted during the period when the safety constraint should have responded.

6. The method for low-speed fall protection identification of intelligent high-altitude safety belts according to claim 1, characterized in that, Step S4 includes: Based on the operational function mode and the constraint response stage and constraint response change state corresponding to the actual constraint response, the expected reverse suppression is determined; wherein, the operational function mode includes non-load-bearing movement mode, work positioning load-bearing mode, and controlled descent mode; In the non-load-bearing movement mode, the reverse inhibition is expected to include a reduction in the continuous movement of the person along the direction of height reduction, and a transition to a finite movement that stops or ceases to develop along the direction of height reduction. In the working positioning and bearing mode, the reverse suppression is expected to include a reduction in the downward trend of personnel and to maintain a relatively stable height after the load transfer is completed, or only to perform posture or position adjustments that do not result in continuous downward movement; In the controlled descent mode, the reverse inhibition expectation includes maintaining a relationship between the motion state of the descent device, the actual constraint response, and the descent motion of the personnel, corresponding to the allowed descent, deceleration, braking, or stop state; Within a continuous time range after the seat belt restraint system generates a response, the change in the person's motion after the response is determined based on the person's motion state, and the change in the person's motion after the response is compared with the expected reverse inhibition. When the change in personnel movement after the response does not conform to the expected reverse inhibition corresponding to the operation function mode, the reverse constraint failure state is determined.

7. The method for low-speed fall protection identification of intelligent high-altitude safety belts according to claim 1, characterized in that, Step S5, which involves determining the active recovery state based on the person's movement state, includes: When the descent trend of a person continues to weaken, the continuity of descent is interrupted, or an upward trend appears, and the corresponding change in movement is not due to the normal function of the rope rebound, the descent device, or the normal response of the seat belt restraint system, and is accompanied by at least one of the following: adjustment of the person's posture, change of movement direction, or change of load-bearing relationship, an active recovery sign is identified. After the aforementioned signs of active recovery appear, the process enters the active recovery confirmation process, and continuously determines whether the personnel descent is interrupted, whether the personnel posture adjustment is completed, and whether the personnel movement remains stable. When the continuous movement of personnel along the direction of decreasing height stops and the height remains basically stable or forms a continuous upward trend without reverting to a continuous descent, and when the change in the actual constraint response or load-bearing relationship is adapted to the personnel regaining active support, active support reconstruction is confirmed, and the active recovery state is determined to be established. When only the active recovery indication is identified or the active recovery is in the process of pending confirmation, it is determined that the active recovery status has not been established.

8. The method for low-speed fall protection identification of intelligent high-altitude safety belts according to claim 7, characterized in that, Step S5, which involves determining the continued effectiveness of the two types of constraint failure states based on the formation conditions of the two types of constraint failure states and the active recovery state, includes: After the positive constraint failure state is formed, the physical response opportunity interval, the expected positive response, and the actual constraint response are continuously monitored; when the physical response opportunity interval still indicates that the safety constraint should be responded to, the actual constraint response still does not meet the expected positive response, and the active recovery state is not established, the positive constraint failure state is kept in effect. After the reverse constraint failure state is formed, the actual constraint response, the reverse suppression expectation, and the personnel movement change after the response are continuously monitored; when the actual constraint response continues to exist, the current operation relationship still requires the constraint component to control the personnel movement, the personnel movement change after the response still does not meet the reverse suppression expectation, and the active recovery state is not established, the reverse constraint failure state is kept effective. When the conditions for the formation of the corresponding constraint failure state no longer hold, or when the active recovery state is established and the current dangerous motion condition corresponding to the corresponding constraint failure state disappears, it is determined that the corresponding constraint failure state no longer remains valid. When the conditions for the formation of the corresponding constraint failure state disappear and then reappear, the corresponding constraint failure state and its continued validity are re-determined based on the personnel movement state, the physical response opportunity interval, and the actual constraint response after the reappearance.

9. The method for low-speed fall protection identification of intelligent high-altitude safety belts according to claim 1, characterized in that, Step S6, which describes determining a low-speed runaway descent state when the person continues to descend at a low speed, at least one constraint failure state remains effective, and the active recovery state is not established, includes: Determine the continuous time range of the personnel's continuous low-speed descent, the continuous time range of at least one of the positive constraint failure state and the reverse constraint failure state that is continuously effective, and the continuous time range of the active recovery state that is not established, and align each continuous time range in time. When the personnel continue to descend at a low speed, at least one constraint failure state remains effective, and the active recovery state is not established, all of which are simultaneously established and continuously confirmed during the same continuous operation process, the low-speed uncontrolled descent state is determined.

10. The method for low-speed fall protection identification of intelligent high-altitude safety belts according to claim 9, characterized in that, Step S6, generating the low-speed fall identification result, includes: The low-speed fall identification result is generated based on the low-speed uncontrolled descent state, and the start time of the person's continuous low-speed descent and the determination time of the low-speed uncontrolled descent state are recorded. After the low-speed runaway descent state is formed, the continuous effectiveness of at least one of the following is continuously monitored: the personnel continue to descend at a low speed; the positive constraint failure state and the reverse constraint failure state; and the active recovery state. The low-speed runaway descent state is maintained when the personnel continue to descend at a low speed, at least one constraint failure state remains valid, and the active recovery state remains invalid. The current low-speed runaway descent state ends when the personnel stop descending at a low speed, both the positive constraint failure state and the negative constraint failure state cease to be valid, or the active recovery state is established. When the operation function mode changes, the positive response expectation and the reverse inhibition expectation are updated according to the changed operation function mode, with the time when the operation function mode changes as the dividing line. Based on this, the continued validity of the positive constraint failure state and the reverse constraint failure state is re-determined, and the low-speed runaway descent state is re-evaluated. When the person continues to descend at a low speed without interruption, at least one constraint failure state remains effective, and the active recovery state is not established, the current low-speed uncontrolled descent state is maintained; when the original dangerous physical process ends and the above three conditions are met again, a new low-speed fall identification result is generated.

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