Method and apparatus for monitoring safety state of operation object, and processor

Abstract

A method and apparatus for monitoring the safety state of an operation object, and a processor. The method comprises: acquiring an initial position of an operation object (S101); determining an initial residence time during which the operation object remains at the initial position (S102); on the basis of the initial position and the initial residence time, determining a target position and a target distance of the operation object (S103), wherein the target position is used for indicating the position to which the operation object moves from the initial position, and the target distance is used for indicating the distance between the initial position and the target position; on the basis of the target position and the target distance, determining a safety state of the operation object (S104); and outputting the safety state (S105). Therefore, real-time monitoring of the safety state of an operator is realized.

Description

Methods, devices, and processors for monitoring the safety status of work objects.

[0001] This application claims priority to Chinese Patent Application No. 202411585229.6, filed on November 7, 2024, entitled "Method, Apparatus and Processor for Monitoring the Safety Status of Work Objects", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of high-altitude operation safety monitoring technology, and more specifically, to a method, device, and processor for monitoring the safety status of an operation object. Background Technology

[0003] Currently, safety belts are crucial equipment for protecting the lives of workers in high-altitude operations. They are the last line of defense for workers' safety. Monitoring and determining the status of safety equipment is a key step in ensuring worker safety, as the safety risks for workers in high-altitude operations are extremely high. Due to the complex and changeable environment at heights, visibility is often affected by various factors.

[0004] In related technologies, due to various reasons, workers may unexpectedly lose the protection of safety equipment during operations, posing a significant safety risk. Currently, there is a lack of methods specifically designed for monitoring the safety of workers at heights, making it difficult to effectively ensure worker safety and reduce safety hazards. Therefore, there is a technical problem of being unable to monitor the safety status of workers in real time.

[0005] There is currently no effective solution to the aforementioned technical problem of being unable to monitor the safety status of workers in real time. Summary of the Invention

[0006] This invention provides a method, apparatus, and processor for monitoring the safety status of work objects, thereby at least solving the technical problem of the inability to monitor the safety status of workers in real time.

[0007] According to one aspect of the present invention, a method for monitoring the safety status of a work object is provided. The method may include: acquiring the initial position of the work object; determining the initial dwell time of the work object at the initial position; determining the target position and target distance of the work object based on the initial position and the initial dwell time, wherein the target position indicates the position to which the work object moves from the initial position, and the target distance indicates the distance between the initial position and the target position; determining the safety status of the work object based on the target position and the target distance; and outputting the safety status.

[0008] Optionally, based on the initial position and initial dwell time, determining the target position and target distance of the work object relative to the initial position includes: in response to the initial dwell time being greater than a dwell time threshold, obtaining the current position of the work object; determining the current position as the initial position; and determining the target distance based on the target position and the initial position.

[0009] Optionally, the target distance is determined based on the target location and the initial location, including: inputting the target location and the initial location into a distance model for analysis to obtain the target distance.

[0010] Optionally, based on the target location and target distance, the safety status of the work object is determined, including: in response to the target distance being greater than a distance threshold, determining the safety status of the work object as a dangerous state.

[0011] Optionally, the method for monitoring the safety status of the work object further includes: acquiring the acceleration and angular velocity of the work object; and adjusting the initial position of the work object based on the acceleration and angular velocity.

[0012] Optionally, outputting a security state may further include: determining different output strategies for different security states based on different security states, wherein the output strategy is used to indicate the rules for outputting a security state; and outputting a security state according to the output strategy.

[0013] According to another aspect of the present invention, a device for monitoring the safety status of a work object is also provided. The device may include: an acquisition unit for acquiring the initial position of the work object; a first determination unit for determining the initial dwell time of the work object at the initial position; a second determination unit for determining a target position and a target distance of the work object based on the initial position and the initial dwell time, wherein the target position indicates the position to which the work object moves from the initial position, and the target distance indicates the distance between the initial position and the target position; a third determination unit for determining the safety status of the work object based on the target position and the target distance; and an output unit for outputting the safety status.

[0014] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is run by a processor, it controls the device where the storage medium is located to execute the method for monitoring the safety status of the work object in the embodiments of the present invention.

[0015] According to another aspect of the present invention, a processor is also provided. This processor is used to run a program, wherein the program, when running, executes the method for monitoring the safety status of a job object according to the embodiments of the present invention.

[0016] According to another aspect of the present invention, a computer program product is also provided. The program product includes computer instructions that, when executed by a processor, implement the method for monitoring the safety status of a work object according to the embodiments of the present invention.

[0017] In this embodiment of the invention, the initial position of the work object is obtained; the initial dwell time of the work object at the initial position is determined; based on the initial position and the initial dwell time, the target position and target distance of the work object are determined, wherein the target position indicates the position to which the work object moves from the initial position, and the target distance indicates the distance between the initial position and the target position; based on the target position and the target distance, the safety status of the work object is determined; and the safety status is output. In other words, this invention solves the technical problem of the inability to monitor the safety status of workers in real time by monitoring the position of the work object in real time, analyzing the target position and target distance of the work object, and determining the safety status of the work object. This achieves the technical effect of real-time monitoring of the safety status of workers. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0019] Figure 1 is a flowchart of a method for monitoring the safety status of a work object according to an embodiment of the present invention;

[0020] Figure 2 is a schematic diagram of a high-altitude worker position change luminous device according to an embodiment of the present invention;

[0021] Figure 3 is a flowchart of a method for emitting light on the position change of high-altitude workers according to an embodiment of the present invention;

[0022] Figure 4 is a schematic diagram of a device for monitoring the safety status of a work object according to an embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, functional component, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, functional components, or devices.

[0025] According to an embodiment of the present invention, an embodiment of a method for monitoring the safety status of a work object is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0026] Figure 1 is a flowchart of a method for monitoring the safety status of a work object according to an embodiment of the present invention. As shown in Figure 1, the method may include the following steps:

[0027] Step S101: Obtain the initial position of the job object.

[0028] In the technical solution provided by step S101 of the present invention, the work object can also be referred to as the high-altitude work object or the worker.

[0029] In this embodiment, the initial position of the work object is obtained. For example, the initial position of the work object is obtained through a positioning method combining a high-precision Global Positioning System (GPS) and an Inertial Measurement Unit (IMU). This is merely an example and does not limit the specific method for obtaining the initial position of the work object.

[0030] For example, a positioning method combining a high-precision Global Positioning System (GPS) and an Inertial Measurement Unit (IMU) can be used. GPS provides relatively accurate absolute position information, while the IMU can calculate the relative position changes of the personnel by measuring acceleration and angular velocity when the GPS signal is unstable or briefly lost. To further improve positioning accuracy, a Bluetooth positioning module can be added. For the GPS signal receiving section, a high-gain antenna can be used to enhance signal reception capabilities and reduce signal interference and attenuation.

[0031] Step S102: Determine the initial dwell time of the work object at the initial position.

[0032] In the technical solution provided by step S102 of the present invention, the initial dwell time can also be referred to as the dwell time of the high-altitude worker in the same position.

[0033] In this embodiment, after obtaining the initial position of the work object in step S101, the initial dwell time of the work object at the initial position is determined. For example, the initial dwell time of the work object at the initial position can be determined by a timer. This is only an example and does not limit the specific method for determining the initial dwell time of the work object at the initial position.

[0034] For example, a timer records the time workers spend in the same position while working at height. A high-precision crystal oscillator is used to ensure the accuracy of the time recording. An automatic calibration function is set up to periodically synchronize with network time or other standard time sources to prevent the accumulation of time errors.

[0035] For another example, when GPS data is valid, after a worker at height stays at a certain position for 5 minutes, the control module records the coordinate values ​​provided by the positioning device (GPS) at this time and sets them as the initial coordinates, that is, the initial position (considering the height in three-dimensional space), denoted as (X0, Y0, Z0).

[0036] Step S103: Based on the initial position and initial dwell time, determine the target position and target distance of the work object.

[0037] In the technical solution provided by step S103 of the present invention, the target position is used to indicate the position to which the work object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position. The target distance can also be called the displacement distance.

[0038] In this embodiment, after determining the initial dwell time of the work object at the initial position in step S102, the target position and target distance of the work object are determined based on the initial position and the initial dwell time. For example, the target position and target distance of the work object can be determined by coordinate values. This is only an example and does not limit the specific method for determining the target position and target distance of the work object.

[0039] For example, real-time coordinate acquisition and calculation: As the operator's position changes, the positioning device continuously provides new coordinate values, i.e., the target position, denoted as (X1, Y1, Z1). The displacement distance of the operator relative to the initial position is calculated according to the distance formula in three-dimensional space, i.e., the target distance, which can be expressed by the following formula (1):

[0040] Step S104: Determine the safety status of the work object based on the target location and target distance.

[0041] In the technical solution provided by step S104 of the present invention, the safe state can be a dangerous state or a normal state.

[0042] In this embodiment, after determining the target location and target distance of the work object in step S103, the safety status of the work object is determined based on the target location and target distance. For example, the target distance is compared with a distance threshold to determine the safety status of the work object. This is only an exemplary example and does not limit the specific content of determining the safety status of the work object.

[0043] For example, assuming the distance threshold is 1.5 meters, when the target distance is greater than 1.5 meters, it means that the target distance exceeds the distance threshold. Based on this, it can be determined that the safety status of the work object is a dangerous status.

[0044] Step S105: Output the safe status.

[0045] In the technical solution provided by step S105 of the present invention, after determining the safety status of the work object in step S104, the safety status is output.

[0046] In this embodiment, different light sources are used to output the safety status. For example, different light source colors are preset to correspond to different safety statuses, and the current safety status is matched with the preset colors to output the current safety status. This is only an example and does not limit the specific method of outputting the safety status.

[0047] For example, suppose that in an emergency or dangerous scenario, that is, when the safety condition is dangerous, a bright red flashing light is emitted, while in a normal working scenario, when the safety condition is normal, a bright yellow light is emitted.

[0048] It should be noted that the above embodiments can be implemented using a device for monitoring the safety status of the work object.

[0049] In steps S101 to S105 of this invention, the initial position of the work object is obtained; the initial dwell time of the work object at the initial position is determined; based on the initial position and the initial dwell time, the target position and target distance of the work object are determined, wherein the target position indicates the position to which the work object moves from the initial position, and the target distance indicates the distance between the initial position and the target position; based on the target position and target distance, the safety status of the work object is determined; and the safety status is output. In other words, this invention solves the technical problem of not being able to monitor the safety status of workers in real time by monitoring the position of the work object in real time, analyzing the target position and target distance of the work object, and determining the safety status of the work object. This achieves the technical effect of real-time monitoring of the safety status of workers.

[0050] The method described in this embodiment will be further described below.

[0051] As an optional embodiment, determining the target position and target distance of the work object relative to the initial position based on the initial position and the initial dwell time includes: in response to the initial dwell time being greater than the dwell time threshold, obtaining the current position of the work object, determining the current position as the initial position, and determining the target distance based on the target position and the initial position.

[0052] In this embodiment, the initial position of the work object is updated based on the initial position and the initial dwell time to obtain the target position. For example, the initial dwell time is compared with a duration threshold, and the initial position is updated based on the comparison result.

[0053] Optionally, if the initial dwell time exceeds the dwell time threshold, it indicates that the work object has not moved. To avoid inaccurate positioning, the initial position is updated. Based on this, the current position of the work object is obtained and the current position is determined as the initial position.

[0054] Optionally, after obtaining the target position, the target distance is determined based on the target position and the initial position. The determination of the target distance is as shown in the aforementioned formula (1), and will not be repeated here.

[0055] As an optional implementation method, determining the target distance based on the target location and the initial location includes: inputting the target location and the initial location into a distance model for analysis to obtain the target distance.

[0056] In this embodiment, the target position and the initial position are input into the distance model for analysis to obtain the target distance. The distance model can be as shown in the aforementioned formula (1), which will not be elaborated here.

[0057] Optionally, by analyzing the target distance and initial position, the target position is determined, and the safety status of the work object is determined based on the target position, thereby achieving the purpose of real-time monitoring of the safety status of the work object.

[0058] As an optional embodiment, determining the safety status of the work object based on the target location and target distance includes: determining the safety status of the work object as a dangerous state in response to the target distance being greater than a distance threshold.

[0059] In this embodiment, the target distance is compared with a distance threshold. When the target distance is greater than the distance threshold, it indicates that the work object has left the safe area. Based on this, it can be determined that the safety status of the work object is a dangerous status.

[0060] Optionally, by comparing the target distance with a distance threshold, the displacement of the work object can be accurately determined, thereby achieving the purpose of determining the safety status of the work object.

[0061] As an optional embodiment, the method for monitoring the safety status of the work object further includes: acquiring the acceleration and angular velocity of the work object; and adjusting the initial position of the work object based on the acceleration and angular velocity.

[0062] In this embodiment, the initial position of the work object is adjusted based on acceleration and angular velocity. For example, when GPS signal is poor, the initial position is adjusted using an IMU.

[0063] For example, when GPS signals are unstable or briefly lost, IMUs can calculate the relative position changes of workers by measuring acceleration and angular velocity, thereby further improving positioning accuracy.

[0064] As an optional embodiment, outputting a security state further includes: determining different output strategies for different security states based on different security states, wherein the output strategy is used to indicate the rules for outputting a security state; and outputting a security state according to the output strategy.

[0065] In this embodiment, different output strategies are determined based on different safety states, where the output strategy can be different light source output methods.

[0066] Optionally, the safety status of the work object can be output according to different output strategies. For example, the safety status of the work object can be output by adjusting the different colors of the light source.

[0067] It should be noted that the above embodiments can be implemented using a device for monitoring the safety status of the work object.

[0068] In this embodiment, the initial position of the work object is obtained; the initial dwell time of the work object at the initial position is determined; based on the initial position and the initial dwell time, the target position and target distance of the work object are determined, wherein the target position indicates the position to which the work object moves from the initial position, and the target distance indicates the distance between the initial position and the target position; based on the target position and target distance, the safety status of the work object is determined; and the safety status is output. In other words, this invention solves the technical problem of the inability to monitor the safety status of workers in real time by monitoring the position of the work object in real time, analyzing the target position and target distance of the work object, and determining the safety status of the work object. This achieves the technical effect of real-time monitoring of the safety status of workers.

[0069] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0070] Currently, safety belts are crucial equipment for protecting the lives of workers in high-altitude operations. They are the last line of defense for workers' safety. Monitoring and determining the status of safety equipment is a key step in ensuring worker safety, as the safety risks for workers in high-altitude operations are extremely high. Due to the complex and changeable environment at heights, visibility is often affected by various factors.

[0071] In related technologies, due to various reasons, workers may unexpectedly lose the protection of safety equipment during operations, posing a significant safety risk. Currently, there is a lack of methods specifically designed for monitoring the safety of workers at height, making it difficult to effectively ensure worker safety and reduce safety hazards. Therefore, there is a technical problem of not being able to monitor the safety status of workers in real time. Currently, no effective solution has been proposed to address this technical problem of not being able to monitor the safety status of workers in real time.

[0072] However, this invention proposes a method for illuminating changes in the position of high-altitude workers. It continuously receives satellite signals via GPS to determine the worker's initial position. Simultaneously, an IMU (Integrated Measurement Unit) measures the worker's acceleration and angular velocity. If the GPS signal is good, the method determines the worker's position change based on the GPS-provided location information. When the GPS signal is interfered with or briefly lost, the IMU performs integration calculations based on the previous location information and the measured acceleration and angular velocity to estimate the worker's relative position change. Finally, by combining the information from GPS and IMU, the accurate position of the worker is determined in real time. After the worker remains at a certain position for 5 minutes, the coordinate values ​​provided by the GPS at this time are recorded and set as the initial coordinates (considering height in three-dimensional space). As the worker's position changes, new coordinate values ​​are continuously provided. The displacement distance of the worker relative to the initial position is calculated using a distance formula in three-dimensional space. When the displacement distance exceeds a radius of 1.5 meters, the illuminating element is triggered, solving the technical problem of not being able to monitor the worker's safety status in real time and achieving the technical effect of real-time monitoring of the worker's safety status.

[0073] The embodiments of the present invention will be further described below.

[0074] Figure 2 is a schematic diagram of a high-altitude worker position change light-emitting device according to an embodiment of the present invention. The position change light-emitting device 200 includes: a positioning device 201, a timer 202, a light-emitting element 203, a light source control module 204, a power supply module 205, and a control module 206.

[0075] Positioning device 201: Employs a positioning method combining a high-precision Global Positioning System (GPS) and an Inertial Measurement Unit (IMU). GPS provides relatively accurate absolute position information, while the IMU can calculate the relative position changes of the personnel by measuring acceleration and angular velocity when the GPS signal is unstable or briefly lost. To further improve positioning accuracy, a Bluetooth positioning module can be added. For the GPS signal receiving section, a high-gain antenna can be used to enhance signal reception capabilities and reduce signal interference and attenuation.

[0076] Optionally, to further improve positioning accuracy, a Bluetooth positioning module can be added. When the operator is within a specific range of a Bluetooth base station, the device can receive Bluetooth signals for assisted positioning, integrating with GPS and IMU to improve positioning accuracy and stability.

[0077] Optionally, a high-gain antenna can be used for the GPS signal receiving section to enhance signal reception capabilities and reduce signal interference and attenuation.

[0078] Timer 202: Records the time a worker stays in the same position while working at height. Timer 202 can use a high-precision crystal oscillator to ensure the accuracy of time recording. It also features an automatic calibration function, periodically synchronizing with network time or other standard time sources to prevent the accumulation of time errors.

[0079] Light-emitting element 203: encompasses various colors and types of light sources, such as flashing red lights and constant yellow lights, to meet the needs of different scenarios. It adopts high-brightness LEDs, featuring energy saving, long lifespan, and high brightness.

[0080] Optionally, to improve the luminous effect, optical lenses can be used to focus and diffuse the light, adjusting the illumination angle and range according to different scenarios. Adding a photosensor allows for automatic adjustment of the brightness of the luminous element based on the ambient light intensity, maintaining good visibility under different lighting conditions during the day and night, while also saving energy.

[0081] Light source control module 204: controls the light-emitting element to emit corresponding light sources according to different scenarios and triggering conditions.

[0082] Optionally, the light source control module 204 can employ a microprocessor or a programmable logic controller (PLC) to achieve precise control of the light-emitting element. Through preset programs and algorithms, based on information from the positioning device, timer, and other sensors, it determines the current scene and selects a suitable light source and emission mode.

[0083] Optionally, to improve the flexibility of light source control, a manual switching mode can be set, allowing operators to manually select the required light source in special circumstances.

[0084] Power module 205: Provides stable power to the entire device, uses a rechargeable battery, and is convenient for high-altitude workers to carry and use.

[0085] Optionally, the power module 205 can use a lithium-ion battery or a lithium polymer battery, which features high energy density and lightweight design. To extend battery life, an intelligent charging management system can be set up to automatically adjust the charging current and voltage according to the battery status, preventing overcharging and over-discharging.

[0086] Optionally, a solar charging function can be added, which uses solar panels to charge the battery when there is sunlight, thereby improving the device's battery life.

[0087] Control module 206: It is connected to positioning device 201, timer 202, light-emitting element 203, light source control module 204 and power supply module 205 respectively. It controls the light-emitting element to emit light according to positioning information and timer signal, and coordinates the work of each module.

[0088] Optionally, the control module 206 can be an embedded system, characterized by high performance and low power consumption. Through optimized algorithms and programs, it achieves efficient control and management of the device. To improve the reliability and stability of the device, fault detection and self-recovery functions can be implemented. When a module fails, the control module can detect it promptly and take corresponding measures, such as switching to a backup module or issuing a fault alarm, to ensure the device continues to operate normally.

[0089] Figure 3 is a flowchart of a method for emitting light on the position change of a high-altitude worker according to an embodiment of the present invention. The method for emitting light on the position change includes the following steps:

[0090] Step S301: Initialize parameters.

[0091] In this embodiment, after the device is started, each module is initialized, including the positioning device, timer, light-emitting element, light source control module, power supply module, etc. The control module sets the initial state flags and prepares to receive data from each module. Initial parameters are set for the Kalman filter. The initial value of the state vector can be set based on the initial GPS positioning (if a valid GPS signal is available at this time) and the speed is assumed to be zero. The initial value of the covariance matrix is ​​set based on the prior accuracy estimate of the sensor, referring to the nominal accuracy of GPS and IMU.

[0092] Optionally, during device startup or system initialization, initial parameters need to be set for the Kalman filter. This includes the initial value x of the state vector. 0|0 (For example, this can be set based on the initial GPS positioning and speed assumptions of zero), and the initial value p of the covariance matrix. 0|0 (This value can be set based on the prior accuracy estimate of the sensor, for example, based on the nominal accuracy of GPS and IMU).

[0093] Step S302: Obtain the initial position information of the workers.

[0094] In this embodiment, the positioning device starts working and acquires the initial position information of the worker. Simultaneously, the timer is reset to zero and starts counting. The control module receives and stores the initial position data from the positioning device, while simultaneously monitoring the timer status.

[0095] Optionally, after the worker wearing this device, the GPS module continuously receives satellite signals to determine the worker's initial position. Simultaneously, the IMU module begins measuring the worker's acceleration and angular velocity. The control module integrates the information from GPS and IMU to determine the worker's precise position in real time.

[0096] Step S303: Monitor the location of the workers.

[0097] In this embodiment, if a worker remains at a certain location, the timer continues to count. When the dwell time exceeds 5 minutes, the control module enters a position monitoring state, closely monitoring the position changes of the positioning device. At this time, the control module continuously queries the timer value, and once the condition is met, it activates the position monitoring algorithm to monitor the worker's position.

[0098] Step S304: Determine the displacement of the workers.

[0099] In this embodiment, when the positioning device detects a change in the position of the operator, different displacement calculation methods are selected based on whether the GPS signal is valid.

[0100] Optionally, if the GPS signal is valid, a calculation method based on the positioning coordinates is used to calculate the displacement distance of the worker relative to the initial position. If the displacement distance exceeds a radius of 1.5 meters, the scene judgment step is initiated. The control module receives GPS data, calls the coordinate calculation function to calculate the distance, and if the conditions are met, the scene judgment program is triggered.

[0101] Optionally, if the GPS signal is poor, an inertial measurement unit (IMU)-based calculation method is used to calculate the relative displacement and determine whether the displacement condition is met. If it is met, the process proceeds to the scene determination step.

[0102] Optionally, when a worker stays at a certain position for 5 minutes, the control module records the coordinate values ​​provided by the positioning device (GPS) at this time and sets them as the initial coordinates (considering the height in three-dimensional space), denoted as (X0, Y0, Z0).

[0103] Optionally, real-time coordinate acquisition and calculation: As the operator's position changes, the positioning device continuously provides new coordinate values, denoted as (X1, Y1, Z1). The displacement distance of the operator relative to the initial position can be calculated using the distance formula in three-dimensional space, as expressed in the aforementioned formula (1), which will not be elaborated here. When the displacement distance d exceeds a radius of 1.5 meters, the light-emitting element is triggered to emit light.

[0104] Optionally, the relative displacement calculation principle is based on the inertial measurement unit (IMU) (when GPS signal is poor): the IMU can measure acceleration and angular velocity. Displacement is calculated by the quadratic integral of acceleration over time over a short period. Let the initial position of the worker be the starting point (the starting position after a 5-minute stop), at which point the velocity is zero and the displacement is zero.

[0105] Alternatively, integrating the acceleration with respect to time yields the following velocity formula (2):

[0106] Where v0 is the initial velocity (which is zero here), and a(t) is the acceleration as a function of time. Therefore

[0107] Alternatively, the acceleration is integraled twice over time to obtain the following displacement formula (3):

[0108] Where s0 is the initial displacement (which can be zero). Therefore

[0109] Optionally, distance determination: After calculating the relative displacement, the equivalent displacement distance is calculated according to the concept of three-dimensional spatial distance (considering the three-dimensional motion measured by the IMU). Let the coordinates of the relative displacement in three-dimensional space be (X′, Y′, Z′), then the equivalent displacement distance is as shown in the following formula (4):

[0110] When the displacement distance exceeds a radius of 1.5 meters, the displacement condition is determined to be met, triggering the light-emitting element to emit light.

[0111] Optionally, a variance matrix is ​​introduced: Let the measurement variance matrix of acceleration be Q. a (t), the variance matrix of the velocity measurement is R v (t), the measurement variance matrix of the displacement is R s (t). During the integration process, the variance matrix is ​​updated according to the variance propagation law. For example, the formula for updating the variance matrix of velocity is shown in the following formula (5):

[0112] The formula for updating the variance matrix of the displacement is as follows (6):

[0113] Optionally, let the state transition matrix be F(t), the control input matrix be B(t), the process noise matrix be G(t), and the process noise variance matrix be Q(t). The state vector is given by the following formula (7): x(t)=[p(t), v(t)] T (7)

[0114] Where p(t) is the position vector and v(t) is the velocity vector. Then the state equation can be expressed as the following formula (8): x(t)=F(t)x(t-1)+B(t)u(t)+G(t)w(t) (8)

[0115] Where u(t) is the control input and w(t) is the process noise, which follows a normal distribution with zero mean and variance Q(t).

[0116] Alternatively, according to the state equation, at time k, the prior estimate of the predicted state vector is given by the following formula (9): x k|k-1 =F(k)x k-1|k-1+B(k)u(k) (9)

[0117] Optionally, this step predicts the state of the system at the current moment based on the optimal estimate from the previous moment and the system's dynamic model. For example, if it is assumed that the worker moves at approximately a constant speed over a short period of time, then the predicted position is the previous position plus the speed multiplied by the time interval.

[0118] Alternatively, we update the prior estimate error covariance matrix as shown in Equation (10) below:

[0119] p k|k-1 =F(k)p k-1|k-1 F(k) T +G(k)Q(k)G(k) T (10)

[0120] This covariance matrix reflects the uncertainty of the predicted state, which changes with the dynamic changes of the system and the influence of process noise.

[0121] Alternatively, the Kalman gain can be calculated as shown in the following formula (11):

[0122] K k =p k|k-1 H T (Hp k|k-1 H T +R) -1 (11)

[0123] Optionally, the Kalman gain is a key parameter that determines how much we trust the measurements and predictions during the fusion process. Its calculation involves the prior estimation error covariance matrix, the measurement matrix, and the measurement noise covariance matrix, determined by balancing the uncertainty of the prediction with the uncertainty of the measurement.

[0124] Optionally, the optimal estimate of the state vector is updated based on the measured values ​​as shown in the following formula (12):

[0125] x k|k =x k|k-1 +K k (z k -Hx k|k-1 (12)

[0126] Among them, z k, where is the measurement value at time k. This formula illustrates how to fuse the predicted and measured values, with the Kalman gain adjusting their weights in the fusion process based on their respective uncertainties. If the measured value is relatively reliable (low measurement noise), the Kalman gain will give the measured value a larger weight in the fused estimate; conversely, if the predicted value is relatively reliable (small prior estimation error covariance), the predicted value will have a larger weight.

[0127] Optionally, the updated posterior estimation error covariance matrix is ​​shown in Equation (13) below: p k|k =(IK k H)p k|k-1 (13)

[0128] Optionally, this updated covariance matrix is ​​used for the next round of prediction and updates, reflecting the new uncertainties in our system state estimates after fusion.

[0129] Optionally, when both GPS and IMU data are available, the position information measured by GPS and the position information calculated by IMU through integration (considering velocity and acceleration integrals) are used as different parts of the measurement vector. For example, let the GPS measured position be z. GPS (k), the IMU calculation position is z IMU (k), a comprehensive measurement vector can be constructed as shown in the following formula (14): z(k)=[z GPS (k), z IMU (k)] T (14)

[0130] Optionally, the optimal estimate of the operator's position is updated at each time step according to the Kalman filtering steps described above. In this way, the fused position estimate can comprehensively utilize the absolute positioning advantage of GPS and the high-precision relative position measurement characteristics of IMU in a short time, effectively reducing the influence of errors from a single sensor and improving the accuracy of position estimation.

[0131] Optionally, the position estimate obtained after Kalman filtering fusion has higher accuracy and reliability compared to using GPS or IMU alone. This improvement in accuracy is crucial when calculating displacement distance.

[0132] Optionally, because Kalman filtering can adjust the level of trust in data from different sensors in real time, it can effectively suppress the accumulation of sensor errors. For example, during the integration calculation of displacement by an IMU, acceleration measurement errors can cause displacement errors to accumulate over time; while GPS signals, although providing absolute position information, are also subject to various interferences that introduce errors. By fusing the data through Kalman filtering, information from both sensors can be dynamically utilized according to the actual situation, reducing the impact of this error accumulation on displacement and distance calculations.

[0133] Step S305: Determine and output the scene of the operators.

[0134] In this embodiment, the control module combines information from the positioning device, timer, and other sensors to determine the current scene.

[0135] If the scenario is determined to be an emergency or dangerous situation, a command is sent to the light source control module to control the light-emitting element to emit a flashing red light.

[0136] If the scenario is determined to be a normal work environment, a constant yellow light will be emitted. If the scenario is determined to be a special work environment, the light will be emitted according to the preset light source color and mode.

[0137] Optionally, in emergency situations such as equipment malfunction or strong winds, the device emits a flashing red light to draw the attention of nearby personnel and facilitate timely rescue. In normal operation scenarios, if the operator's position changes during normal operation, a steady yellow light is emitted as a general warning signal. In special operation scenarios, specific light source colors and modes can be preset according to different special operational needs. For example, a cool blue light is emitted during nighttime operations to improve operator visibility while minimizing interference with the surrounding environment.

[0138] Optionally, the positioning device operates continuously throughout the operation to ensure accurate monitoring of the operator's position. The power module continuously supplies power to the device to ensure its normal operation. Simultaneously, the control module continuously performs fault detection; if a fault is detected in any module, corresponding self-recovery measures are taken or a fault alarm is issued.

[0139] In this embodiment, the initial position of the worker is determined by continuously receiving satellite signals via GPS. Simultaneously, the IMU begins measuring the worker's acceleration and angular velocity. If the GPS signal is good, the positional change of the worker is determined based on the location information provided by GPS. When the GPS signal is interfered with or briefly lost, the IMU performs integration calculations based on the previous position information and the measured acceleration and angular velocity to estimate the relative positional change of the worker. Finally, by combining the information from GPS and IMU, the accurate position of the worker is determined in real time. When the worker remains at a certain position for 5 minutes, the coordinate values ​​provided by GPS at this time are recorded and set as the initial coordinates (considering height in three-dimensional space). As the worker's position changes, new coordinate values ​​are continuously provided. The displacement distance of the worker relative to the initial position is calculated using the distance formula in three-dimensional space. When the displacement distance exceeds a radius of 1.5 meters, a light-emitting element is triggered to emit light, solving the technical problem of not being able to monitor the worker's safety status in real time and achieving the technical effect of real-time monitoring of the worker's safety status.

[0140] According to embodiments of the present invention, a device for monitoring the safety status of a work object is also provided. It should be noted that this device for monitoring the safety status of a work object can be used to execute the method for monitoring the safety status of a work object in the method embodiments.

[0141] Figure 4 is a schematic diagram of a device for monitoring the safety status of a work object according to an embodiment of the present invention. As shown in Figure 4, the device 400 for monitoring the safety status of the work object may include: an acquisition unit 401, a first determination unit 402, a second determination unit 403, a third determination unit 404, and an output unit 405.

[0142] Acquisition unit 401 is used to acquire the initial position of the job object.

[0143] The first determining unit 402 is used to determine the initial dwell time of the work object at the initial position.

[0144] The second determining unit 403 is used to determine the target position and target distance of the work object based on the initial position and the initial dwell time, wherein the target position is used to indicate the position to which the work object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position.

[0145] The third determining unit 404 is used to determine the safety status of the work object based on the target location and target distance.

[0146] Output unit 405 is used to output the safety status.

[0147] Optionally, the second determining unit 403 may include: an acquisition module, used to acquire the current position of the work object in response to the initial dwell time being greater than the dwell time threshold; a first determining module, used to determine the current position as the initial position; and a second determining module, used to determine the target distance based on the target position and the initial position.

[0148] Optionally, the second determining module may include: an analysis submodule, used to input the target position and the initial position into the distance model for analysis to obtain the target distance.

[0149] Optionally, the third determining unit 404 may include: a third determining module, used to determine that the safety status of the work object is a dangerous status when the target distance is greater than a distance threshold.

[0150] Optionally, the monitoring device 400 for the safety status of the work object may further include: a first acquisition unit for acquiring the acceleration and angular velocity of the work object; and an adjustment unit for adjusting the initial position of the work object based on the acceleration and angular velocity.

[0151] Optionally, the output unit 405 may include: a fourth determining module, used to determine output strategies for different security states based on different security states, wherein the output strategy is used to indicate the rules for outputting security states; and an output module, used to output the security state according to the output strategy.

[0152] In this embodiment, the initial position of the work object is obtained; the initial dwell time of the work object at the initial position is determined; based on the initial position and the initial dwell time, the target position and target distance of the work object are determined, wherein the target position indicates the position to which the work object moves from the initial position, and the target distance indicates the distance between the initial position and the target position; based on the target position and target distance, the safety status of the work object is determined; and the safety status is output. In other words, this invention solves the technical problem of the inability to monitor the safety status of workers in real time by monitoring the position of the work object in real time, analyzing the target position and target distance of the work object, and determining the safety status of the work object. This achieves the technical effect of real-time monitoring of the safety status of workers.

[0153] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein the program execution method embodiment includes a method for monitoring the safety status of a job object.

[0154] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program executes a method for monitoring the safety status of a job object in a method embodiment.

[0155] According to an embodiment of the present invention, a computer program product is also provided, the computer program product including computer instructions, which, when executed by a processor, implement the method for monitoring the safety status of a work object in the method embodiment.

[0156] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0157] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0158] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0159] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0160] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0161] If the integrated unit is implemented as a software functional unit and sold or used as an independent functional component, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software functional component. This computer software functional component is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0162] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for monitoring the safety status of a work object, characterized in that, include: Get the initial position of the job object; Determine the initial dwell time of the work object at the initial position; Based on the initial position and the initial dwell time, the target position and target distance of the work object are determined, wherein the target position is used to indicate the position to which the work object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position; Based on the target location and target distance, determine the safety status of the work object; Output the aforementioned safety status.

2. The method according to claim 1, characterized in that, Based on the initial position and the initial dwell time, determining the target position and target distance of the work object relative to the initial position includes: In response to the initial dwell time exceeding the dwell time threshold, the current position of the task object is obtained; The current position is determined as the initial position; The target distance is determined based on the target location and the initial location.

3. The method according to claim 2, characterized in that, Determining the target distance based on the target location and the initial location includes: The target location and the initial location are input into the distance model for analysis to obtain the target distance.

4. The method according to claim 1, characterized in that, Based on the target location and target distance, determining the safety status of the work object includes: When the target distance is greater than a distance threshold, the safety status of the work object is determined to be a dangerous status.

5. The method according to claim 1, characterized in that, The method further includes: Obtain the acceleration and angular velocity of the work object; The initial position of the work object is adjusted based on the acceleration and the angular velocity.

6. The method according to any one of claims 1-5, characterized in that, Outputting the security status also includes: Based on the different security states, different output strategies for the security states are determined, wherein the output strategy is used to indicate the rules for outputting the security state; The security status is output according to the output strategy.

7. A warning device for the safety status of a work object, characterized in that, include: The acquisition unit is used to acquire the initial position of the job object; The first determining unit is used to determine the initial dwell time of the work object at the initial position; The second determining unit is used to determine the target position and target distance of the work object based on the initial position and the initial dwell time, wherein the target position is used to indicate the position to which the work object moves from the initial position, and the target distance is used to indicate the distance between the initial position and the target position; The third determining unit is used to determine the safety status of the work object based on the target location and target distance; The output unit is used to output the safety status.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein when the program is run by a processor, it controls the device in which the storage medium is located to perform the method of any one of claims 1 to 6.

9. A processor, characterized in that, The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when it runs.

10. A computer program product, characterized in that, The computer program product includes computer instructions that, when executed by a processor, implement the method described in any one of claims 1 to 6.

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