CN111939493A - Anti-falling tracking method, anti-falling device and storage medium - Google Patents
Anti-falling tracking method, anti-falling device and storage medium Download PDFInfo
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- CN111939493A CN111939493A CN202010572948.XA CN202010572948A CN111939493A CN 111939493 A CN111939493 A CN 111939493A CN 202010572948 A CN202010572948 A CN 202010572948A CN 111939493 A CN111939493 A CN 111939493A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B35/00—Safety belts or body harnesses; Similar equipment for limiting displacement of the human body, especially in case of sudden changes of motion
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
- A62B35/00—Safety belts or body harnesses; Similar equipment for limiting displacement of the human body, especially in case of sudden changes of motion
- A62B35/0006—Harnesses; Accessories therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The invention discloses an anti-falling tracking method, an anti-falling device and a storage medium, wherein the anti-falling tracking method comprises the following steps: detecting the working state of a travel switch of the anti-falling device; when the travel switch is detected to be in an on state, a built-in motor in the anti-falling device is controlled to rotate so as to drive the anti-falling device to move forwards; detecting the rotation angle of a traction rope of the anti-falling device; and controlling the rotation direction of the built-in motor according to the detected rotation angle of the traction rope so as to drive the anti-falling device to move forwards or backwards. According to the anti-falling device, the rotation angle of the traction rope of the anti-falling device is detected, and the anti-falling device is driven to move forwards or backwards by using the detected rotation angle, so that an included angle of an operator for the anti-falling device is eliminated, and secondary damage after falling is avoided.
Description
Technical Field
The invention relates to the field of application of anti-falling devices, in particular to an anti-falling tracking method, an anti-falling device and a storage medium.
Background
In some high-rise work links of a factory, for example: in the factory loading link, some anti-falling devices are required to prevent operators from falling, so that the safety of field operators is ensured.
In the existing anti-falling device, an operator moves the anti-falling device to walk; in the process of moving the anti-falling device by an operator, the operator and the anti-falling device form an included angle of 45 degrees; if the operator falls, secondary damage is likely to be caused; moreover, the falling prevention device is easily damaged by moving the falling prevention device in a manual pushing mode.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an anti-falling tracking method, an anti-falling device and a storage medium.
The technical scheme adopted by the invention for solving the technical problem is as follows:
in a first aspect, the present invention provides a fall arrest tracking method, wherein the fall arrest tracking method comprises the following steps:
detecting the working state of a travel switch of the anti-falling device;
when the travel switch is detected to be in an on state, a built-in motor in the anti-falling device is controlled to rotate so as to drive the anti-falling device to move forwards;
detecting the rotation angle of a traction rope of the anti-falling device;
and controlling the rotation direction of the built-in motor according to the detected rotation angle of the traction rope so as to drive the anti-falling device to move forwards or backwards.
Further, the detecting the working state of the travel switch of the anti-falling device comprises the following steps:
a proximity switch sensor is provided.
Further, the detection of the working state of the travel switch of the anti-falling device specifically comprises the following steps:
detecting the working state of the travel switch;
and when the travel switch is detected to be pulled up, determining that the travel switch is in an opening state.
Further, when the travel switch is detected to be in an on state, a built-in motor in the anti-falling device is controlled to rotate so as to drive the anti-falling device to move forwards, and the method specifically comprises the following steps:
when the travel switch is detected to be in an on state, controlling the built-in motor to rotate at a preset rotating speed;
the pulley of the anti-falling device is driven to rotate by the built-in motor so as to drive the anti-falling device to move forward along the preset slide rail.
Further, the detection of the rotation angle of the traction rope of the anti-falling device specifically comprises the following steps:
detecting the rotation angle of the traction rope through the proximity switch sensor;
and determining the position of the operator according to the rotation angle.
Further, the determining the position of the operator according to the rotation angle specifically includes the following steps:
judging whether the rotation angle is larger than a preset angle or not;
when the rotation angle is larger than the preset angle, judging that the operator is positioned below and in front of the anti-falling track;
and when the rotating angle is smaller than the preset angle, judging that the operator is positioned below and behind the anti-falling tracking.
Further, according to the detected rotation angle of the traction rope, the rotation direction of the built-in motor is controlled to drive the anti-falling device to move forwards or backwards, and the method specifically comprises the following steps:
when the operator is positioned at the lower front part of the anti-falling track, the built-in motor is controlled to rotate in the positive direction so as to drive the anti-falling device to move forwards;
when the operator is positioned at the lower rear part of the anti-falling tracking, the built-in motor is controlled to rotate reversely so as to drive the anti-falling device to retreat.
Further, the detection of the rotation angle of the traction rope of the anti-falling device also comprises the following steps:
and when the rotation angle is equal to the preset angle, controlling the built-in motor to stop rotating so as to enable the anti-falling device to be perpendicular to the operator.
In a second aspect, the present invention also provides a fall arrest device, wherein the fall arrest device comprises: the anti-falling device comprises an anti-falling device body, a built-in motor arranged in the anti-falling device body, a traction rope arranged at the bottom of the anti-falling device body, a travel switch arranged at one end of the traction rope and a proximity switch sensor arranged at one side of the traction rope;
the built-in motor is fixedly connected with the anti-falling device body; the traction rope is rotatably connected with the anti-falling device body; the travel switch is fixedly connected with the traction rope; the proximity switch sensor is fixedly connected with the anti-falling device body;
the anti-falling device further comprises: a processor and a memory coupled to the processor, the memory storing a fall arrest tracking program, the fall arrest tracking program when executed by the processor being for implementing the operations of the fall arrest tracking method according to the first aspect.
In a third aspect, the present invention also provides a storage medium, wherein the storage medium stores a fall arrest tracking program, which when executed by a processor, is configured to implement the operations of the fall arrest tracking method according to the first aspect.
The invention adopts the technical scheme and has the following effects:
according to the anti-falling device, the rotation angle of the traction rope of the anti-falling device is detected, and the anti-falling device is driven to move forwards or backwards by using the detected rotation angle, so that an included angle of an operator for the anti-falling device is eliminated, and secondary damage after falling is avoided.
Drawings
FIG. 1 is a flow chart of a fall arrest tracking method in an embodiment of the present invention.
FIG. 2 is a schematic structural view of the fall arrest device in an embodiment of the present invention.
In the figure: 100. the anti-falling device body; 200. a built-in motor; 300. a hauling rope; 400. a travel switch; 500. a proximity switch sensor; 600. a guide rail.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
In the existing anti-falling device, an operator moves the anti-falling device to walk; in the process of moving the anti-falling device by an operator, the operator and the anti-falling device form an included angle of 45 degrees; if the operator falls, secondary damage is likely to be caused; moreover, the falling prevention device is easily damaged by moving the falling prevention device in a manual pushing mode.
In order to eliminate an included angle brought to the anti-falling device by an operator and avoid causing secondary injury after falling, the embodiment provides the anti-falling tracking method.
As shown in fig. 1, in an implementation manner of the present embodiment, the fall arrest tracking method includes the following steps:
and S100, detecting the working state of a travel switch of the anti-falling device.
In this embodiment, the anti-falling tracking method is applied to an anti-falling device, wherein the anti-falling device is provided with a built-in motor and a proximity switch sensor, and the rotation direction of the built-in motor is controlled by detecting the angle of the proximity switch sensor, so that the anti-falling device is driven to move forward or backward, the anti-falling device is always positioned right above an operator, and the problem of the angle brought by the operator is solved.
Before the anti-falling device is driven to move forwards or backwards, the proximity switch sensor is required to be arranged in the anti-falling device; the proximity switch sensor is a sensor for detecting without touching a detection object, and can detect movement information and presence information of the object, convert the movement information and presence information into an electrical signal, and transmit the converted electrical signal to a processor for processing.
Specifically, the proximity switch sensor is arranged on one side of a traction rope of the anti-falling device and used for detecting the angle of the traction rope; when the traction rope rotates to a position close to the proximity switch sensor, the proximity switch sensor senses the position information of the traction rope and determines the rotation angle of the traction rope.
Namely, the step S100 is preceded by:
and step S001, setting a proximity switch sensor.
In this embodiment, after the proximity switch sensor is disposed, a travel switch may be disposed at one end of the pulling rope; the travel switch is arranged inside the anti-falling device and is connected with the traction rope; when the operator uses the haulage rope, whether the operator pulls the haulage rope can be determined by detecting the working state of the travel switch.
Specifically, when the operator does not pull up the traction rope, the travel switch is in a closed state; and when the operator pulls up the traction rope, the travel switch is pulled up along with the traction rope, and at the moment, the anti-falling device detects that the travel switch is pulled up, and judges that the travel switch is in an opening state.
Namely, the step S100 specifically includes the following steps:
step S110, detecting the working state of the travel switch;
and step S120, when the travel switch is detected to be pulled up, determining that the travel switch is in an opening state.
According to the embodiment, whether the traction rope of the anti-falling device is pulled up or not is determined by detecting the working state of the travel switch, so that the built-in motor in the anti-falling device is controlled to rotate according to the working state of the travel switch, and the anti-falling device is driven to move forwards.
As shown in fig. 1, in an implementation manner of this embodiment, the fall arrest tracking method further includes the following steps:
and S200, when the travel switch is detected to be in an opening state, controlling a built-in motor in the anti-falling device to rotate so as to drive the anti-falling device to move forwards.
In this embodiment, when the travel switch is detected to be in the on state, it indicates that the operator is pulling the traction rope; in order to enable the anti-falling device to be always positioned right above an operator, an internal motor in the anti-falling device is controlled to rotate so as to drive the anti-falling device to move forwards.
Specifically, when the travel switch is detected to be in an on state, the built-in motor is controlled to rotate at a preset rotating speed; wherein, predetermine the rotational speed and be the motor speed of presetting, can divide into a plurality of speed gears, for example: the first gear rotating speed is 200r/min, the second gear rotating speed is 300r/min, the third gear rotating speed is 400r/min and the like; when the operator performs work, the rotation speed of the built-in motor can be adjusted according to the actual moving speed, for example: and regulating the rotating speed of the built-in motor by using a regulator.
When the built-in motor rotates, the built-in motor can drive the pulley of the anti-falling device to rotate so as to drive the anti-falling device to move forward along a preset slide rail; the anti-falling device slides on a set slide rail in a pulley mode, and the slide rail can be arranged according to the movement track of actual operation.
That is, the step S200 specifically includes the following steps:
step S210, when the travel switch is detected to be in an on state, controlling the built-in motor to rotate at a preset rotating speed;
and S220, driving a pulley of the anti-falling device to rotate through the built-in motor so as to drive the anti-falling device to move forward along a preset slide rail.
According to the embodiment, when the traction rope is pulled by an operator, the built-in motor is controlled to rotate, so that the anti-falling device is controlled to move forwards through the built-in motor, and the anti-falling device can move along with the movement of the operator.
As shown in fig. 1, in an implementation manner of this embodiment, the fall arrest tracking method further includes the following steps:
and step S300, detecting the rotation angle of a traction rope of the anti-falling device.
In this embodiment, in the process of moving the operator and the anti-falling device, the relative position relationship between the operator and the anti-falling device can be determined by detecting the rotation angle of the traction rope of the anti-falling device.
Specifically, during the movement of the fall arrest device, the rotation angle of the traction rope is detected by the proximity switch sensor, that is, the traction rope is detected by the proximity switch sensor, and it is determined whether the traction rope can be detected by the proximity switch sensor.
When the pull rope can be detected by the proximity switch sensor, the position of the pull rope can be determined, and the rotation angle of the pull rope can be determined by calculating the included angle between the pull rope and the proximity switch sensor because the position of the proximity switch sensor is fixed and unchangeable.
After the rotation angle of the traction rope is determined, the position of an operator can be determined through the rotation angle of the traction rope; in this example, since the operator pulls the pull line under the fall arrest device, the operator may be in a position below and forward of, below and directly below the fall arrest device during relative movement of the operator and the fall arrest device.
Namely, the step S300 specifically includes the following steps:
step S310, detecting the rotation angle of the traction rope through the proximity switch sensor;
and step S320, determining the position of the operator according to the rotation angle.
Specifically, when the position of an operator is determined, whether the rotation angle of the traction rope is larger than a preset angle or not can be judged; wherein the preset angle can be set according to the position of the proximity switch sensor, for example: the proximity switch sensor is disposed at a 45-degree position behind the pulling rope (in a vertically disposed state), and at this time, the preset angle may be set to 45 degrees.
When the rotation angle is larger than the preset angle, judging that the operator is positioned below and in front of the anti-falling track; for example, when the angle of rotation of the pull-cord is greater than 45 °, this indicates that the operator is towing the fall arrest device, i.e., pulling on the pull-cord, at which point it can be determined that the operator is below and forward of the fall arrest tracking.
When the rotation angle is smaller than the preset angle, judging that the operator is positioned below and behind the anti-falling track; for example, when the rotation angle of the pull rope is less than 45 °, it indicates that the operator is not the fall arrest device and may be pulled by the fall arrest device, and it can be determined that the operator is located behind and below the fall arrest tracking.
When the rotation angle is equal to the preset angle, judging that the operator is positioned right below the anti-falling track; for example, when the pull-cord angle of rotation is equal to 45 °, this indicates that the operator is directly below the fall arrest tracking.
That is, the step S320 specifically includes the following steps:
step S321, judging whether the rotation angle is larger than a preset angle;
step S322, when the rotation angle is larger than the preset angle, judging that the operator is positioned at the lower front part of the anti-falling tracking;
and step S323, when the rotation angle is smaller than the preset angle, judging that the operator is positioned below and behind the anti-falling track.
The embodiment detects the rotation angle of the traction rope through the proximity switch sensor, and determines the position of an operator according to the rotation angle of the traction rope, so that the anti-falling device can track the position of the operator according to the rotation angle of the traction rope.
In an implementation manner of this embodiment, the fall protection tracking method further includes the following steps:
and S400, controlling the rotation direction of the built-in motor according to the detected rotation angle of the traction rope so as to drive the anti-falling device to move forwards or backwards.
In this embodiment, after the position of the operator is determined, the rotation direction of the built-in motor may be controlled according to the detected rotation angle of the traction rope to drive the anti-falling device to move forward or backward, so as to track the position of the operator in real time and move according to the position of the operator.
When the operator is positioned at the lower front part of the anti-falling track, the built-in motor is controlled to rotate in the forward direction to drive the anti-falling device to move forwards; the positive rotation direction of the built-in motor is the rotation direction for driving the anti-falling device to move forwards; the anti-falling device is driven to advance in time through the built-in motor, so that the anti-falling device can be rapidly moved to a position right above an operator (namely to a position vertical to the operator), and the angle problem caused by the operator is eliminated.
Similarly, when the operator is positioned at the lower rear part of the anti-falling track, the built-in motor is controlled to rotate reversely so as to drive the anti-falling device to retreat; the reverse rotation direction of the built-in motor is the rotation direction for driving the anti-falling device to retreat; the anti-falling device is driven to retreat in time through the built-in motor, so that the anti-falling device can be rapidly moved to the position right above an operator.
In another implementation manner of this embodiment, when the rotation angle is equal to the preset angle, the internal motor is controlled to stop rotating (i.e., the internal motor is powered off) so that the anti-falling device is perpendicular to the operator; it can be understood that when the rotation angle is equal to the preset angle, the anti-falling device is positioned right above an operator, and the anti-falling device does not need to be controlled to move forwards or backwards to keep the status quo.
That is, the step S400 specifically includes the following steps:
step S410, when the operator is positioned at the lower front part of the anti-falling tracking, the built-in motor is controlled to rotate in the positive direction so as to drive the anti-falling device to move forwards;
step S420, when the operator is positioned at the lower rear part of the anti-falling track, controlling the built-in motor to rotate reversely so as to drive the anti-falling device to retreat;
and step S430, when the rotation angle is equal to the preset angle, controlling the built-in motor to stop rotating so as to enable the anti-falling device to be perpendicular to the operator.
In the embodiment, the problem of the angle caused by the traction of an operator on the anti-falling device is solved through a proximity switch sensor, when the proximity switch sensor detects that the position of a traction rope exceeds a detection range, the anti-falling device is controlled to automatically move forwards, and after the position reaches an angle vertical to the operator, a built-in motor in the anti-falling device is powered off, so that the energy of the built-in motor is released, and the anti-falling device stops moving forwards; otherwise, the anti-falling device is controlled to move backwards.
In the embodiment, the included angle of the traction rope is detected through the proximity switch sensor, the anti-falling device is automatically driven to move forwards or backwards, and an operator walks to drive the traction rope to incline, so that the travel switch is triggered; when the stroke switch is triggered, the built-in motor is driven to work.
When an operator stops moving, the anti-falling device is positioned right above the operator, the traction rope and the operator are kept in a vertical state at the moment without transverse traction force, the built-in motor stops working, the anti-falling device is always kept vertical to the operator, secondary damage is avoided, and meanwhile, the operation efficiency is not influenced due to the fact that the steel wire ropes are crossed in a double-person operation mode.
Example two
As shown in fig. 2, the present embodiment provides a fall arrest device, wherein the fall arrest device comprises: the anti-falling device comprises an anti-falling device body 100, a built-in motor 200 arranged in the anti-falling device body 100, a traction rope 300 arranged at the bottom of the anti-falling device body 100, a travel switch 400 arranged at one end of the traction rope 300 and a proximity switch sensor 500 arranged at one side of the traction rope 300;
the built-in motor 200 is fixedly connected with the anti-falling device body 100; the traction rope 300 is rotatably connected with the anti-falling device body 100; the travel switch 400 is fixedly connected with the traction rope 300; the proximity switch sensor 500 is fixedly connected with the fall protection device body 100.
Specifically, the anti-falling device still includes: a processor (not shown) and a memory (not shown) coupled to the processor, the memory storing a fall arrest tracking program, the fall arrest tracking program when executed by the processor for implementing the operations of the fall arrest tracking method according to one embodiment.
The working principle of the anti-falling device of the embodiment is as follows:
in the embodiment, the angle problem caused by the traction of the anti-falling device by an operator is solved through a proximity switch sensor 500, when the proximity switch sensor 500 detects that the position of the traction rope 300 exceeds the detection range, the anti-falling device is controlled to automatically move forwards along the guide rail 600, and after the angle perpendicular to the operator is reached, the built-in motor 200 in the anti-falling device is powered off, so that the energy of the built-in motor 200 is released, and the anti-falling device stops moving forwards; otherwise, the anti-falling device is controlled to move backwards.
In the embodiment, the proximity switch sensor 500 detects the included angle of the pulling rope 300, the anti-falling device is automatically driven to move forwards or backwards, and an operator walks to drive the pulling rope 300 to incline, so that the travel switch 400 is triggered; when the stroke switch 400 is activated, the built-in motor 200 is driven to operate.
When the operator stops moving, the anti-falling device is positioned right above the operator, the traction rope 300 and the operator are kept in a vertical state at the moment, the anti-falling device is not subjected to transverse traction force, the built-in motor 200 stops working, the anti-falling device is always kept vertical to the operator, secondary damage is avoided, and meanwhile, the steel wire rope cannot be crossed to influence the operation efficiency in a double operation mode.
EXAMPLE III
The present embodiment provides a storage medium, wherein the storage medium stores an anti-fall tracking program, and the anti-fall tracking program is used for implementing the operation of the anti-fall tracking method according to the first embodiment when being executed by a processor; as described above.
In conclusion, the anti-falling device is driven to move forwards or backwards by detecting the rotation angle of the traction rope of the anti-falling device and utilizing the detected rotation angle, so that an included angle of an operator for the anti-falling device is eliminated, and secondary injury caused by falling is avoided.
Of course, it will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program instructing relevant hardware (such as a processor, a controller, etc.), and the program may be stored in a computer readable storage medium, and when executed, the program may include the processes of the above method embodiments. The storage medium may be a memory, a magnetic disk, an optical disk, etc.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (10)
1. An anti-fall tracking method, characterized by comprising the following steps:
detecting the working state of a travel switch of the anti-falling device;
when the travel switch is detected to be in an on state, a built-in motor in the anti-falling device is controlled to rotate so as to drive the anti-falling device to move forwards;
detecting the rotation angle of a traction rope of the anti-falling device;
and controlling the rotation direction of the built-in motor according to the detected rotation angle of the traction rope so as to drive the anti-falling device to move forwards or backwards.
2. The fall arrest tracking method according to claim 1, wherein the detecting of the operating state of the travel switch of the fall arrest device previously comprises:
a proximity switch sensor is provided.
3. The fall arrest tracking method according to claim 1, wherein the detection of the operating state of the travel switch of the fall arrest device comprises the following steps:
detecting the working state of the travel switch;
and when the travel switch is detected to be pulled up, determining that the travel switch is in an opening state.
4. The fall arrest tracking method according to claim 3, wherein when the on state of the travel switch is detected, the built-in motor in the fall arrest device is controlled to rotate to drive the fall arrest device to advance, comprising the following steps:
when the travel switch is detected to be in an on state, controlling the built-in motor to rotate at a preset rotating speed;
the pulley of the anti-falling device is driven to rotate by the built-in motor so as to drive the anti-falling device to move forward along the preset slide rail.
5. The fall arrest tracking method according to claim 2, wherein the detection of the angle of rotation of the traction rope of the fall arrest device comprises the steps of:
detecting the rotation angle of the traction rope through the proximity switch sensor;
and determining the position of the operator according to the rotation angle.
6. The fall arrest tracking method according to claim 5, wherein said determining the position of the operator from said angle of rotation comprises the following steps:
judging whether the rotation angle is larger than a preset angle or not;
when the rotation angle is larger than the preset angle, judging that the operator is positioned below and in front of the anti-falling track;
and when the rotating angle is smaller than the preset angle, judging that the operator is positioned below and behind the anti-falling tracking.
7. The fall arrest tracking method according to claim 6, wherein the controlling of the rotation direction of the built-in motor to drive the fall arrest device forward or backward according to the detected rotation angle of the traction rope comprises the steps of:
when the operator is positioned at the lower front part of the anti-falling track, the built-in motor is controlled to rotate in the positive direction so as to drive the anti-falling device to move forwards;
when the operator is positioned at the lower rear part of the anti-falling tracking, the built-in motor is controlled to rotate reversely so as to drive the anti-falling device to retreat.
8. The fall arrest tracking method according to claim 5, wherein said detecting a rotation angle of a pull line of the fall arrest device, thereafter further comprises:
and when the rotation angle is equal to the preset angle, controlling the built-in motor to stop rotating so as to enable the anti-falling device to be perpendicular to the operator.
9. A fall arrest device, characterized in that it comprises: the anti-falling device comprises an anti-falling device body, a built-in motor arranged in the anti-falling device body, a traction rope arranged at the bottom of the anti-falling device body, a travel switch arranged at one end of the traction rope and a proximity switch sensor arranged at one side of the traction rope;
the built-in motor is fixedly connected with the anti-falling device body; the traction rope is rotatably connected with the anti-falling device body; the travel switch is fixedly connected with the traction rope; the proximity switch sensor is fixedly connected with the anti-falling device body;
the anti-falling device further comprises: a processor and a memory coupled to the processor, the memory storing a fall arrest tracking program which when executed by the processor is operative to implement the operations of the fall arrest tracking method of any one of claims 1 to 8.
10. A storage medium storing a fall arrest tracking program which when executed by a processor is operative to carry out the operations of the fall arrest tracking method according to any one of claims 1 to 8.
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