CN-120891762-B - Safety control method and system for anti-falling device based on collision self-detection and multidirectional locking

CN120891762BCN 120891762 BCN120891762 BCN 120891762BCN-120891762-B

Abstract

The invention relates to the technical field of safety control of safety devices, in particular to a safety control method and a safety control system of a safety device based on collision self-detection and multidirectional locking, wherein the safety control method comprises the following steps: the method comprises the steps of sequentially extracting target falling protectors from a target falling protector set, performing collision simulation detection on the extracted target falling protectors to obtain collision simulation data, acquiring an acceleration dynamic threshold value, acquiring an acoustic emission dynamic threshold value, taking the acceleration dynamic threshold value as an overrun acceleration threshold value if the acceleration dynamic threshold value is larger than a preset standard acceleration threshold value, sending out a collision alarm signal if the acoustic emission dynamic threshold value is larger than the preset standard acoustic emission threshold value, and performing locking operation on the target falling protector to obtain a locking falling protector, wherein safety control of the falling protector based on collision self-detection and multidirectional locking is completed based on the locking falling protector set. The safety hook can improve the safety and the reliability of the safety hook.

Inventors

DENG JIEPING
CHEN YULING

Assignees

广东合纵达实业有限公司

Dates

Publication Date: 20260508
Application Date: 20250701

Claims (8)

1. The safety control method of the safety catch based on collision self-detection and multidirectional locking is characterized by comprising the following steps of: confirming the working environment of the falling protector, acquiring an initial falling protector set, and screening the initial falling protector set according to the working environment of the falling protector to obtain a target falling protector set; extracting the target safety devices from the target safety device set in sequence, and executing the following operations on the extracted target safety devices: receiving a collision self-checking instruction, and performing collision simulation detection on the target falling protector according to the collision self-checking instruction and preset simulation detection time to obtain collision simulation data, wherein the collision simulation data comprise acceleration data and acoustic emission data; acquiring an acceleration dynamic threshold value based on acceleration data and acquiring an acoustic emission dynamic threshold value based on acoustic emission data, wherein the acceleration dynamic threshold value and the acoustic emission dynamic threshold value are acquired at the same time; The acquiring the acceleration dynamic threshold value based on the acceleration data comprises the following steps: Acquiring current detection time, acquiring a preamble detection time point set from the analog detection time according to the current detection time, and calculating a preamble mean value and a preamble standard deviation of the preamble detection time point set; Acquiring a preamble sensitivity coefficient, calculating a preamble dynamic threshold according to the preamble sensitivity coefficient, a preamble mean value and a preamble standard deviation, and acquiring a subsequent detection time point set from the analog detection time according to the current detection time, wherein the preamble detection time point set and the subsequent detection time point set comprise 5 detection time points; Calculating a subsequent mean value and a subsequent standard deviation of the subsequent detection time point set, acquiring a subsequent sensitivity coefficient, calculating a subsequent dynamic threshold value according to the subsequent sensitivity coefficient, the subsequent mean value and the subsequent standard deviation, and updating the precursor dynamic threshold value by using the subsequent dynamic threshold value to obtain an updated dynamic threshold value; Acquiring a subsequent end point according to the subsequent detection time point set, taking the subsequent end point as the current detection time, taking the updated dynamic threshold value as the subsequent dynamic threshold value, and returning to the step of acquiring the subsequent detection time point set from the simulation detection time according to the current detection time until the simulation detection time is completely extracted, so as to obtain an acceleration dynamic threshold value; Wherein, the acquiring the preamble sensitivity coefficient includes: Setting an initial sensitivity coefficient, acquiring total detection times according to a preamble detection time point set, and acquiring false alarm times and missed detection times according to a false alarm counter and a missed detection counter; Calculating false alarm adjustment factors according to preset false alarm adjustment coefficients, total detection times and false alarm times, and calculating missed detection adjustment factors according to preset missed detection adjustment coefficients, total detection times and missed detection times; Acquiring an updated sensitivity coefficient according to the false alarm adjustment factor, the omission factor and the initial sensitivity coefficient, and taking the updated sensitivity coefficient as a preamble sensitivity coefficient; Comparing the acceleration dynamic threshold value with a preset standard acceleration threshold value; If the acceleration dynamic threshold value is larger than a preset standard acceleration threshold value, taking the acceleration dynamic threshold value as an overrun acceleration threshold value, and comparing the acoustic emission dynamic threshold value with a preset standard acoustic emission threshold value; If the acoustic emission dynamic threshold is larger than a preset standard acoustic emission threshold, taking the acoustic emission dynamic threshold as an overrun acoustic emission threshold, and sending out a collision alarm signal based on the overrun acceleration threshold and the overrun acoustic emission threshold; classifying the collision alarm signals to obtain collision intensity data, receiving a locking instruction, and executing locking operation on the target safety hook according to the collision intensity data and the locking instruction to obtain the locking safety hook; Summarizing the locking safety devices to obtain a locking safety device set, and completing safety control of the safety device based on collision self-detection and multidirectional locking based on the locking safety device set.
2. The safety control method for the safety catch based on collision self-check and multidirectional locking according to claim 1, wherein the initial safety catch set comprises a plurality of initial safety catch sets, each of which is provided with a rope and is identical in type, wherein the initial safety catch sets comprise a false alarm counter, a vertical braking unit, an inclined braking unit, a omission counter, a triaxial accelerometer and four acoustic emission sensors, wherein the four acoustic emission sensors are distributed on one circumference at equal intervals with a central axis of the initial safety catch set as a center, and included angles between the acoustic emission sensors are 90 degrees and are all installed on a metal structure surface of the initial safety catch.
3. The safety control method of the safety catch based on the collision self-check and the multidirectional locking according to claim 2, wherein the performing the collision simulation detection on the target safety catch according to the collision self-check instruction and the preset simulation detection time to obtain the collision simulation data comprises: Performing collision simulation detection on the target falling protector according to a collision self-detection instruction, a triaxial accelerometer, four acoustic emission sensors and preset simulation detection time to obtain initial acceleration data and initial acoustic emission data, wherein the initial acceleration data comprises a plurality of initial acceleration values, and the initial acoustic emission data comprises a plurality of initial acoustic emission values; performing a filtering operation on each initial acceleration value in the initial acceleration data to obtain filtered acceleration data, wherein the filtered acceleration data comprises a plurality of filtered acceleration values; Acquiring a maximum filtering acceleration value and a minimum filtering acceleration value of the filtering acceleration data, and carrying out data normalization on each filtering acceleration value in the filtering acceleration data based on the maximum filtering acceleration value and the minimum filtering acceleration value to obtain normalized acceleration data; and taking the normalized acceleration data as acceleration data, acquiring acoustic emission data based on the initial acoustic emission data, and confirming the acceleration data and the acoustic emission data as collision simulation data.
4. The safety control method of the safety catch based on collision self-check and multidirectional locking according to claim 3, wherein the step of classifying the collision alarm signal to obtain collision intensity data comprises the steps of: Judging whether the collision alarm signal is positioned in a preset primary collision alarm signal interval or not; If the collision alarm signal is located in a preset primary collision alarm signal interval, starting a preset audible and visual alarm unit, and monitoring an overrun acceleration threshold and an overrun acoustic emission threshold in real time by using the started audible and visual alarm unit to obtain a change acceleration threshold and a change acoustic emission threshold, wherein the time for starting the audible and visual alarm unit is taken as an alarm time starting point; acquiring a first-stage interval upper limit of a first-stage collision alarm signal interval, and respectively comparing the first-stage interval upper limit with a change acceleration threshold value and the first-stage interval upper limit with a change acoustic emission threshold value; if the change acceleration threshold value is larger than the upper limit of the first-stage interval or the change acoustic emission threshold value is larger than the upper limit of the first-stage interval or the change acceleration threshold value is larger than the upper limit of the first-stage interval and the change acoustic emission threshold value is smaller than or equal to the upper limit of the first-stage interval, the collision alarm signal is confirmed to be the second-stage collision intensity data; If the change acceleration threshold value is smaller than or equal to the upper limit of the first-level interval or the change acoustic emission threshold value is smaller than or equal to the upper limit of the first-level interval, acquiring an alarm time end point of the change acceleration threshold value or the change acoustic emission threshold value, acquiring alarm time length based on the alarm time start point and the alarm time end point, and comparing the alarm time length with a preset alarm threshold value; If the alarm time length is less than or equal to a preset alarm threshold value, the audible and visual alarm unit is closed, and false alarm intensity data are obtained; If the alarm time length is greater than a preset alarm threshold value, taking the collision alarm signal as first-level collision intensity data; and taking the primary collision intensity data or false alarm intensity data or the secondary collision intensity data as collision intensity data.
5. The safety control method for the safety catch based on the collision self-check and the multidirectional locking according to claim 4, wherein the step of performing the locking operation on the target safety catch according to the collision strength data and the locking instruction to obtain the locking safety catch comprises the steps of: acquiring the falling direction of the target falling protector, wherein the falling direction comprises vertical falling and inclined falling; if the collision intensity data is the first-level collision intensity data and the falling direction is vertical falling, performing vertical locking operation on the target falling protector by using the vertical braking unit to obtain a first falling protector; if the collision intensity data is the first-level collision intensity data and the falling direction is inclined falling, performing inclined direction locking operation on the target falling protector by using an inclined braking unit to obtain a second falling protector; If the collision intensity data is the secondary collision intensity data and the falling direction is oblique falling or if the collision intensity data is the secondary collision intensity data and the falling direction is vertical falling, performing omnidirectional locking operation on the target falling protector by utilizing the vertical braking unit and the oblique braking unit to obtain a third falling protector; Based on the third falling protector, obtaining the stress of the vertical braking unit and the stress of the inclined braking unit, and if the stress of the vertical braking unit or the stress of the inclined braking unit is not equal to or smaller than a preset standard stress threshold value, respectively carrying out stress distribution on the vertical braking unit and the inclined braking unit by utilizing a pre-built PID dynamic distribution algorithm to obtain a plurality of distribution combinations; sequentially extracting distribution combinations from the plurality of distribution combinations, and calculating comprehensive wear values of the vertical braking unit and the inclined braking unit according to the distribution combinations; Summarizing the comprehensive wear values to obtain a plurality of comprehensive wear values, acquiring an optimal wear value based on the comprehensive wear values, and confirming the distribution combination corresponding to the optimal wear value as an optimal distribution combination; carrying out re-stressed distribution on the vertical braking unit and the inclined braking unit according to the optimal distribution combination to obtain a fourth falling protector; The first falling protector or the second falling protector or the third falling protector or the fourth falling protector is used as a locking falling protector.
6. The safety control method for the safety catch based on the collision self-check and the multidirectional locking according to claim 5, wherein the step of obtaining the falling direction of the target safety catch comprises the steps of: Constructing a space rectangular coordinate system according to the triaxial accelerometer, wherein the space rectangular coordinate system comprises a transverse axis, a longitudinal axis and a vertical axis; Acquiring a transverse axis acceleration, a longitudinal axis acceleration and a vertical axis acceleration according to the acceleration data, comparing the vertical axis acceleration with a preset gravity acceleration, and judging whether the transverse axis acceleration and the longitudinal axis acceleration are both positioned in a preset vertical falling interval; if the vertical axis acceleration is greater than or equal to the preset gravity acceleration and the horizontal axis acceleration and the vertical axis acceleration are not in the preset vertical falling interval, confirming the falling direction of the target falling protector as vertical falling; if the vertical axis acceleration is greater than or equal to the preset gravity acceleration and the horizontal axis acceleration and the vertical axis acceleration are not uniformly located in the preset vertical falling interval, confirming the falling direction of the target falling protector as inclined falling; If the vertical axis acceleration is smaller than the preset gravity acceleration and the horizontal axis acceleration and the vertical axis acceleration are not in the preset vertical falling interval, confirming that the falling direction of the target falling protector is inclined falling; If the vertical axis acceleration is smaller than the preset gravity acceleration and the horizontal axis acceleration and the vertical axis acceleration are not uniformly located in the preset vertical falling interval, confirming the falling direction of the target falling protector as inclined falling.
7. The safety control method for the safety catch based on the collision self-check and the multidirectional locking according to claim 6, wherein the calculating the comprehensive wear value of the vertical brake unit and the inclined brake unit according to the distribution combination comprises: obtaining vertical stress and inclined stress according to the distribution combination, and determining a material friction coefficient and a material wear coefficient; calculating the friction force of the vertical braking unit according to the friction coefficient of the material and the vertical stress, obtaining the relative sliding distance, and calculating the vertical abrasion loss of the vertical braking unit according to the relative sliding distance, the friction force and the material abrasion coefficient; And acquiring an inclined abrasion loss based on the material friction coefficient, the inclined braking unit and the inclined stress, and acquiring a comprehensive abrasion loss value based on the vertical abrasion loss and the inclined abrasion loss, wherein the comprehensive abrasion loss value is the sum of the vertical abrasion loss and the inclined abrasion loss.
8. Safety control system of safety catch based on collision self-checking and multidirectional locking, characterized in that it comprises: The safety catch screening module is used for confirming the working environment of the safety catch, acquiring an initial safety catch set, and screening the initial safety catch set according to the working environment of the safety catch to obtain a target safety catch set; The collision simulation detection module is used for sequentially extracting the target falling protectors from the target falling protector set, and executing the following operations on the extracted target falling protectors, namely receiving a collision self-detection instruction, and performing collision simulation detection on the target falling protectors according to the collision self-detection instruction and preset simulation detection time to obtain collision simulation data, wherein the collision simulation data comprise acceleration data and acoustic emission data; The collision alarm grading module is used for acquiring an acceleration dynamic threshold value based on acceleration data and an acoustic emission dynamic threshold value based on acoustic emission data, wherein the acceleration dynamic threshold value and the acoustic emission dynamic threshold value are acquired at the same time, comparing the acceleration dynamic threshold value with a preset standard acceleration threshold value, if the acceleration dynamic threshold value is larger than the preset standard acceleration threshold value, using the acceleration dynamic threshold value as an overrun acceleration threshold value, comparing the acoustic emission dynamic threshold value with the preset standard acoustic emission threshold value, if the acoustic emission dynamic threshold value is larger than the preset standard acoustic emission threshold value, using the acoustic emission dynamic threshold value as an overrun acoustic emission threshold value, sending a collision alarm signal based on the overrun acceleration threshold value and the overrun acoustic emission threshold value, and grading the collision alarm signal to obtain collision intensity data; The locking safety control module is used for receiving a locking instruction, performing locking operation on the target falling protector according to the collision intensity data and the locking instruction to obtain locking falling protectors, summarizing the locking falling protectors to obtain a locking falling protector set, and completing safety control of the falling protector based on collision self-detection and multidirectional locking based on the locking falling protector set; The acquiring the acceleration dynamic threshold value based on the acceleration data comprises the following steps: Acquiring current detection time, acquiring a preamble detection time point set from the analog detection time according to the current detection time, and calculating a preamble mean value and a preamble standard deviation of the preamble detection time point set; Acquiring a preamble sensitivity coefficient, calculating a preamble dynamic threshold according to the preamble sensitivity coefficient, a preamble mean value and a preamble standard deviation, and acquiring a subsequent detection time point set from the analog detection time according to the current detection time, wherein the preamble detection time point set and the subsequent detection time point set comprise 5 detection time points; Calculating a subsequent mean value and a subsequent standard deviation of the subsequent detection time point set, acquiring a subsequent sensitivity coefficient, calculating a subsequent dynamic threshold value according to the subsequent sensitivity coefficient, the subsequent mean value and the subsequent standard deviation, and updating the precursor dynamic threshold value by using the subsequent dynamic threshold value to obtain an updated dynamic threshold value; Acquiring a subsequent end point according to the subsequent detection time point set, taking the subsequent end point as the current detection time, taking the updated dynamic threshold value as the subsequent dynamic threshold value, and returning to the step of acquiring the subsequent detection time point set from the simulation detection time according to the current detection time until the simulation detection time is completely extracted, so as to obtain an acceleration dynamic threshold value; Wherein, the acquiring the preamble sensitivity coefficient includes: Setting an initial sensitivity coefficient, acquiring total detection times according to a preamble detection time point set, and acquiring false alarm times and missed detection times according to a false alarm counter and a missed detection counter; Calculating false alarm adjustment factors according to preset false alarm adjustment coefficients, total detection times and false alarm times, and calculating missed detection adjustment factors according to preset missed detection adjustment coefficients, total detection times and missed detection times; and acquiring an updated sensitivity coefficient according to the false alarm adjustment factor, the omission factor and the initial sensitivity coefficient, and taking the updated sensitivity coefficient as a preamble sensitivity coefficient.

Description

Safety control method and system for anti-falling device based on collision self-detection and multidirectional locking Technical Field The invention relates to the technical field of safety control of safety devices, in particular to a safety control method and a safety control system of a safety device based on collision self-detection and multidirectional locking. Background The falling protector is a safety device for preventing falling accidents when people or objects work at high places. Collision self-test refers to the ability of the fall arrestor system to automatically detect whether a collision event has occurred and evaluate and process the collision event. The multidirectional locking means that the fall arrester can lock from multiple directions after detecting a collision event, so as to ensure that personnel or objects cannot fall in all directions. With the increasing complexity and diversification of high-rise operation scenes, the traditional falling protector cannot meet the modern safety requirements. The conventional fall arresters rely on only a single type of sensor, are susceptible to environmental noise and interference, and lead to erroneous judgment, and secondly, most of the improved fall arresters still provide protection in only a single direction, and lack effective countermeasures for multi-directional collisions and impacts. Therefore, how to improve the safety and reliability of the safety hook is a technical problem to be solved urgently. Disclosure of Invention The invention provides a safety control method of a safety catch based on collision self-detection and multidirectional locking and a computer readable storage medium, and mainly aims to improve safety and reliability of the safety catch and provide more comprehensive protection for high-altitude operators and equipment. In order to achieve the above purpose, the invention provides a safety control method of a safety catch based on collision self-detection and multidirectional locking, comprising the following steps: confirming the working environment of the falling protector, acquiring an initial falling protector set, and screening the initial falling protector set according to the working environment of the falling protector to obtain a target falling protector set; extracting the target safety devices from the target safety device set in sequence, and executing the following operations on the extracted target safety devices: receiving a collision self-checking instruction, and performing collision simulation detection on the target falling protector according to the collision self-checking instruction and preset simulation detection time to obtain collision simulation data, wherein the collision simulation data comprise acceleration data and acoustic emission data; acquiring an acceleration dynamic threshold value based on acceleration data and acquiring an acoustic emission dynamic threshold value based on acoustic emission data, wherein the acceleration dynamic threshold value and the acoustic emission dynamic threshold value are acquired at the same time; Comparing the acceleration dynamic threshold value with a preset standard acceleration threshold value; If the acceleration dynamic threshold value is larger than a preset standard acceleration threshold value, taking the acceleration dynamic threshold value as an overrun acceleration threshold value, and comparing the acoustic emission dynamic threshold value with a preset standard acoustic emission threshold value; If the acoustic emission dynamic threshold is larger than a preset standard acoustic emission threshold, taking the acoustic emission dynamic threshold as an overrun acoustic emission threshold, and sending out a collision alarm signal based on the overrun acceleration threshold and the overrun acoustic emission threshold; classifying the collision alarm signals to obtain collision intensity data, receiving a locking instruction, and executing locking operation on the target safety hook according to the collision intensity data and the locking instruction to obtain the locking safety hook; Summarizing the locking safety devices to obtain a locking safety device set, and completing safety control of the safety device based on collision self-detection and multidirectional locking based on the locking safety device set. Optionally, the initial fall arrester set comprises a plurality of initial fall arresters, each initial fall arrester is provided with a rope, the types of each initial fall arrester are the same, the initial fall arrester set comprises a false alarm counter, a vertical braking unit, an inclined braking unit, a omission factor counter, a triaxial accelerometer and four acoustic emission sensors, wherein the four acoustic emission sensors are distributed on one circumference at equal intervals by taking a central shaft of the initial fall arrester as a circle center, and included angles among the acoustic emission sensors are 90 de