CN115944134A

CN115944134A - Helmet, foreign matter detection method, electronic product, and computer-readable storage medium

Info

Publication number: CN115944134A
Application number: CN202211676394.3A
Authority: CN
Inventors: 张晨军; 伍宇鹏; 张向辉
Original assignee: Shenzhen Pingfang Science And Technology Co ltd
Current assignee: Shenzhen Pingfang Science And Technology Co ltd
Priority date: 2022-12-26
Filing date: 2022-12-26
Publication date: 2023-04-11

Abstract

The application provides a safety helmet, a foreign matter detection method, an electronic product and a computer-readable storage medium. This safety helmet includes: the device comprises a cap body, a detection device, a balancing device, an alarm device and a processing device; the balancing device is used for monitoring the position state data of the detection device and sending the position state data to the processing device so that the processing device processes the position state data and drives the balancing device according to the result to enable the detection direction of the detection device to be vertically upward; the detection device is used for detecting foreign body state data above the wearer and sending the foreign body state data to the processing device, so that the processing device processes the foreign body state data to carry out risk judgment and determines whether to send a risk alarm signal to the alarm device according to the result; the alarm device is used for sending out a warning after acquiring the alarm signal. The scheme of this application, through the foreign matter situation that detects the person of wearing top all the time to judge the risk according to the foreign matter data and send the warning, provide the initiative defense function for the person of wearing.

Description

Safety helmet, foreign matter detection method, electronic product and computer readable storage medium

Technical Field

The present disclosure relates to safety protection, and particularly to a safety helmet, a foreign object detection method, an electronic device, and a computer-readable storage medium.

Background

In the port logistics field, when a shore bridge hoists containers to carry out loading and unloading operations, a commander must be used for commanding and confirming on site. When loading, determining the container loading position, installing a container fixing device, commanding a shore bridge driver to hoist the container to an operation position and connecting the container with the fixing device, determining that the container fixing device and the container are connected and locked, and finishing the loading operation; when unloading the ship, the position of the container to be unloaded on the ship is determined, the container is determined to be disconnected with the fixing device, and a shore bridge driver is instructed to hoist the container to complete the unloading operation. Therefore, the commander needs to frequently lower the head or bend over to operate, cannot raise the head in real time to observe the position of the container above the overhead, and is easy to cause injury accidents once foreign matters fall and cannot evade the foreign matters.

At present, the protection mode of a common safety helmet is passive protection, namely, the safety helmet plays a basic protection function on the head of a wearer by utilizing the structure and material hardness of the safety helmet. For the danger degree that the finger-waving hand may encounter in the working scene, the protection effect of the protection mode is not obvious, and the occurrence of safety accidents cannot be effectively reduced.

The detection safety helmet with the warning function is mainly a gas detection safety helmet and a barrier detection safety helmet. The gas detection safety helmet can warn a wearer when special gas exceeds the standard or oxygen content is insufficient. The obstacle detection safety helmet is characterized in that an obstacle detection device is fixedly mounted in front of the helmet brim, the detection direction is generally consistent with the visual line direction of a wearer, and the detection range changes along with the movement of the wearer and the rotation of the head so as to realize the purposes of obstacle detection and warning around the wearer. Therefore, the existing warning safety helmet is not suitable for a work scene of a command hand, and cannot warn falling foreign matters from the upper part to provide active defense protection when the command hand works normally.

Disclosure of Invention

In order to solve the above problems, the present application provides a safety helmet, a foreign object detection method, an electronic product, and a computer-readable storage medium, so as to detect a state of a foreign object above a wearer in real time, and issue a warning when the wearer is at risk, so as to provide active defense protection for the wearer.

The above object of the present invention is achieved by the following technical solutions:

in a first aspect, the present application provides a safety helmet comprising: the device comprises a cap body, a detection device, a balancing device, an alarm device and a processing device;

the detection device is fixedly arranged on the balancing device, and the balancing device is arranged on the outer surface of the cap body;

the processing device is respectively connected with the balancing device, the detection device and the alarm device;

the balancing device is used for monitoring position state data of the detection device and sending the position state data to the processing device, so that the processing device processes the position state data and drives the balancing device according to the result to enable the position state of the detection device to keep a set position state; in the set position state, the detection direction of the detection device is vertically upward;

the detection device is used for detecting foreign body state data above a wearer and sending the foreign body state data to the processing device, so that the processing device processes the foreign body state data to carry out risk judgment and determines whether to send a risk alarm signal to the alarm device according to a judgment result;

the alarm device is used for sending out a warning after the alarm signal is acquired.

Through this scheme, balancing unit real-time supervision adjustment detection device's position state makes detection device's detection direction can remain throughout vertical upwards with the foreign matter condition of real-time supervision commander hand top, and processing apparatus carries out the risk judgement through the foreign matter detection data that provides detection device again, can send necessary warning to the person of wearing when there is the risk in the person of wearing top, has played the person of wearing's initiative defense effect under the dangerous condition. Meanwhile, the safety helmet can play a good role in warning and protecting when the commander of port logistics normally operates and cannot observe dangerous situations above, and is wide in application range.

Optionally, the detecting device includes a ranging radar fixedly disposed on the balancing device;

the distance measuring radar is used for detecting the distance between the wearer and the foreign matter above the wearer at different times, and sending the distance to the processing device as foreign matter state data.

Through this scheme, utilize the range finding radar can detect the distance more high-efficiently to can provide more accurate data basis, improve the safeguard effect of safety helmet for processing apparatus to the analysis of foreign matter state.

Optionally, the balancing device comprises an electronic level and a stepping motor;

the electronic level meter and the stepping motor are respectively and fixedly arranged relative to the detection device;

the electronic level meter and the stepping motor are respectively connected with the processing device;

the electronic level meter is used for monitoring the inclination angles of the detection device based on the x axis, the y axis and the z axis in a set coordinate system, and sending the inclination angles to the processing device as position state data, so that the processing device processes the position state data and drives the stepping motor to adjust the inclination angles of the detection device in the directions of the x axis, the y axis and the z axis according to the result, and the position state of the detection device is kept in a set position state; in the set position state, the detection direction of the detection device is parallel to the z-axis direction.

Through this technical scheme, utilize the electronic level appearance can the efficient monitoring detection device take place the details of slope deflection, utilize step motor then can be more sensitive and carry out the position to detection device and resume, guaranteed that detection device's detection direction is vertical ascending all the time, can detect the foreign matter data of the overhead side of wearer's head constantly.

Optionally, when the processing device processes the position state data and drives the stepping motor to adjust the tilt angles of the detection device in the directions of the x axis, the y axis, and the z axis according to the result, the processing device is specifically configured to:

and processing the position state data at the current moment by applying a Kalman filtering algorithm, determining an adjusting parameter at the current moment, and driving the stepping motor to adjust the inclination angles of the detection device in the directions of an x axis, a y axis and a z axis according to the adjusting parameter.

Through the scheme, the Kalman filtering algorithm can be utilized to reduce the influence of measurement errors on measurement results when the processing device processes the monitoring and detecting device from the balancing device, so that the processing device obtains an inclination angle which is closer to a real inclination angle to drive the stepping motor to adjust the inclination angles of the detecting device in the directions of an x axis, a y axis and a z axis, and the balancing effect of the balancing device is optimized.

Optionally, when detecting the foreign object state data above the wearer, the detection device is specifically configured to:

continuously detecting the distance between the wearer and the foreign body above the wearer and sending the distance to the processing device as foreign body state data; the processing device is specifically used for processing the foreign body state data to judge risks and determining whether to send an alarm signal to the alarm device according to a judgment result;

judging whether the distance is smaller than a first preset distance;

after the distance is smaller than a first preset distance, determining distance data corresponding to each detection moment in a preset time period;

aiming at each detection moment, determining speed data corresponding to the detection moment according to distance data corresponding to the detection moment; determining the risk level of the foreign matter according to the speed data corresponding to each detection moment in the preset time period;

and sending a corresponding alarm signal to an alarm device according to the risk level of the foreign matter.

According to the scheme, the processing device can classify the detection data of the detection device into different risk grades after processing, and remind the wearer of different degrees according to different risk grades so that the wearer can take different measures under different conditions.

Optionally, the processing device is further configured to:

when the communication interruption with the electronic level meter exceeds a first set time, sending a fault alarm signal to the alarm device; and/or the presence of a gas in the atmosphere,

and when the electronic level meter is in a non-set position state and exceeds second set time, sending a fault alarm signal to the alarm device.

According to the scheme, the self-checking of the processing device on the electronic level can effectively ensure that the electronic level can be in a working state all the time, and the processing device reminds a wearer when hardware fails to prevent the wearer from being in a relaxed and vigilant state due to hardware failure.

In a second aspect, the present application provides a foreign object detection method, including:

the balancing device monitors position state data of the detection device and sends the position state data to the processing device;

the processing device processes the position state data and drives the balancing device according to the result to enable the position state of the detection device to keep a set position state; in the set position state, the detection direction of the detection device is vertically upward;

the detection device detects foreign body state data above a wearer and sends the foreign body state data to the processing device;

the processing device processes the foreign body state data to carry out risk judgment and determines whether to send a risk alarm signal to the alarm device according to a judgment result;

and the alarm device sends out a warning after acquiring the alarm signal.

In a third aspect, the present application provides a foreign object detection method applied to the processing device in the safety helmet of the first aspect, the method including:

receiving position state data sent by the balancing device; the position state data is obtained by the balance device monitoring the detection device;

processing the position state data and driving the balancing device according to the result to enable the position state of the detection device to be kept in a set position state; in the set position state, the detection direction of the detection device is vertically upward;

receiving foreign body state data sent by a detection device; the foreign body state data is obtained by detecting a foreign body above the wearer by the detection device;

and processing the foreign body state data to carry out risk judgment, and determining whether to send a risk alarm signal to an alarm device according to a judgment result so that the alarm device sends out a warning after acquiring the alarm signal.

In a fourth aspect, the present application provides an electronic product, comprising: a memory having stored thereon a computer program which is loadable by the processor and which performs the method of the third aspect.

In a fifth aspect, the present application provides a computer readable storage medium storing a computer program capable of being loaded by a processor and performing the method of the third aspect.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a safety helmet according to an embodiment of the present disclosure;

fig. 3 is a detailed structural schematic diagram of a balancing apparatus according to an embodiment of the present application;

fig. 4 is a schematic flow chart illustrating a foreign object detection method according to an embodiment of the present disclosure;

FIG. 5 is a functional flow diagram of a processing device according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.

The embodiments of the present application will be described in further detail with reference to the drawings attached hereto.

At present, the detection safety helmet with the warning function is mainly a gas detection safety helmet and an obstacle detection safety helmet. The gas detection safety helmet can warn a wearer when special gas exceeds the standard or oxygen content is insufficient. The obstacle detection safety helmet is characterized in that an obstacle detection device is fixedly mounted in front of the helmet brim, the detection direction is generally consistent with the visual line direction of a wearer, and the detection range changes along with the movement of the wearer and the rotation of the head so as to realize the purposes of obstacle detection and warning around the wearer.

Therefore, the existing warning safety helmet cannot warn the dangerous situation from the upper part of a wearer and cannot play the role of active defense when a falling foreign matter exists on the upper part of the wearer.

In the port logistics field, when a shore bridge hoists containers to carry out loading and unloading operations, a commander must be used for commanding and confirming on site as shown in fig. 1. When loading, determining the container loading position, installing a container fixing device, commanding a shore bridge driver to hoist the container to an operation position and connecting the container with the fixing device, determining that the container fixing device and the container are connected and locked, and finishing the loading operation; when unloading the ship, the position of the container to be unloaded on the ship is determined, the container is determined to be disconnected with the fixing device, and a shore bridge driver is instructed to hoist the container to complete the unloading operation.

Therefore, when the finger-waving hand is in operation, the container is often moved up and down above the command hand, and the finger-waving hand needs to frequently lower or bend down to operate, so that the user cannot raise the head to observe the position of the container above the head, and thus, the injury accident is easily caused.

Based on this, the present application is intended to provide a safety helmet, a corresponding foreign object detection method, an electronic device, and a storage medium, wherein the state of a foreign object above a command hand is detected at any time, and a risk judgment is made according to the state of the foreign object to send an alarm.

Fig. 2 is a schematic structural diagram of a safety helmet according to an embodiment of the present application. As shown in fig. 2, the helmet comprises a cap body 21, a detection device 22, a balancing device 23, an alarm device (not shown in the figure) and a processing device 24. The processing device is respectively connected with the balancing device, the detection device and the alarm device, the detection device is fixedly arranged on the balancing device, and the balancing device is arranged on the outer surface of the cap body.

The measuring direction of the detecting device is linear and one-way, the measuring direction of the detecting device can be deviated due to actions of waving hands, lowering heads, bending waists and the like, the situation of foreign matters above hands cannot be measured and commanded in real time, in order to solve the problem, the position state of the detecting device is constantly monitored by utilizing the balancing device, and when the position state of the detecting device is detected to be deviated relative to the set position state, the position state is timely adjusted, so that the detecting device can always keep a vertical and upward detecting direction.

The position status may be any data that can represent the detection direction of the detection device. For example, the detection direction of the detection device at each time may be an angle offset from the vertical direction. Correspondingly, the balancing device sends the deviation angle to the processing device, the processing device can formulate a scheme for eliminating the deviation angle according to the obtained deviation angle, and the balancing device is adjusted according to the scheme, so that the detection device is driven to recover the set position state, and the effect that the detection direction of the detection device is kept vertically upwards all the time is achieved.

The detection device always detects the state data of the foreign body above the command hand, wherein the state data of the foreign body comprises the distance between the foreign body and the safety helmet, the speed of the foreign body at each moment and the acceleration of the foreign body at each moment. The detection device sends the data to the processing device, the processing device judges the risk degree of the foreign matter to the waving hand according to the data, and the processing device determines whether to send an alarm signal to the alarm device according to a risk judgment result.

The alarm device sends out alarm information according to the received alarm signal. Specifically, the alarm device can be a warning lamp, a buzzer, handheld equipment and other intelligent equipment worn by a human body. Correspondingly, warning information can be for screen scintillation, organism vibrations etc. that other smart machines that flash light, voice broadcast, vibrations, handheld device and human body wore sent.

The safety helmet scheme of this embodiment keeps detection device's direction of detection perpendicularly upwards constantly through balancing unit, has guaranteed that detection device can be accurate obtains the top foreign matter state data that the finger wielding hand, has solved the commander hand and can't pay attention to the problem of self top constantly because field operation, and processing apparatus obtains the degree of danger of foreign matter to the commander hand and sends out the warning through alarm device through the analysis to foreign matter state data again, has reached and has provided active defense effect for the commander when dangerous.

In some specific embodiments, the detection device comprises a ranging radar fixedly arranged on the balancing device; the distance measuring radar is used for detecting the distance between the wearer and the foreign matter above the wearer at different times, and sending the distance to the processing device as foreign matter state data.

The range radar may include at least one of: laser range radar, ultrasonic range radar, millimeter wave range radar, and the like.

In the commander's operation scene, the top foreign matter probably includes the container that exceeds 60 meters that rises from the bank bridge, and the foreign matter distance that needs to detect is longer, and consequently, the laser range radar that the range radar preferred has that single-point measurement precision is high, the interference killing feature is strong. The laser ranging radar is internally provided with a laser transmitter, a timer, a laser receiver and a processor. The laser ranging radar detects the state of a foreign body above a wearer at any time, namely, a laser transmitter continuously transmits laser pulses, when the pulses touch the foreign body, the pulses are received by a laser receiver after being reflected, and a timer records the flight time of the laser beams; multiplying the flight time by the light speed to obtain the distance twice between the laser range finder and the foreign object, and sending the distance data as foreign object state data to the processing device. Correspondingly, the processing means may perform a processing based on the distance data, i.e. may determine the distance to a foreign object above the wearer.

In other implementations, the directly detected double distance data may also be simply processed by the laser range finder to obtain the distance to the foreign object above the wearer, and the distance may be sent to the processing device as the state data of the foreign object. So that the processing device can make subsequent judgment and adjustment based on the distance data.

Measuring device selects the laser range radar that has single-point measurement accuracy height, interference killing feature are strong in this embodiment, can detect the distance more high-efficiently to can provide more accurate data basis for processing apparatus to the analysis of foreign matter state, improve the protective effect of safety helmet.

In other embodiments, the balancing device may be comprised of an electronic level, stepper motor. The schematic diagram of the device structure can refer to fig. 3. As shown in fig. 3, the balancing device includes a bracket 231 installed right above the cap, an X-axis stepping motor 232, a Y-axis stepping motor 233, a Z-axis stepping motor 234 provided on the bracket, and an electronic level (235) installed on the X-axis stepping motor. The detection device is arranged on the Z-axis stepping motor, and the position state data detected by the electronic level meter can be used as the representation of the position state of the detection device.

A circular swing hammer is arranged in the electronic level meter and freely suspended on a thin line and suspended in a friction-free state, and the swing hammer can correspondingly incline under the influence of gravity of the earth center. Electrodes are arranged on two sides of the oscillating weight, when gaps on two sides of the oscillating weight and the electrodes are the same, capacitance is equal, if the electronic level meter is affected by inclination of a workpiece to be measured, the oscillating weight can be correspondingly inclined, and different capacitances can be caused to be different in angle through changes of different distances between the two gaps. The method has the advantages of automatic detection, digital representation of measurement results, high observation precision, high sensitivity, high measurement speed and the like.

When a commander correctly wears the safety helmet to command operation, the electronic level gauge establishes an X/Y axis plane by taking the X/Y axis as the standard and the parallel flat ground as the standard, wherein the X/Y axis is mutually vertical, and establishes a Z axis by taking the vertical flat ground as the standard, wherein the X/Y/Z axes are vertical in pairs, when a wearer of the safety helmet stands on the flat ground and the detection direction of the detection device is parallel to the Z axis, the point where the detection device transmits a detection signal is taken as an origin, and a space rectangular coordinate system is established by crossing the origin by the X/Y/Z axes.

When the measuring direction of the distance measuring radar deviates due to manual operation of a command, the electronic level meter monitors the inclination angle of the X-axis stepping motor and the X/Y-axis plane in real time, and because the detection device is fixedly arranged on the X-axis stepping motor, the electronic level meter monitors the inclination angle of the detection device relative to the X/Y axis in real time, the inclination angle of the induction device relative to the Z axis can be obtained through calculation according to the inclination angle, the angle is sent to the processing device, and the processing device drives the stepping motor according to the angle as a parameter.

The stepping motor is based on the electromagnet principle, the control of the steering, speed and rotation angle of the stepping motor can be realized by controlling the sequence, frequency and number of electric pulses applied to a motor coil, and the control requirements of more complex and precise linear motion can be further realized by matching with a linear motion executing mechanism or a gear box device. Meanwhile, the rotation angle of the motor of the stepping motor and the motor speed are in direct proportion to the pulse width, so that the controllability is high; the precision of each step of adjustment of the motor is high; the reliability is high without electric brushes; motion errors are not accumulated.

Specifically, the processing device controls the motor speed of the stepping motor by controlling the pulse width, so as to achieve the purpose of accurately controlling the rotation angle of the stepping motor.

The processing device calculates the deviation angle to obtain the angle of the stepping motor required to rotate, then converts the angle of the stepping motor required to rotate into a pulse signal, the stepping motor rotates by a fixed angle according to a set direction when receiving the pulse signal, and the position state of the detection device is adjusted while the stepping motor moves.

The scheme of this embodiment utilizes the details that the slope that electron spirit level can the efficient monitoring detection device takes place to deflect, utilizes step motor then can be more sensitive and carry out the position recovery to detection device, has guaranteed that detection device's detection direction is vertical ascending all the time, can detect the foreign matter data of wearing person overhead side constantly.

In other embodiments, the processing device may be an embedded control board, and the processing device may be disposed at a position corresponding to 241 on the support 231 as shown in fig. 3, for processing the position status data and driving the stepping motor to adjust the tilt angles of the detection device with respect to the X axis, the Y axis, and the Z axis according to the result.

Based on the computing power of the embedded control panel and the requirement of the detection device for recovering the detection direction of the detection device to the vertical upward real-time performance, the processing process of the embedded control panel on the inclination angle sent by the balance device is optimized by the Kalman filtering algorithm, the measurement error of the balance device is reduced, and the accuracy of recovering the detection direction to the vertical upward direction is improved. The Kalman filtering algorithm can estimate the inclination angle of the current moment detection device closest to the true value only by the inclination angle of the previous moment detection device and the inclination angle of the detection device measured by the current moment balancing device.

The tilt angle data of the sensing device measured by the electronic level may be divided into a tilt angle with respect to the X-axis (simply referred to as an X-axis tilt angle in this embodiment) and a tilt angle with respect to the Y-axis. In this embodiment, the processing of the embedded control board on the X-axis tilt angle is taken as an example for explanation, and the specific processing procedure of the kalman filter algorithm is as follows.

The embedded control panel utilizes a Kalman filtering algorithm to estimate the nearest true X-axis inclination angle at the moment, and the specific calculation formula is as follows:

x_now＝x_last+Kg(level_bias-x_last)

wherein, X _ now represents the X-axis inclination angle estimated to be closest to the true value at the moment, X _ last represents the X-axis inclination angle estimated to be closest to the true value at the last moment, kg represents the Kalman filter coefficient at the moment, and level _ bias represents the X-axis inclination angle detected by the electronic level meter.

Kg is calculated as follows:

Kg＝P_now/(P_now+R)

wherein, P _ now represents the covariance matrix of the detection value at this moment, and R represents a parameter affected by an error inside the adjustment device, specifically, the parameter is set by an operation and maintenance person according to a scene.

The formula for P _ now is as follows:

P_now＝Q+P_last

wherein, P _ last represents the covariance matrix of the estimated value at the last moment, Q represents the parameter of the error influence inside the adjusting device, and specifically, the operation and maintenance personnel set the parameter according to the scene.

The calculation formula of P _ last is as follows:

P_last＝(1-Kg)*P_lastn

where P _ lastn represents the covariance matrix of the detected values at the last time.

The Kalman filtering algorithm can continuously update the current state by using the state of the previous moment, after the estimated value of the moment k is obtained, the estimated value of the moment k +1 can be obtained by circulating the steps, and the estimated offset angles of the detection device relative to the Y axis and the Z axis at the moment can be obtained by the method in the same way.

The embedded control board obtains the inclination angle of the detection device relative to the X-axis, the Y-axis and the Z-axis which is closest to the true value according to calculation, and controls the X-axis stepping motor, the Y-axis stepping motor and the Z-axis stepping motor in real time according to the inclination angle as a parameter, taking the example that the embedded control board controls the X-axis stepping motor to adjust the inclination angle of the detection device relative to the X-axis, the rotation angle control formula of the X-axis stepping motor (in this embodiment, referred to as stepping motor for short) is as follows:

rotation angle = motor speed control period.

In the control period, since the stepping motor has a physical problem that the rotation direction cannot be changed uninterruptedly and the rotation requires time, in this embodiment, the frequency at which the embedded control board receives the measurement data of the electronic level is set to be 10Hz, and the control period at which the embedded control board controls the stepping motor is set to be 100ms.

According to the formula, the method comprises the following steps: when the control period is fixed, the embedded control board controls the rotation angle of the stepping motor each time by controlling the rotation speed of the stepping motor.

Wherein, step motor's rotational speed passes through embedded control panel output Pulse Width Modulation (PWM) signal control, specifically includes:

when the output pulse width is larger, the average voltage supplied to the stepping motor is larger, and the rotating speed of the stepping motor is higher. Conversely, the smaller the pulse width, the smaller the average voltage supplied to the motor and the lower the rotational speed of the stepping motor.

The PWM signal control formula is as follows:

wherein e (t) represents the difference between the tilt angle at time t and the tilt angle at time t-1. v (t) represents the output PWM value.

In practical application, the formula is subjected to applicability adjustment, and specifically, a PWM value is divided into two control parts.

One is as follows: v. of ₁ (t)＝K _p * e (t), e (t) represents the estimated inclination angle at time t (the estimated value x _ now obtained by the Kalman filtering), v ₁ (t) represents a fraction of the PWM value, K _p Is to control the proportionality coefficient, K _p The method can be adjusted according to the performance parameters of the adopted stepping motor and various interferences (gear friction coefficient, air resistance, friction coefficient between structural parts and the like) in real environment use.

This is partly for the purpose that when the detection means is tilted, the stepping motor immediately takes control action to quickly eliminate the angular offset.

And the other one is as follows:

e (t) represents the estimated inclination angle at the time t (the estimated value x _ now obtained by Kalman filtering, e (t-1) represents the actual value x _ last obtained by Kalman filtering at the last time of the time t), v ₂ (t) represents a fraction of the PWM value, based on the measured value>

Is to control the proportionality coefficient>

The method is adjusted according to performance parameters of the adopted stepping motor and various interferences (gear friction coefficient, air resistance, friction coefficient between structural parts and the like) in real environment use.

This is partly to eliminate the static difference and to make the rotation angle of the stepping motor more accurate. The method specifically comprises the following steps: when only the first controller is used, the stepping motor cannot adjust the offset angle to zero due to the overlarge change of the stepping click speed, and the last small point error cannot be eliminated. The second partial control then starts to correct the error of the last point.

The final rotational speed of the motor is obtained from two parts (v) ₁ +v ₂ ) And outputting PWM value control.

In order to protect the motor from damage due to excessively high voltage values in the present embodiment, the maximum value v of the output PWM value is set _max Is greater than v _max Are all constrained to v _max . In order to ensure that the motor does not cause unstable rotation due to too low voltage value, the minimum value v of the output PWM value is set _min Is less than v _min Are all constrained to v _min 。

In other implementation manners, in consideration of the service life of hardware (a motor and a holder), when the deflection angle is smaller than or equal to 3 degrees, the control strategy is adjusted, and no matter how much the PWM value is calculated by the controller, the PWM value is not output to the motor until the deflection angle is larger than 3 degrees.

According to the scheme, the influence of measurement errors on measurement results when the processing device processes the electronic level monitor detection device is reduced, the processing device obtains an inclination angle which is closer to the real inclination angle, the inclination angle of the detection device relative to an X axis, a Y axis and a Z axis is adjusted by taking the inclination angle as a parameter to control the stepping motor, and the balance effect of the balance device is optimized.

In further preferred embodiments, the laser rangefinder is specifically configured to, when detecting foreign object status data above the wearer: the processing device judges the corresponding risk level according to the obtained distance between the laser range finder and the foreign matter, wherein the risk level is divided into three levels of low, medium and high according to the degree threatening the wearer, the processing device sends different alarm signals to the alarm device according to different risk levels, and the judgment mode of the specific risk is as follows:

and judging the distance and a first preset distance, wherein the first preset distance can be set according to the specific situation of field operation and is generally set as the height of a shore bridge on the operation field, and when the distance is greater than the first preset distance, the field operation hardly has foreign matters which can fall, and the risk level is judged to be low.

When the distance is smaller than or equal to a first preset distance, the distance and a second preset distance are judged, the second preset distance is generally a safety threshold, and when the distance is determined to be larger than the second preset distance, the processing device starts to calculate the descending state and the descending speed of the foreign matter, wherein the specific mode is as follows:

and calculating the foreign matter distance data at the moment k and the last two moments k-1 and k-2, and dividing the value obtained by subtracting the k-2 moment distance from the k-1 moment distance by the time from the k-2 moment to the k-1 moment to obtain the descending speed of the foreign matter at the k-1 moment, and similarly obtaining the descending speed of the foreign matter at the k moment. And dividing the value of the descending speed at the moment k minus the descending speed at the moment k-1 by the time from the moment k-1 to the moment k to obtain the acceleration of the foreign matter. Where the time interval between two instants is typically a few milliseconds, the instant k-1 is not represented as one second before the instant k.

When the calculated foreign matter descent speed is 0, it is determined that the foreign matter is fixed in the air, and it is determined that the risk level at this time is low.

And when the calculated foreign matter descending speed is less than 0, determining that the foreign matter is in an ascending state, determining that the container is hoisted by a shore bridge in field operation, and judging that the risk level at the moment is low.

And when the calculated foreign matter descending acceleration is less than or equal to 0, determining that the foreign matter is artificially descended, wherein the foreign matter artificially descended in the field operation is generally a quay crane descending container, and judging that the risk level is middle.

When the calculated foreign matter descending acceleration is larger than 0, the ship can not be determined to be a quay crane accelerated descending container or a container accidentally rope-off falling object or a foreign matter descending object, and the risk level is high.

Because the second preset distance is the safety threshold value and is the safety distance set on the spot, the field worker is not allowed to operate under the container within the distance, and therefore when the distance is smaller than the second preset distance, the risk level at the moment is judged to be high.

The alarm device sends different warnings according to different risk levels, and the warning device comprises:

when the risk level is low, the acousto-optic vibration alarm device flickers light to mainly warn the position of personnel below a shore bridge driver, the shore bridge driver controls whether the operation can threaten a wearer below the shore bridge driver, and when the visual field condition is not good, the alarm device can be actively activated to flick the light.

When the risk level is middle, the sound-light vibration alarm device flickers light and gives a vibration alarm, the vibration mainly prompts that foreign matters are descended above the wearer, and the wearer can automatically judge the risk and make corresponding operation.

When the risk level is high, the sound-light vibration alarm device flickers light, vibrates and gives out voice prompt, the sound is mainly 'please evacuate rapidly', and the function is to immediately remind the wearer of leaving the current position, so that danger is avoided.

Through this scheme, processing apparatus can carry out the risk grade classification after detection device's detection data processing, according to the risk grade of difference, carries out the warning of different degrees to the commander can make different counter measures under different situation.

In another possible implementation scheme, when the embedded control board performs risk judgment on the distance data of the laser ranging radar, the embedded control board is specifically configured to:

when the distance is smaller than a first set distance, the embedded control panel starts to calculate the object descending state and descending speed, and when the distance is smaller than a second set distance, the embedded control panel controls the audible and visual vibration alarm to give an alarm.

When the distance is between the first set distance and the second set distance, the embedded control board judges whether to send an alarm signal according to the foreign matter descending rate, and the specific method comprises the following steps:

record t ₀ Height h of time foreign body distance meter ₀ At k intervals, i.e. t ₁ At that moment, the height h of the foreign-body distance measuring instrument is measured again ₁ Obtaining t ₁ Instantaneous rate of descent

Spaced k times apart, i.e. t ₂ At any moment, the height h of the foreign body distance measuring instrument is obtained ₂ Obtaining t ₂ Velocity of time of day

Calculate acceleration value pick>

According to field operation experience, setting the time t from receiving alarm to finishing personnel evacuation _a Second, calculating the time t when the foreign matter on the head top falls into the safety helmet _b Second, where according to t _b The following formula is used to obtain:

based on the actual situation t _b Only the value of which is positive is taken,when t is _b <＝t _a The processing device sends an alarm signal to the alarm device.

In other preferred embodiments, the embedded control board is further configured to determine that the electronic level or a communication means between the electronic level and the electronic level fails to acquire accurate foreign object detection information when communication with the electronic level is interrupted for more than a first set time, and immediately send a failure alarm signal to the alarm device; and/or when the electronic level meter is in the non-set position state and exceeds the second set time, judging that the electronic level meter has a fault or the stepping motor has a corresponding fault and cannot continuously acquire accurate foreign matter detection information, and immediately sending a fault alarm signal to the alarm device.

In another possible implementation scheme, the step of generating interaction between the safety helmet and the handheld device includes that the detection device includes a video camera, an interface capable of being interconnected with the handheld device is reserved in the embedded control board, the video camera is connected with the embedded control board, the handheld device can be used for supplying power and summarizing various data of the embedded control board, and the data specifically includes: because the command hand acts to generate all historical data of the inclination angle of the detection device, the handheld device can obtain the action habit of the command hand by analyzing a large amount of inclination angle data, and can personally formulate a calculation scheme for recovering the position state of the detection device according to the action habit data, and transmit the scheme to the embedded control panel from a new code, so that the instruction of the embedded control panel for controlling the stepping motor is optimized, and the motion amplitude of the stepping motor is reduced to enable the motion curve of the stepping motor to be smoother.

The video camera can carry out on-site snapshot when sending a high risk alarm signal every time, record the on-site situation of the dangerous situation, and transmit the on-site situation to the handheld device through the embedded control panel, the handheld device analyzes and summarizes all dangerous situations, and the problems possibly occurring in on-site operation are provided for relevant personnel for subsequent improvement.

In other embodiments, there is further provided a foreign object detection method applied to any one of the above embodiments, where a specific flow is shown in fig. 4, and the method includes:

the balancing device monitors the position state data of the detection device and sends the position state data to the processing device.

The processing device processes the position state data and drives the balancing device according to the result to enable the position state of the detection device to keep the set position state.

In the set position state, the detection direction of the detection device is vertically upward, and the detection device detects foreign matter state data above the wearer and sends the foreign matter state data to the processing device.

The processing device processes the foreign body state data to carry out risk judgment, whether a risk alarm signal is sent to the alarm device or not is determined according to a judgment result, and the alarm device sends out an alarm after acquiring the alarm signal.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the method for detecting a foreign object described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

In other embodiments, the specific functional flowchart applied to the processing apparatus according to any one of the above embodiments is shown in fig. 5, and includes:

and S501, the processing device receives position state data sent by the balancing device, wherein the position state data is obtained by the monitoring and detecting device of the balancing device.

S502, the processing device processes the position state data and drives the balancing device according to the result to enable the position state of the detection device to keep a set position state, and in the set position state, the detection direction of the detection device is vertically upward.

S503, the processing device receives the foreign matter state data sent by the detection device, and the foreign matter state data is obtained by detecting the foreign matter above the wearer by the detection device.

S504, the processing device processes the foreign matter state data to judge risks.

And S505, the processing device determines whether to send a risk alarm signal to the alarm device according to the judgment result, so that the alarm device sends out a warning after acquiring the alarm signal.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the processing apparatus for processing a method for detecting a foreign object described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.

In another particular embodiment, the helmet essentially comprises the following equipment: the helmet comprises a helmet body, an embedded controller, a holder, a laser range finder, an audible and visual alarm and the like.

The hardware equipment and the sensor that this safety helmet contained include: the system comprises an embedded control board, an electronic level gauge, a laser range finder, an xyz-axis stepping motor and an acousto-optic vibration alarm, wherein the electronic level gauge is the same as the laser range radar in mounting position, and the angle value of the laser range radar and the horizontal plane can be directly obtained conveniently.

The embedded control panel main controls the level meter to carry out angle data acquisition, laser range finder data acquisition and stepping motor rotation at the frequency of 10Hz, judges that an alarm condition is met through data aggregation and analysis, and immediately controls the audible and visual vibration alarm to output alarm information if the alarm condition is met.

The specific method comprises the following steps:

the method for detecting the foreign matters on the head top comprises the following steps:

1. the deviation between the direction of the holder on the helmet and the horizontal direction is judged through the electronic level meter.

After the gradienter obtains the angle, filtering is carried out through a Kalman filtering algorithm, noise generated inside the sensor and errors generated during measurement are filtered, and meanwhile, the movement trend is predicted.

The Kalman filtering only needs to know the value of the previous state and the measured value of the current state to estimate the result, and does not need the previous historical value any more, so the real-time performance of the filtering mode is good, and meanwhile, a large memory is not occupied, so the Kalman filtering thought is adopted, and the three measured values of the x axis, the y axis and the z axis of the electronic level meter are filtered through an optimized formula.

The specific method comprises the following steps:

taking the X-axis angle measured by the electronic level as an example, assuming that the electronic level is horizontal, the value level _ zero is output. At the moment k, the level measurement value is level _ data, and the level angle deviation value is level _ bias = level _ data-level _ zero. Let x _ last be the prediction angle at time k-1. Firstly, a covariance matrix P _ last =0.2 at the time k-1, and an estimated value covariance matrix P _ now =0 at the time k are set.

The first step updates the estimate covariance matrix P _ now at time k, using equation (1-1), where Q is an empirical parameter. And in the second step, updating the Kalman filtering coefficient Kg, and using the Kalman filtering coefficient Kg to an equation (1-2), wherein R is an empirical parameter. And the third step is to update the value of P _ last according to Kg and P _ now, and use the formula (1-3). And finally, calculating a predicted value x _ now at the moment k by using a formula (1-4) (x _ last at the right side of the formula is the predicted value at the moment k-1). The Kalman filtering is equivalent to a method for continuously updating the current state by using the state at the previous moment, and after the predicted value at the moment k is obtained, the true prediction at the moment k +1 can be obtained by circulating the steps. When the true prediction is obtained, the motor is controlled to move by adopting a control method, and the level meter is restored to be horizontal.

P_now ＝ Q+P_last (1-1)

Kg＝P_now /(P_now+R) (1-2)

P_last ＝ (1-Kg)*P_now (1-3)

x_now＝x_last+Kg(level_bias-x_last) (1-4)

Similarly, the Y axis and the Z axis can also obtain the predicted value of the k time by the above method.

And controlling the holder to enable the laser range finder to be vertically upward forever.

And controlling the rotation speed and the rotation direction of the stepping motor according to the magnitude of the xyz angle.

Taking x-axis as an example, y-axis and z-axis are the same.

Considering the physical characteristics of the motor, the rotation needs time, the rotation direction can not be changed uninterruptedly, and the acquisition frequency of the angle data is 10Hz, so a control period of 100ms is adopted.

When the control period is known, the rotation angular displacement of the motor in each control period can be obtained by only calculating the rotation speed of the x-axis motor. It can be understood that the rotation angle of the motor is controlled by controlling the rotation speed of the motor, and then the holder is controlled to enable the laser range finder to be vertically upwards forever.

Taking the x-axis motor as an example, the gear rotates clockwise at a positive speed, the gear rotates counterclockwise at a negative speed.

The embedded control board outputs PWM (pulse width modulation, short for pulse width modulation) signals and different duty ratio signals, the larger the pulse width is, namely the larger the duty ratio is, the larger the average voltage provided for the motor is, and the rotating speed of the motor is higher. Conversely, the smaller the pulse width, the smaller the duty cycle. The smaller the average voltage supplied to the motor, the lower the motor speed. Therefore, the speed control of the motor is controlled by the PWM signal, and only the PWM value which needs to be output by the embedded control board needs to be calculated.

The speed control principle formula is as follows:

where e (t) is the difference between the angular state at time k and the angular state at time k-1. v (t) is the output PWM value.

When in actual use, the device is split into two control parts.

A first part: PWM value output v ₁ (t)＝K _p * e (t), which is the deviation of the angle from the horizontal position (the above-mentioned true values x _ now obtained by Kalman filtering), v ₁ (t) is the PWM value output, K _p Is to control the proportionality coefficient, K _p This value is adjusted according to the performance parameters of the stepping motor used and various disturbances (gear friction coefficient, air resistance, friction coefficient between structural members, etc.) when used in real environments.

This is partly for the purpose of generating a control action immediately after the deviation is generated, and quickly eliminating the angular deviation.

A second part: PWM value output

e (t) is the actual value x _ now obtained by Kalman filtering in the previous measurement cycle, e (t-1) is the actual value x _ now, v obtained by Kalman filtering in the previous measurement cycle ₂ (t) is the PWM value output, greater than or equal to>

The control scale factor is adjusted according to the performance parameters of the adopted stepping motor and various interferences (gear friction coefficient, air resistance, friction coefficient between structural parts and the like) in real environment.

This part is mainly used to eliminate the static error and make the controlled angle more accurate. If only the first part of the controller is used, the motor can never adjust the angle of the level to be horizontal because the speed is changed too much, and the last small point error can not be eliminated. The second partial controller is then active to correct the last point of the deviation.

Final motor rotation speed adjustment, obtained from two parts (v) ₁ +v ₂ ) And outputting the PWM value to the motor control. In order to protect the motor from being damaged by too high voltage values, the maximum value v of the output PWM value is set _max Is greater than v _max Are all constrained to v _max . In order to prevent the motor from rotating unstably due to too low voltage value, the minimum value v of the output PWM value is set _min Is less than v _min Are all constrained to v _min 。

The rotation angle control formula is as follows: the rotation angle is controlled by the speed. Fixed control period, rotation angle = motor speed control period.

Meanwhile, the service life of hardware (a motor and a holder) is considered, when the deflection angle is less than or equal to 3 degrees, the control strategy is adjusted, no matter what the PWM value is calculated by the controller, the PWM value is not output to the motor until the deflection angle is more than 3 degrees.

2. Safety risk judgment method and alarm

The distance measuring device measures the distance between the foreign matter and the safety helmet after receiving the acquisition instruction of the embedded control panel, when the distance between the foreign matter and the safety helmet is smaller than h1, the embedded control panel starts to calculate the descending state and descending speed of the object, when the distance between the foreign matter and the safety helmet is smaller than h2, the embedded equipment controls the acousto-optic vibration alarm to give an alarm, wherein h1 and h2 can be configured according to the field operation condition.

When the foreign matter is in the interval of h1-h2, the logic of whether the alarm device alarms or not is as follows:

from empirical values, assume that it takes t from the reception of an alarm to the completion of evacuation of the person _a Second; the time for pressing the foreign matter to the commander is judged to be t according to the distance between the current foreign matter and the safety helmet and the descending speed through the calculation of the embedded control panel _b When t is _b When the time is less than t, alarming is carried out, wherein t _a The values are configured by an administrator based on experience and actual job site conditions.

The specific process is as follows:

(1) Record t ₀ Height h of time foreign body distance meter ₀ Spaced by k times, i.e. t ₁ At that moment, the height h of the foreign-body distance measuring instrument is measured again ₁ Obtaining t ₁ Time of day descent speed

(2) Spaced by k times, i.e. t ₂ At any moment, the height h of the foreign body distance measuring instrument is obtained ₂ Obtaining t ₂ Velocity of time of day

Calculate acceleration value pick>

(3) According to the field operation experience, setting the time t from receiving the alarm to finishing the personnel evacuation _a Second, calculating the time t when the foreign matter on the head top falls into the safety helmet _b Second, where according to t _b The following formula is used to obtain:

based on the actual situation t _b Taking only positive value of t _b <＝t _a And the embedded control panel judges that the alarm condition is met.

(4) Repeating the above processes, circularly calculating whether the alarm condition is met, and controlling the acousto-optic vibration alarm to alarm by the embedded control board after the alarm condition is met continuously 3.

3. And (4) equipment abnormity judgment method and alarm.

The safety helmet can be guaranteed to work safely and reliably only when the safety helmet device works normally, and self-checking and alarming can be carried out when hardware fails. The detection method comprises the following steps:

(1) Hardware operating state detection

When the communication between the embedded control panel and the level meter is interrupted for more than s seconds, the equipment gives an alarm.

(2) And detecting the state of the mechanical hardware of the holder.

When the level meter is in a non-horizontal state, the embedded control board sends an adjusting signal to the stepping motor, and when the signal is sent for more than t seconds continuously, the holder does not reach the horizontal state, which indicates that mechanical hardware of the holder fails, and the equipment gives an alarm.

(3) Whether there is a failure in the communication.

The embedded control panel and the back-end platform are in heartbeat communication, and when the heartbeat disappears, the equipment gives an alarm.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 6, an electronic device 600 according to the embodiment may include: a memory 601 and a processor 602.

The memory 601 has stored thereon a computer program that can be loaded by the processor 602 and executed to perform the method in the above-described embodiments.

The processor 602 is coupled to the memory 601, such as via a bus.

Optionally, the electronic device 600 may also include a transceiver. It should be noted that the transceiver in practical application is not limited to one, and the structure of the electronic device 600 is not limited to the embodiment of the present application.

The Processor 602 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 602 may also be a combination of computing functions, e.g., comprising one or more microprocessors in combination, a DSP and a microprocessor in combination, or the like.

A bus may include a path that transfers information between the above components. The bus may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The Memory 601 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.

The memory 601 is used for storing application program codes for executing the scheme of the application, and the processor 602 controls the execution. The processor 602 is configured to execute application program code stored in the memory 601 to implement the content shown in the foregoing method embodiments.

Among them, electronic devices include but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. But also a server, etc. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

The electronic device of this embodiment may be configured to perform the method of any of the above embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.

The present application also provides a computer readable storage medium storing a computer program that can be loaded by a processor and executed to perform the method as in the above embodiments.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Claims

1. A safety helmet, comprising: the device comprises a cap body, a detection device, a balancing device, an alarm device and a processing device;

the balancing device is used for monitoring position state data of the detection device and sending the position state data to the processing device, so that the processing device processes the position state data and drives the balancing device according to the result to enable the position state of the detection device to be kept in a set position state; in the set position state, the detection direction of the detection device is vertically upward;

2. A safety helmet according to claim 1, wherein the detection means comprises a range radar fixedly arranged on the counterbalancing means;

3. The headgear of claim 1, wherein the balancing device comprises an electronic level and a stepper motor;

4. The safety helmet of claim 3, wherein the processing device, when processing the position status data and driving the stepping motor to adjust the tilt angle of the detecting device in the x-axis, y-axis, and z-axis directions according to the result, is specifically configured to:

5. A safety helmet according to claim 2, wherein the detection means, when detecting foreign object status data above the wearer, are specifically configured to:

continuously detecting the distance between the wearer and the foreign body above the wearer, and sending the distance as foreign body state data to the processing device;

the processing device is specifically used for processing the foreign body state data to judge risks and determining whether to send an alarm signal to the alarm device according to a judgment result;

judging whether the distance is smaller than a first preset distance;

aiming at each detection moment, determining speed data corresponding to the detection moment according to distance data corresponding to the detection moment;

determining the risk level of the foreign matter according to the speed data corresponding to each detection moment in the preset time period;

6. The headgear of claim 3, wherein the processing device is further configured to:

when the communication interruption with the electronic level meter exceeds a first set time, sending a fault alarm signal to the alarm device;

and/or the presence of a gas in the gas,

7. A foreign object detection method applied to the helmet according to any one of claims 1 to 6, the method comprising:

and the alarm device sends out a warning after acquiring the alarm signal.

8. A foreign matter detection method, applied to a disposal device in a helmet according to any one of claims 1 to 6, comprising:

9. An electronic product, comprising: a memory and a processor;

the memory to store program instructions;

the processor, which is configured to call and execute the program instructions in the memory, performs the method of claim 8.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of claim 8.