CN115969131A

CN115969131A - Helmet, foreign matter detection method, electronic product, and computer-readable storage medium

Info

Publication number: CN115969131A
Application number: CN202211675580.5A
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: 2023-04-18

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 sensing device, a monitoring device, a control device and an alarm device; the sensing device is used for detecting foreign matter state data in a detection range of the sensing device and sending the foreign matter state data to the control device; the monitoring device is used for monitoring the inclination state data of the sensing device and sending the inclination state data to the control device; the control device is used for determining the state data of the foreign matter above the vertical direction of the wearer according to the inclination state data and the foreign matter state data, carrying out risk judgment on the control device based on the state data of the foreign matter above the vertical direction, and determining whether to send an alarm signal to the alarm device according to the judgment result; the alarm device is used for sending out a warning after the alarm signal is acquired.

Description

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

Technical Field

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

Background

With the high-speed increase of port logistics demand, when a shore bridge hoists containers to carry out loading and unloading operations, a commander must be arranged on site to carry out command and confirmation work. And the commanding hand can not raise the head to observe the position of the container above the head top in real time because the working content needs to be frequently operated by lowering the head or bending down, and once foreign matters fall off above the commanding hand, the hand is swung to be too late to avoid, so that the accidents of injury to people can be easily caused.

The safety helmet is as the indispensable safety arrangement of commander hand, and mainly used operation personnel receive during the impact or the extrusion of eminence whereabouts thing, stereoplasm object, reduce the impact force to the head, to the dangerous degree that the finger hand probably met in the working scene, the guard action that this kind of protection mode played is not obvious, also can not effectual reduction incident take place.

The warning safety helmet with the detection function can not detect the state of the foreign matters from the upper part for the commanding hand, so that the existing warning safety helmet is not suitable for a working scene of a commanding hand and can not warn the falling foreign matters from the upper part to provide active defense protection when the commanding 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 helmet comprises a helmet body, an induction device, a monitoring device, a control device and an alarm device;

the sensing device is fixedly arranged on the outer surface of the cap body, and the monitoring device is fixedly arranged on the sensing device;

the control device is respectively connected with the sensing device, the monitoring device and the alarm device;

the sensing device is used for detecting foreign matter state data in a detection range of the sensing device and sending the foreign matter state data to the control device;

the monitoring device is used for monitoring the inclination state data of the sensing device and sending the inclination state data to the control device;

the control device is used for determining state data of foreign matters vertically above the wearer according to the inclination state data and the foreign matter state data, carrying out risk judgment based on the state data of the foreign matters vertically above the wearer, and determining whether to send an 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, monitoring devices real-time supervision adjustment induction system's tilt state, controlling means confirms the state data of the foreign matter of the vertical top of the person of wearing according to the foreign matter state data that tilt state data and induction system detected, and controlling means carries out the risk judgement through the state data to the foreign matter of vertical top again, can send necessary warning to the person of wearing when there is the risk in the person of wearing top, has played the active defense effect of the person of wearing 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 induction device includes an area array ranging radar fixedly disposed on the cap body;

the area array ranging radar is provided with n-m ranging units, and the ranging units are used for detecting foreign body distance data in corresponding detection directions according to preset detection frequency, wherein the detection directions corresponding to any one ranging unit are different from each other;

the area array range radar is used for sending the foreign matter distance data detected by all the range units to the control device as foreign matter state data;

the control device determines the distance of the foreign matters above the vertical direction of the wearer according to the inclined state data and the foreign matter distance data detected by all the distance measuring units, carries out risk judgment based on the distance of the foreign matters above the vertical direction, and determines whether to send an alarm signal to the alarm device according to the judgment result.

Through this scheme, the area array range radar that the utilization is constituteed by a plurality of range finding units can realize the detection to an area coverage nature to can provide more comprehensive, accurate data basis for the analysis of the state of the foreign matter of controlling means analysis person of wearing vertical top, improve the safeguard effect of safety helmet.

Optionally, the monitoring device comprises an electronic level;

taking the gravity center of the electronic level meter as an original point, establishing an x/y axis plane by taking a horizontal plane where the original point is located, enabling an x axis and a y axis to pass through the original point, and establishing a z axis by taking a vertical horizontal plane and the original point as a reference, wherein the x axis, the y axis and the z axis are vertical to each other in pairs, and the x axis, the y axis and the z axis form a space rectangular coordinate system;

the electronic level meter is used for monitoring the inclination angles of the sensing device in the space rectangular coordinate system based on an x axis, a y axis and a z axis, and sending the inclination angles to the control device as inclination state data;

when determining the state data of the foreign object vertically above the wearer from the tilt state data and the foreign object state data, the control device is specifically configured to:

and processing the inclination angle, and determining the state data of the foreign matters vertically above the wearer according to the processing result and the state data of the foreign matters.

Through this technical scheme, utilize the electronic level appearance can the efficient monitoring sensing device take place the detailed data of slope deflection, controlling means utilizes this data then can be more fast select the state data of the foreign matter of the vertical top of the wearer from the foreign matter state data that sensing device provided, improves the protective effect of safety helmet.

Optionally, when processing the inclination angle, the control device is specifically configured to:

applying a Kalman filtering algorithm to obtain an estimated inclination angle at the current moment according to the inclination angle monitored by the current moment monitoring device and an estimated inclination angle obtained by applying the Kalman filtering algorithm at the last moment;

when determining the state data of the foreign matter vertically above the wearer according to the processing result and the foreign matter state data, the control device is specifically configured to:

judging whether the state data of the foreign matters parallel to the z-axis direction is contained in the state data of the foreign matters or not by combining the estimated inclination angle at the current moment;

if so, determining the state data of the foreign matter parallel to the z-axis direction as the state data of the foreign matter vertically above the wearer;

and if the foreign matter state data do not exist, calculating the state data of the foreign matters parallel to the z-axis direction according to the state data of the set number of the foreign matters closest to the z-axis direction in the foreign matter state data, and taking the state data as the state data of the foreign matters vertically above the wearer.

Through the scheme, the Kalman filtering algorithm is utilized to reduce the influence of measurement errors on measurement results when the control device processes the foreign matters from the monitoring sensing device, so that the control device obtains the state data which is closer to a real inclination angle and is used for calculating the foreign matters above the vertical part of the wearer, and the protection effect of the safety helmet is improved.

Optionally, the control device is specifically configured to perform risk judgment based on the distance between the vertically above foreign matters, and determine 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 determined to be 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 each detection moment according to the distance data corresponding to each detection moment;

determining the time for the foreign matter vertically above the wearer to fall to the position of the wearer according to the speed data corresponding to each detection moment and the distance data corresponding to each detection moment in the preset time period;

for each detection moment, determining the risk level of the foreign matter vertically above the wearer according to the time for the foreign matter vertically above the wearer to fall to the position of the wearer and the set escape time;

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

According to the scheme, the control device can process the detection data of the sensing device and then carry out risk judgment, and determines whether to send an alarm signal to the alarm device according to different judgment results, so that the safety state of a wearer is actively analyzed and protected.

Optionally, the control 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,

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

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

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

the sensing device detects foreign matter state data in a detection range of the sensing device and sends the foreign matter state data to the control device;

the monitoring device monitors the inclination state data of the sensing device and sends the inclination state data to the control device;

the control device determines state data of the foreign matter vertically above the wearer according to the inclination state data and the foreign matter state data;

the control device carries out risk judgment according to the state data of the foreign matter vertically above the wearer and determines whether to send a risk alarm signal to the alarm device according to the 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 control device in the helmet of the first aspect, the method including:

receiving foreign matter state data sent by the sensing device, wherein the foreign matter state data is obtained by detecting foreign matters in a detection range of the sensing device by the sensing device;

receiving the inclination state data sent by the monitoring device; the inclination state data is obtained by the monitoring device monitoring the sensing device;

processing the tilt status data and the foreign object status data and determining, from the results, foreign object data vertically above the wearer;

and processing the foreign matter data vertically above the wearer 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 that can be loaded by a processor and execute 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 schematic flow chart illustrating a foreign object detection method according to an embodiment of the present disclosure;

fig. 4 is a schematic flowchart of a foreign object detection method applied to a control device according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 6 is a schematic view illustrating an application of a sensing device according to an embodiment of the present disclosure;

fig. 7 is a schematic view illustrating a detection range of a sensing device according to an embodiment of the present disclosure;

fig. 8 is a schematic diagram of a distribution of detection points 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.

The detection direction of the existing detection safety helmet with the warning function is generally consistent with the sight 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 achieve the purposes of detecting obstacles and warning around the wearer.

It is thus clear that warning safety helmet only when the person of wearing is raised the head and is seen to the top at present, just can detect and the early warning to the foreign matter of person of wearing top, can't detect the dangerous condition who comes from the person of wearing top constantly when the person of wearing is normal when moving about, also can't play the effect of initiative warning when there is the tenesmus foreign matter in the person of wearing top.

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 is used for operation, the container is often moved up and down above the command hand, and the finger needs to frequently bow or bend down for operation, so that the user cannot raise the head in real time to observe the position of the container above the head, and the injury accident is easy to occur.

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 includes a helmet body 21, a sensing device 22, a monitoring device (not shown), an alarm device (not shown), and a control device 23. Controlling means is connected with monitoring devices, induction system, alarm device respectively, for the ease of installation, a bearing structure of installation on the cap body, controlling means, induction system, alarm device, induction system, above-mentioned device installs based on bearing structure, and induction system's detection direction upwards in the middle of, and fixed setting is at the bearing structure top, and monitoring devices installs on induction system.

The sensing device is used for detecting foreign matter state data in a detection range of the sensing device and sending the foreign matter state data to the control device; the monitoring device is used for monitoring the inclination state data of the sensing device and sending the inclination state data to the control device; the control device is used for determining the state data of the foreign matters above the vertical direction of the wearer according to the inclination state data and the foreign matter state data, carrying out risk judgment on the control device based on the state data of the foreign matters above the vertical direction, and determining whether to send an alarm signal to the alarm device according to the judgment result; the alarm device is used for giving out an alarm after acquiring the alarm signal.

The foreign matter state data required by the control device is the state data of the foreign matter vertically above the wearer, the detection data of the sensing device is the foreign matter state data in the detection range, the detection direction of the sensing device can be changed by the sensing device through actions of waving a hand, lowering the head, bending down and the like, correspondingly, the detection range of the sensing device is also changed, and the state data of the foreign matter vertically above the wearer in the detection range needs to be determined again. In order to solve this problem, the monitoring device is used to constantly monitor the inclination state data of the sensing device, and the control device is used to re-determine the state data of the foreign body vertically above the wearer in the state data of the foreign body detected by the sensing device according to the inclination state data.

The tilt state data may be data representing a change in a detection range of the sensing device. For example, the sensing range of the sensing device at each moment is inclined relative to the vertical direction. Correspondingly, the monitoring device sends the inclination angle to the control device, and the control device can determine the detection data of the vertical upper part of the wearer in the detection range after the induction device is inclined according to the acquired inclination angle.

The sensing device always detects the state data of the foreign matters in the detection range of the sensing device, and the state data of the foreign matters can be the distance between the foreign matters and the safety helmet, the speed of the foreign matters at each moment and the acceleration of the foreign matters at each moment. The sensing device sends the data to the control device, the control device obtains state data of the foreign body vertically above the wearer according to the data, the state data of the foreign body is used for judging the risk degree of the finger-waving hand, and the control 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 warning information that alarm device can send can be for flashing light, voice broadcast, vibrations, screen scintillation, organism vibrations etc. that other smart machines that handheld device and human body wore sent. Correspondingly, the alarm device can be a warning lamp, a buzzer, handheld equipment and other intelligent equipment worn by a human body.

Through this scheme, monitoring devices real-time supervision induction system's tilt state, controlling means confirms the state data of the foreign matter of the vertical top of the person of wearing according to the foreign matter state data that tilt state data and induction system detected, and controlling means carries out the risk judgement through the state data to the foreign matter of vertical top again, can send necessary warning to the person of wearing when there is the risk in the person of wearing top.

In some embodiments, the sensing device includes an area array ranging radar fixedly disposed on the cap; the area array ranging radar is provided with n-m ranging units, the ranging units are used for detecting foreign matter distance data in a preset detection direction according to preset detection frequency, and the preset detection directions of any ranging units are different from each other. The area array ranging radar is used for detecting the distance between the area array ranging radar and the foreign matters in the detection range of the sensing device at different times, and sending the distance to the control device as foreign matter state data.

As shown in fig. 6, when the detection range of the sensing device in this embodiment changes with the body motion of the wearer, the detection range always includes the position vertically above the wearer, and the dotted line in the figure represents the detection of the sensing device vertically above the wearer.

Correspondingly, the detection range is realized by 1024 × 128 ranging units on the area array ranging radar, wherein the ranging units are arranged in a row-column mode, a single ranging unit detects foreign matter distance data according to the frequency of 10Hz, the ranging method is a time flight method, the ranging unit emits modulated near infrared light, the light is reflected after meeting an object and is received by the ranging unit again, and the ranging unit converts the distance of the detected foreign matter by calculating the phase difference and the time difference between the emission and the reception of the light.

As shown in fig. 7, a rectangular solid foreign object is located above the wearer, the near infrared light emitted by each distance measuring unit forms a matrix at the reflection point of the foreign object, and the matrix is put into a coordinate system to represent, and the sensing device has 1024 distance measuring units in each row for detecting the foreign object in the x-axis direction and 128 distance measuring units in each column for detecting the foreign object in the y-axis direction.

Any single line of distance measuring units corresponds to the same longitudinal angle, the interval angle between any two adjacent lines of distance measuring units is 0.17 degrees, any single line of distance measuring units corresponds to the same transverse angle, and the interval angle between any two adjacent lines of distance measuring units is 0.7 degrees. Each ranging unit can be represented by a unique angle index in the area array ranging radar.

The range unit receives the near-infrared light that reflects back at every turn, can judge this near-infrared light through the echo intensity of the near-infrared light that should reflect back simultaneously and return by touchhing the foreign matter reflection, still does not touch the foreign matter and return by impurity reflections such as dust in the air, and then makes things convenient for controlling means to select the status data about the foreign matter from all range unit's the detection data more.

Each distance measuring unit transmits the foreign matter distance data measured each time to the control device as foreign matter state data.

Through this scheme, the area array range radar that the utilization is constituteed by a plurality of range finding units can realize the detection to a regional scope nature to can provide more comprehensive, accurate data basis for the state of the foreign matter of controlling means analysis person of wearing vertical top, improve the safeguard effect of safety helmet.

In other embodiments, the monitoring device may be an electronic level fixedly mounted on the sensing device, and the tilt data detected by the electronic level may be indicative of the tilt of the sensing device.

The gravity center of the electronic level is used as an origin, an X/Y axis plane is established by taking the parallel flat ground as a reference, X/Y axes are mutually vertical, a Z axis is established by taking the vertical flat ground as a reference, the X/Y/Z axes are vertical in pairs, and a first space rectangular coordinate system is established by taking the X/Y/Z axes to pass through the origin.

When the measuring direction of the distance measuring radar deviates due to the action of a wearer, the electronic level meter monitors the inclination angle of the sensing device relative to an X/Y axis in real time, the inclination angle of the sensing device relative to a Z axis can be obtained through calculation according to the inclination angle, the inclination angle is sent to the control device, and the control device confirms the foreign body state data of the vertical upper part of the wearer according to the inclination angle and the foreign body state data detected by the sensing device.

Through this technical scheme, utilize the detailed data of the slope that electronic level can efficient monitoring induction system takes place, controlling means utilizes this data then can confirm the state data of the foreign matter of the vertical top of the person of wearing in the foreign matter state data that induction system provided more fast, improves the protective effect of safety helmet.

In other embodiments, the control device, when processing the tilt angle, is specifically configured to: and applying a Kalman filtering algorithm to obtain the estimated inclination angle at the current moment according to the inclination angle monitored by the current moment monitoring device and the estimated inclination angle obtained by applying the Kalman filtering algorithm at the last moment. When determining the state data of the foreign matter vertically above the wearer according to the processing result and the foreign matter state data, the control device is specifically configured to: and judging whether the state data of the foreign matters parallel to the z-axis direction is contained in the state data of the foreign matters or not by combining the estimated inclination angle at the current moment, and if so, determining the state data of the foreign matters parallel to the z-axis direction as the state data of the foreign matters vertically above the wearer. And if the foreign body state data do not exist, calculating the state data of the foreign bodies parallel to the z-axis direction according to the state data of the set number of the foreign bodies closest to the z-axis direction in the foreign body state data, and taking the state data as the state data of the foreign bodies vertically above the wearer.

The control device can be an embedded control board and is used for processing the inclination state data and representing the inclination angles of the sensing device in the X-axis direction, the Y-axis direction and the Z-axis direction according to results.

Based on the computing power of the embedded control board and the precision requirement of the state data of the foreign body which determines the vertical upward direction of the wearer in the foreign body state data of the sensing device, the processing process of the embedded control board on the inclination angle sent by the monitoring device is optimized by adopting a Kalman filtering algorithm, and the measurement error of the monitoring device is reduced. The Kalman filtering algorithm can estimate the inclination angle of the sensing device at the current moment closest to the true value only by the inclination angle of the sensing device at the previous moment and the inclination angle of the sensing device measured by the monitoring device at the current moment.

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

The embedded control panel utilizes a Kalman filtering algorithm to estimate the closest 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, the estimated inclination angle of the sensing device relative to the Y axis at the moment can be obtained by the method, and the sensing device relative to the Z axis can be obtained by calculation.

According to the estimated inclination angle data and the foreign body state data of the sensing device, judging whether the foreign body state data contains the foreign body state data in the direction parallel to the z axis, wherein the specific judgment mode is as follows:

the foreign matter state data contains all foreign matter state data detected by the distance measuring units, and because the interval angle between each distance measuring unit is fixed at a fixed angle, the state data of the foreign matter vertically above the wearer at the moment is determined according to the pre-estimated inclination angle data at the moment and the foreign matter state data at the moment.

And establishing an X/Y axis plane by taking the center of the sensing device as an origin and taking the parallel flat ground as a reference, wherein X/Y axes are mutually vertical, a Z axis is established by taking the vertical flat ground as a reference, every two X/Y/Z axes are vertical, and establishing a second space rectangular coordinate system by taking the X/Y/Z axes as the origin.

The establishment process of the first space rectangular coordinate system and the second space rectangular coordinate system only has different original points, and the inclination angle of the sensing device at the first space rectangular coordinate system can be used in the second space rectangular coordinate system.

Preferably, when the sensing device is horizontally placed, the detection direction of a distance measuring unit is parallel to the Z axis, and the angle data of the distance measuring unit relative to the X/Y/Z axis in the second space rectangular coordinate system is represented by taking the distance measuring unit as an example. The angles of the distance measuring units with respect to the X-axis, Y-axis, and Z-axis of the second spatial direct coordinate system are represented as (90 °,90 °,0 °), and the angles of the four distance measuring units adjacent to the distance measuring unit with respect to the X-axis, Y-axis, and Z-axis of the second spatial direct coordinate system are represented as (89.83 °,90 °,0.17 °), (90 °,89.3 °,0.7 °), (90.17 °,90 °,0.17 °, (90 °,90.7 °,0.7 °).

When the control device determines that the detection direction at this moment is the distance measuring unit vertically above the wearer in all the distance measuring units, two situations can be distinguished, specifically as follows:

in the process of movement of the wearer, calculating that the detection direction of the distance measuring unit is parallel to the z axis at each moment, and taking the foreign body state data of the distance measuring unit as the foreign body state data vertically above the wearer, for example: the angle of the distance measurement unit with the detection direction parallel to the Z-axis direction at the previous moment in the second spatial rectangular coordinate system is represented as (90 degrees, 90 degrees and 0 degrees), the data of the inclination angle of the sensing device estimated at the current moment relative to the X-axis, the Y-axis and the Z-axis of the first spatial rectangular coordinate system is (0.17 degrees, 0 degrees and-0.17 degrees), and the distance measurement unit with the facing direction parallel to the Z-axis direction at the current moment is the distance measurement unit with the facing direction of the previous moment being (90.17 degrees, 90 degrees and-0.17 degrees).

In the movement process of a wearer, if the detection direction without the distance measuring unit is parallel to the z axis through calculation, the foreign body state data of the four distance measuring units closest to the angle of the direction parallel to the z axis are taken, and the foreign body state data in the direction parallel to the z axis are calculated according to the four foreign body state data, wherein the calculation process is as follows:

because the angular resolution of the sensing device is relatively small, namely the interval angle between two adjacent ranging units is small, four ranging units can be approximately simultaneously irradiated on the surface of the same object. As shown in fig. 8, P11, P22, P33, and P44 are four points where the four ranging units strike the surface of the object. And (3) obtaining distance coordinates (x 1, y1, z 1) of the distance measuring unit in the second rectangular space coordinate system by taking the index angle in the second rectangular space coordinate system contained in the distance measuring unit as (x, y, z) and the measured foreign object distance data. And calculating the distance of the point Z to be measured by using the following three-dimensional plane formula:

Ax+By+Cz+D＝0

distance coordinates of P11, P22, P33 and P44 are taken in to obtain A, B, C, D variable values, and Z point coordinates (0, Z) and A, B, C, D variable values are taken in to obtain Z values, which are foreign object distance data parallel to the Z axis direction.

In another implementation manner of this embodiment, the tilt state data of the sensing device monitored by the monitoring device may be: the inclination change data of the moment induction device and the last moment induction device. According to the inclination change data and the foreign matter state data of the sensing device at the previous moment, the state data of the foreign matter vertically upwards by the wearer in the foreign matter state data at the current moment can be determined.

Through this scheme, controlling means utilizes kalman filter algorithm can acquire induction system more and is close true inclination to calculate the state data of the vertical foreign matter of wearer according to inclination, controlling means does not have the state data that directly detects the vertical foreign matter of wearer's top to induction system's foreign matter state data, and controlling means can utilize three-dimensional plane formula and specific foreign matter state data to calculate the state data of the vertical foreign matter of wearer's top, improves the protective effect of safety helmet.

In another embodiment, when the control device performs risk judgment based on the distance between the vertically above foreign objects and determines whether to send an alarm signal to the alarm device according to the judgment result, the control device is specifically configured to: and judging whether the distance is smaller than a first preset distance or not, and determining distance data corresponding to each detection moment in a preset time period after determining that the distance is smaller than the first preset distance. And determining the speed data corresponding to each detection moment according to the distance data corresponding to each detection moment, determining the time for the foreign matter vertically above the wearer to fall to the position of the wearer according to the speed data corresponding to each detection moment and the distance data corresponding to each detection moment in the preset time period, and determining the risk level of the foreign matter vertically above the wearer according to the time for the foreign matter vertically above the wearer to fall to the position of the wearer and the set escape time for each detection moment. And sending a corresponding alarm signal to an alarm device according to the risk level of the foreign matter vertically above the wearer.

The judgment process of the risk level specifically comprises the following steps:

and judging the distance and a first preset distance, wherein the first preset distance can be set according to the specific situation of the field operation and is generally set as the height of the shore bridge on the operation field, and when the distance is greater than the first preset distance, almost no foreign matters can fall off in the field operation, so that 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 control device starts to calculate the descending state and the descending rate of the foreign matter, wherein the specific mode is as follows:

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 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 Instantaneous rate of descent

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>

According to the field operation experience, setting the time t from receiving the alarm to finishing the personnel evacuation _a Second, calculate overhead foreign object drop safetyThe time of the cap is t _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 Then, the risk level at this time is determined to be 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.

In another possible implementation of this embodiment, when the embedded control board performs risk judgment on the distance data of the foreign object vertically above the wearer, the embedded control board is specifically configured to:

and when the distance is smaller than the first set distance, the embedded control board starts to calculate the object descending state and the descending speed.

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 by k times, i.e. t ₂ At all times, 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>

When the calculated foreign matter lowering speed v ₁ When 0, the foreign matter is fixed in the air, and the risk level at this time is determined to be low.

When the calculated foreign matter lowering speed v ₁ And when the foreign matter is less than 0, determining that the foreign matter is in a lifting 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 a is less than or equal to 0, determining that the foreign matter is artificially descended, wherein the foreign matter which is 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 a is larger than 0, the situation that the quay crane descends in an accelerated mode or the container falls off the rope accidentally or the foreign matter descends cannot be determined, and the risk level is high.

Because the second preset distance is a safety threshold value and is a safety distance set on the site, the site worker does not allow the site worker to operate under the container within the distance, and when the distance is smaller than the second preset distance, the risk level at the moment is determined 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, acousto-optic vibration alarm device twinkles light, mainly warns bank bridge driver below personnel's position, and whether operation can threaten below person of wearing by bank bridge driver control then, when the visual field condition is not good, can initiatively activate alarm device twinkle light.

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.

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 state that the electronic level meter is in the non-set position 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 helmet may interact with the handheld device, where the sensing device includes a video camera, an interface that may be interconnected with the handheld device is left in the embedded control board, and the video camera is connected with the embedded control board, and the handheld device may be used for power supply and summarize various data of the embedded control board, where the data specifically includes: because the command hand acts to generate all historical data of the inclination angle of the induction 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 make a calculation scheme for recovering the position state of the induction 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, and the handheld device analyzes and summarizes all dangerous situations and provides problems possibly occurring in on-site operation for related personnel to carry out subsequent improvement work.

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. 3, and the method includes:

the sensing device detects foreign matter state data in a detection range of the sensing device and sends the foreign matter state data to the control device.

The monitoring device monitors the inclination state data of the sensing device and sends the inclination state data to the control device.

The control device determines status data of a foreign object vertically above the wearer from the position device data and the foreign object status data.

And the control device judges the risk according to the state data of the vertically upward foreign matters and determines whether to send a risk alarm signal to the alarm device according to the judgment result.

And 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 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 control device according to any one of the above embodiments is shown in fig. 4, and includes:

s401, foreign matter state data sent by the sensing device are received, wherein the foreign matter state data are obtained by the sensing device detecting foreign matters in the detection range of the sensing device.

S402, receiving the inclination state data sent by the monitoring device; the tilt state data is obtained by the monitoring device monitoring the sensing device.

And S403, processing the inclination state data and the foreign matter state data and determining the foreign matter data vertically above the wearer according to the result.

S404, processing the foreign matter data vertically above the position 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.

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

In one embodiment, the present application includes hardware devices and sensors comprising: the embedded control panel is mainly used for data acquisition, data analysis, hardware control and communication with a handheld end, and the specific method comprises the following steps:

1. method for detecting foreign matters on head top

(1) 3D laser ranging radar data processing

The scanning angle of the 3D laser radar in the x-axis direction is 180 degrees, the distance of 1024 points can be measured, the angular resolution is 0.17 degrees, the scanning angle in the y-axis direction is 90 degrees, 128 points can be measured, the angular resolution is 0.7, the scanning frequency is 10Hz, and each measuring point data comprises:

(1) The (x, y) coordinate index number of the measurement point.

(2) The echo intensity measured at this point.

(3) The distance z of this point from the rangefinder.

The scanning point coordinate system is as follows:

(2) Electronic level gauge for determining deviation of safety helmet from horizontal direction

The embedded control panel obtains the x-axis angle and the y-axis angle of the current 3D laser ranging radar and the horizontal plane measured by the electronic level meter in real time through a serial port, and meanwhile, through a Kalman filtering algorithm, the jump or noise interference of the x-axis angle and the y-axis angle is reduced, and the movement trend is pre-judged.

The specific method comprises the following steps:

let us take the X-axis angle measured by the electronic level as an example, and assume that when 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. First, the covariance matrix P _ last =0.2 at the time k-1, and the estimated covariance matrix P _ now =0 at the time k are set.

The first step updates the covariance matrix P _ now of the estimated values 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). Finally, in the fourth step, the predicted value x _ now at the moment k is calculated, and the equation (1-4) is used (x _ last at the right side of the equation 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 control method is adopted to control the motor to move, and the level meter is restored to the level.

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 may also obtain the predicted value at the k time by the above method.

(3) The electronic level meter for calculating the distance between the foreign matters on the top of the head and the safety helmet and the 3D laser ranging radar are arranged on a platform to move together, and the angle P in the x-axis direction is obtained through previous calculation _kx And angle P in the y-axis direction _ky . Because the angles of the adjacent points in the directions of the X and y axes of the radar are fixed (the angular resolution of the X axis is 0.17 degree, and the angular resolution of the y axis is 0.7), the vertical upward point and the position between which four measuring points are obtained through calculation, and the distance between the vertical upward point and the safety helmet is obtained through a three-dimensional plane method.

Three-dimensional point coordinates of P11, P22, P33, P44 can be obtained from the radar. P11, P22, P33, P44 can locate a plane (since the angular resolution of the radar is relatively small, the X-axis angular resolution is 0.17 degrees, and the y-axis angular resolution is 0.7 degrees, we can approximately see that the radar has four points on the surface of the object, and a plane is defined between the four points). Using the three-dimensional plane formula (2-3-1)

Ax+By+Cz+D＝0(2-3-1)

The variables A, B, C, D can be obtained by substituting the three-dimensional coordinates (x, y, z) of the four points P11, P22, P33, P44 into the formula.

The center of the radar is a three-dimensional coordinate origin (0,0,0) by default, z-point coordinates (0, z ') are substituted into the formula (2-3-1) obtained above, and the value of z' is solved, so that the z-point coordinates can be obtained.

(4) And judging the foreign body state at the top of the head according to the foreign body distance.

The distance meter measures the distance between the foreign matter on the top of the head and the safety helmet in real time, and starts to measure and calculate the descending state and the descending rate of the object when the distance between the foreign matter and the safety helmet is smaller than t 1.

3. Safety risk judgment method and alarm

The distance measuring instrument measures the distance between the foreign matter and the safety helmet after receiving an 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 foreign body distance meter at any moment 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 Time of day descent speed

(2) Spaced k times apart, i.e. t ₂ At all times, 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) And repeating the processes, circularly calculating whether the alarm condition is met, and controlling the acousto-optic vibration alarm to give an alarm by the embedded control board after the alarm condition is met continuously 3.

4. 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.

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 5, an electronic device 500 according to the embodiment may include: a memory 501 and a processor 502.

The memory 501 has stored thereon a computer program that can be loaded by the processor 502 and executed to perform the method in the above-described embodiments.

The processor 502 is coupled to the memory 501, such as via a bus.

Optionally, the electronic device 500 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 500 does not constitute a limitation to the embodiment of the present application.

The Processor 502 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 502 may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others.

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 is not intended to represent only one bus or type of bus.

The Memory 501 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 disk Read Only Memory) or other optical disk storage, optical disk storage (including Compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk 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 501 is used for storing application program codes for executing the scheme of the application, and the processor 502 is used for controlling the execution. The processor 502 is configured to execute application program code stored in the memory 501 to implement the content shown in the foregoing method embodiments.

Wherein, the electronic device includes but is 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., car 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. 5 is only an example, and should not bring any limitation to the functions and the use range 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 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 helmet comprises a helmet body, an induction device, a monitoring device, a control device and an alarm device;

2. The safety helmet of claim 1, wherein the sensing device comprises an area-array range radar fixedly disposed on the helmet body;

the area array ranging radar is provided with n-m ranging units, and the ranging units are used for detecting foreign matter distance data in corresponding detection directions according to preset detection frequency, wherein the detection directions corresponding to any one of the ranging units are different from each other;

the area array ranging radar is used for sending the foreign body distance data detected by all the ranging units to the control device as foreign body state data;

the control device determines the distance of the foreign matter vertically above the wearer according to the inclined state data and the foreign matter distance data detected by all the distance measuring units, carries out risk judgment based on the distance of the foreign matter vertically above the wearer, and determines whether to send an alarm signal to the alarm device according to the judgment result.

3. A safety helmet according to claim 1 or 2, wherein the monitoring device comprises an electronic level;

taking the gravity center of the electronic level meter as an origin, establishing an x/y axis plane on a horizontal plane where the origin is located, enabling an x axis and a y axis to pass through the origin, and establishing a z axis on the basis of being vertical to the horizontal plane and passing through the origin, wherein the x axis, the y axis and the z axis are vertical in pairs, and the x axis, the y axis and the z axis form a space rectangular coordinate system;

4. A safety helmet according to claim 3, wherein the control device, when processing the tilt angle, is specifically configured to:

when determining the state data of the foreign object vertically above the wearer according to the processing result and the foreign object state data, the control device is specifically configured to:

if yes, determining the state data of the foreign matter parallel to the z-axis direction as the state data of the foreign matter vertically above the wearer;

5. The helmet according to claim 2, characterized in that the control device is particularly adapted when performing a risk judgment based on the distance of the foreign object vertically above and determining whether to send an alarm signal to the alarm device according to the judgment result;

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

6. The headgear of claim 3, wherein the control 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 matter detection method applied to the helmet according to any one of claims 1 to 6, the method comprising:

the control device determines state data of foreign matters vertically above the wearer according to the inclination state data and the foreign matter state data;

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

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

receiving foreign matter state data sent by the sensing device, wherein the foreign matter state data are obtained by detecting foreign matters in a detection range of the sensing device by the sensing device;

receiving the inclination state data sent by the monitoring device; the inclination state data is obtained by monitoring the sensing device by the monitoring device;

processing the tilt status data and the foreign object status data and determining foreign object data vertically above the wearer based on the results;

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.