Communication method, device and computer readable medium for remote control of crane

Abstract

The present invention provides a communication method, device and computer-readable medium for remote control of a crane. The crane includes a crane body and a remote control terminal. The communication method applied to the crane body includes: obtaining at least one business data generated by the business of the crane body; determining the priority of at least one business data; wherein the priority is used to characterize the sequence of transmitting business data generated by different businesses; according to the determined priority, copying the business data of the current business to be transmitted to obtain at least two current business data corresponding to the current business; transmitting at least two current business data to the remote control terminal of the crane through different transmission paths; wherein each current business data is transmitted by one transmission path. This solution can improve the safety of crane operators and enhance the reliability of communication between the crane body and the remote control terminal.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical control, and in particular to a communication method, a device and a computer-readable medium for remote control of a crane. Background Art

[0002] With the continuous development of industrial technology, cranes are widely used in various industrial fields, especially in the port industry.

[0003] However, the cranes commonly used in the port industry are large-scale mechanical equipment, and the port has heavy workloads and complex environments, so the safety of on-site operators cannot be guaranteed. Summary of the invention

[0004] The present invention provides a communication method, a device and a computer-readable medium for remote control of a crane, which can improve the safety of crane operators.

[0005] In a first aspect, an embodiment of the present invention provides a communication method for remote control of a crane, the crane comprising: a crane body and a remote control terminal; the communication method is applied to the crane body, comprising:

[0006] Acquire at least one piece of business data generated by the business of the crane body;

[0007] Determine the priority of the at least one service data; wherein the priority is used to characterize the sequence of transmission of the service data generated by the different services;

[0008] According to the determined priority, the service data of the current service to be transmitted is copied to obtain at least two current service data corresponding to the current service;

[0009] The at least two current business data are transmitted to the remote control terminal of the crane through different transmission paths; wherein each current business data is transmitted through one transmission path.

[0010] In a possible implementation, the step of acquiring at least one business data generated by the business of the crane body includes:

[0011] Acquire business data collected by at least one business device among a PLC controller, an image acquisition device, a positioning device, a voice device, a data information acquisition device, and an access control device;

[0012] and / or,

[0013] The step of determining the priority of the at least one service data comprises:

[0014] According to the IEEE802.1Q protocol, the priority of the at least one service data is determined.

[0015] In a possible implementation manner, after determining the priority of the at least one service data and before copying the service data of the current service to be transmitted, further comprising:

[0016] A firewall with a second-layer bridge model is used to provide security protection for the transmission of the business data.

[0017] In a possible implementation, the step of using a firewall with a second layer bridge model to perform security protection on the transmission of the business data includes:

[0018] Process the data packets with IP headers through the MAC firewall;

[0019] When the pre-set international Internet protocol is allowed to match, the IP firewall is used to verify the data packets processed by the MAC firewall, and the data packets that pass the verification are forwarded;

[0020] or,

[0021] The data packets of service data without IP header are forwarded or discarded after being processed by MAC rules.

[0022] Second aspect: An embodiment of the present invention provides a communication method for remote control of a crane, the crane comprising: a crane body and a remote control terminal; the communication method is applied to the remote control terminal, comprising:

[0023] monitoring at least two pre-set transmission paths;

[0024] Receiving at least two current service data corresponding to the current service transmitted in the at least two transmission paths;

[0025] sending the current business data transmitted first among the at least two current business data to the control center of the remote control terminal to process the current business data; and

[0026] The other current service data among the at least two current service data except the current service data transmitted first is deleted.

[0027] In a possible implementation, each of the transmission paths corresponds to a switch for data transmission;

[0028] The step of sending the current business data transmitted first among the at least two current business data to the control center of the remote control terminal comprises:

[0029] By using the multi-media redundancy protocol, the current business data transmitted first is transmitted to the control center through the switch corresponding to the transmission path for transmitting the current business data.

[0030] In a third aspect, an embodiment of the present invention provides a communication device for remote control of a crane, the crane comprising: a crane body and a remote control terminal; the communication device is applied to the crane body, comprising: a business data acquisition module, a priority determination module, a business data replication module and a business data transmission module;

[0031] The business data acquisition module is used to acquire at least one business data generated by the business of the crane body;

[0032] The priority determination module is used to determine the priority of the at least one service data acquired by the service data acquisition module; wherein the priority is used to characterize the sequence of transmission of the service data generated by the different services;

[0033] The service data duplication module is used to duplicate the service data of the current service to be transmitted according to the priority determined by the priority determination module, so as to obtain at least two current service data corresponding to the current service;

[0034] The business data transmission module is used to transmit the at least two current business data obtained by the business data replication module to the remote control terminal of the crane through different transmission paths; wherein each current business data is transmitted by one transmission path.

[0035] In a possible implementation, when acquiring at least one business data generated by the business of the crane body, the business data acquisition module is configured to perform the following operations:

[0036] Acquire business data collected by at least one business device among a PLC controller, an image acquisition device, a positioning device, a voice device, a data information acquisition device, and an access control device;

[0037] and / or,

[0038] The priority determination module is configured to perform the following operations when determining the priority of the at least one service data:

[0039] According to the IEEE802.1Q protocol, the priority of the at least one service data is determined.

[0040] In a possible implementation, the method further includes: a security protection module; the security protection module is configured to perform the following operations after determining the priority of the at least one service data and before copying the service data of the current service to be transmitted:

[0041] A firewall with a second-layer bridge model is used to provide security protection for the transmission of the business data.

[0042] In a possible implementation, when the security protection module uses a firewall with a layer 2 bridge model to perform security protection on the transmission of the service data, the security protection module is configured to perform the following operations:

[0043] Process the data packets with IP headers through the MAC firewall;

[0044] When the pre-set international Internet protocol is allowed to match, the IP firewall is used to verify the data packets processed by the MAC firewall, and the data packets that pass the verification are forwarded;

[0045] or,

[0046] The data packets of service data without IP header are forwarded or discarded after being processed by MAC rules.

[0047] In a fourth aspect, an embodiment of the present invention provides a communication device for remote control of a crane, the crane comprising: a crane body and a remote control terminal; the communication device is applied to the remote control terminal, comprising: a transmission monitoring module, a business data receiving module, a business data sending module and a business data deleting module;

[0048] The transmission monitoring module is used to monitor at least two preset transmission paths;

[0049] The service data receiving module is used to receive at least two current service data corresponding to the current service transmitted in the at least two transmission paths monitored by the transmission monitoring module;

[0050] The service data sending module is used to send the current service data transmitted first among the at least two current service data received by the service data receiving module to the control center of the remote control terminal to process the current service data; and

[0051] The service data deleting module is used to delete other current service data among the at least two current service data received by the service data receiving module except the current service data transmitted first.

[0052] In a possible implementation, each of the transmission paths corresponds to a switch for data transmission;

[0053] When the service data sending module sends the first transmitted current service data among the at least two current service data to the control center of the remote control terminal, the service data sending module is configured to perform the following operations:

[0054] By using the multi-media redundancy protocol, the current business data transmitted first is transmitted to the control center through the switch corresponding to the transmission path for transmitting the current business data.

[0055] In a fifth aspect, an embodiment of the present invention further provides a computing device, comprising: at least one memory and at least one processor;

[0056] The at least one memory is used to store a machine-readable program;

[0057] The at least one processor is used to call the machine-readable program to execute the method described in any one of the first aspect and the second aspect.

[0058] In a sixth aspect, an embodiment of the present invention further provides a computer-readable medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor executes any one of the methods described in the first aspect and the second aspect.

[0059] In a seventh aspect, an embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements any one of the methods described in the first aspect and the second aspect.

[0060] It can be seen from the above technical scheme that when controlling the crane, it is possible to consider controlling the crane body through a remote control terminal, so that the operator does not need to operate and control the crane at the site where the crane body is located, thereby ensuring the safety of the operator. Furthermore, when controlling the crane body through a remote control terminal, the business data generated by the business of the crane body can be obtained first, and then the priority can be configured according to the order in which these business data need to be transmitted. In this way, when transmitting the business data that currently needs to be transmitted, it is possible to first consider copying the business data, and then transmit at least two copied business data to the remote control terminal of the crane through different transmission paths, thereby realizing communication between the crane body and the remote control terminal, so as to further realize the control of the crane body. It can be seen that this scheme provides redundancy for data communication between the crane body and the remote control terminal by copying the business data and transmitting it through different transmission paths, thereby improving the reliability of data communication between the two. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0062] Figure 1 is a flow chart of a communication method for remote control of a crane applied to a crane body provided by one embodiment of the present invention;

[0063] Figure 2 is a flow chart of a communication method for remote control of a crane applied to a remote control terminal provided by an embodiment of the present invention;

[0064] Figure 3 is a schematic diagram of a communication device for remote control of a crane provided by an embodiment of the present invention;

[0065] Figure 4 is a schematic diagram of another communication device for remote control of a crane provided by an embodiment of the present invention;

[0066] Figure 5 is a schematic diagram of another communication device for remote control of a crane provided by an embodiment of the present invention;

[0067] Figure 6 is a schematic diagram of a communication system for remote control of a crane provided by an embodiment of the present invention;

[0068] Figure 7 It is a schematic diagram of a computing device provided by an embodiment of the present invention.

[0069] Reference numerals list

[0070] 101: Obtain at least one business data generated by the business of the crane body

[0071] 102: Determine the priority of at least one business data

[0072] 103: According to the determined priority, the service data of the current service to be transmitted is copied to obtain at least two current service data corresponding to the current service.

[0073] 104: Transmit at least two current business data to the remote control terminal of the crane through different transmission paths

[0074] 201: Monitor at least two pre-set transmission paths

[0075] 202: Receive at least two current service data corresponding to the current service transmitted in at least two transmission paths

[0076] 203: Send the current business data that is transmitted first among the at least two current business data to the control center of the remote control terminal to process the current business data

[0077] 204: Delete the other current business data except the current business data transmitted first among at least two current business data.

[0078] 301: Business data acquisition module 302: Priority determination module 303: Business data replication module

[0079] 304: Business data transmission module 305: Security protection module 501: Transmission monitoring module

[0080] 502: Business data receiving module 503: Business data sending module 504: Business data deleting module

[0081] 30: Crane body 31: Remote control terminal

[0082] 601: Service equipment 602: First switch 603: Second switch

[0083] 604: Firewall 605: Third switch 606: Wireless client

[0084] 607: wireless hotspot 608: fourth switch 609: fifth switch

[0085] 610: Sixth switch 611: Control center 60: Crane body

[0086] 61: Remote control terminal 701: Memory 702: Processor

[0087] 700: Computing device 100 / 200: Communication method for remote control of crane

[0088] 300 / 500: Communication device for remote control of crane 600: Communication system for remote control of crane DETAILED DESCRIPTION

[0089] With the continuous development of industrial technology, more and more large-scale mechanical equipment are widely used in various industrial fields. For example, tire cranes are widely used in the port industry. However, the port industry has heavy workloads and complex environments, which makes the safety of on-site operators unguaranteed.

[0090] Based on this, a remote control terminal is built for the tire crane, and the operator controls the crane through the remote control terminal, thereby improving the safety of the on-site operators. However, building a remote control terminal for the tire crane requires reliable and low-latency communication between the remote control terminal and the crane. The communication between the traditional remote control terminal and the crane does not have redundancy. Therefore, when problems occur during the data transmission between the remote control terminal and the crane, the communication results will inevitably be unreliable or even unable to communicate.

[0091] In the present invention, while considering building a remote control terminal for the crane, multiple data transmission paths are set for the communication between the crane and the remote control terminal. The data sender will copy the data to be sent and send it to the data receiver through different transmission paths. This not only ensures the safety of on-site operators by building a remote control terminal, but also makes the communication between the crane and the remote control terminal redundant, and will not cause communication failure due to a failure in one of the transmission paths, thereby improving the reliability of communication between the crane and the remote control terminal.

[0092] The communication method, device and computer-readable medium for remote control of a crane provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0093] like Figure 1 As shown, an embodiment of the present invention provides a communication method 100 for remote control of a crane, wherein the crane may include a crane body and a remote control terminal, and the communication method may include the following steps:

[0094] Step 101: Acquire at least one business data generated by the business of the crane body;

[0095] Step 102: Determine the priority of at least one service data; wherein the priority is used to characterize the sequence of transmitting service data generated by different services;

[0096] Step 103: according to the determined priority, copy the service data of the current service to be transmitted to obtain at least two current service data corresponding to the current service;

[0097] Step 104: Transmit at least two current business data to the remote control terminal of the crane through different transmission paths; wherein each current business data is transmitted through one transmission path.

[0098] In the embodiment of the present invention, when controlling the crane, it is considered to control the crane body through the remote control terminal, so that the operator does not need to operate and control the crane at the site where the crane body is located, thereby ensuring the safety of the operator. Further, when controlling the crane body through the remote control terminal, the business data generated by the business of the crane body can be obtained first, and then the priority can be configured according to the order in which these business data need to be transmitted. In this way, when transmitting the business data that needs to be transmitted currently, it can be considered to copy the business data first, and then transmit at least two copied business data to the remote control terminal of the crane through different transmission paths, so as to realize the communication between the crane body and the remote control terminal, so as to further realize the control of the crane body. It can be seen that this scheme provides redundancy for the data communication between the crane body and the remote control terminal by copying the business data and transmitting it through different transmission paths, which can ensure that the communication will not fail due to the failure of one of the transmission paths, thereby improving the reliability of data communication between the two.

[0099] As the execution end of mechanical operation, the crane will generate a large amount of data, so it is considered to install corresponding data acquisition and generation equipment on the crane body according to the needs. For example, in a possible implementation, when implementing step 101, data collected by at least one business device among the PLC controller, image acquisition device, positioning device, data information acquisition device and access control device can be obtained, so that the collected data can be further communicated and interacted with the remote control terminal.

[0100] It is worth noting that among the various types of data collected, the importance of each data is different. For example, the data collected by the PLC controller is real-time data for real-time control of the equipment. The operator needs to perform corresponding operations based on the real-time data, so when the PLC controller generates data, timely feedback is required. For another example, the data collected by the image acquisition device is non-real-time data. Transmitting the collected data late or early may not have a significant impact on the control of the crane. In other words, the various types of data collected should have a priority when transmitting data. In this way, the priority is set according to the importance of various types of data. When the data is generated, the data can be transmitted according to the priority, so that the real-time data can be transmitted and responded to in a timely manner, so as to ensure the real-time and accuracy of the control of the crane.

[0101] The IEEE802.1Q protocol specifies the international standard implementation of VLAN and specifies a new Ethernet frame field. Compared with the standard Ethernet frame header, the VLAN message format adds a 4-byte 802.1Q tag after the source address. The 4-byte 802.1Q tag contains a two-byte tag protocol identifier and a two-byte tag control information. Thus, in a possible implementation, step 102 may consider determining the priority of the service data according to the IEEE802.1Q protocol. That is, according to actual needs, by configuring a tag for each type of service data, the priority setting of various service data is achieved. For example, in a possible implementation, the priority of each service data may be: PLC controller data> voice device data> positioning device data> access control device data> image acquisition device data> data information acquisition device data.

[0102] The remote control terminal located on the ground can usually connect to the public network, which makes it very dangerous to introduce data from the public network when upgrading and debugging the crane through the remote control terminal. Therefore, after determining the priority of business data and before copying the business data of the current business required, consider using a firewall with a second-layer bridge model to protect the transmission of business data to ensure the security of data transmission between the crane and the remote control terminal.

[0103] In the embodiment of the present invention, for the industrial Ethernet security firewall, the communication using the 2-layer model is considered, which cannot support routing, and the inbound and outbound of the firewall should have the same IP subnet. That is to say, the routing mode of the firewall cannot work in this network, while the 2-layer bridging mode can use the firewall with the same IP subnet. For example, in a possible implementation, it can be considered that the data packets of the business data with the IP header are processed by the MAC firewall, and then when the pre-set international Internet protocol is allowed to be matched, the IP firewall is used to verify the data packets processed by the MAC firewall, and the verified data packets are forwarded; or the data packets of the business data without the IP header are forwarded or discarded after being processed by the MAC rule. It can be seen that when using the 2-layer bridging firewall, in addition to the rules based on IP addresses and ports, specific MAC widecasts or multicasts will also be blocked, or at least their bandwidth will be limited. In this way, the data packets without IP headers are processed by the MAC rules and allowed or discarded, while the data packets with IP headers are first processed by the MAC firewall, and when there is a match allowed to the international Internet protocol such as IPv4, the IP firewall will check the data packets again. Therefore, MAC and IP "allow" rules are required to forward packets through the firewall, thereby ensuring the security of real-time and non-real-time data.

[0104] like Figure 2 As shown, an embodiment of the present invention provides a communication method 200 for remote control of a crane, wherein the crane includes a crane body and a remote control terminal. The communication method is applied to the remote control terminal and may include the following steps:

[0105] Step 201: monitoring at least two preset transmission paths;

[0106] Step 202: receiving at least two current service data corresponding to the current service transmitted in at least two transmission paths;

[0107] Step 203: sending the current business data transmitted first among the at least two current business data to the control center of the remote control terminal to process the current business data; and,

[0108] Step 204: Delete the other current service data among the at least two current service data except the current service data transmitted first.

[0109] In this embodiment, as a remote control terminal of the crane, it needs to monitor the preset transmission path, so that when the crane body is transmitting business data, it receives the business data sent from the crane through the set transmission path. At this time, since there are multiple preset transmission paths, the current business data first transmitted in each transmission path is sent to the control center of the remote control terminal, so that the control center can further process the business data, and the current business data transmitted later will be deleted. It can be seen that in this scheme, the crane transmits the current business data by copying it through different transmission paths, and the remote control terminal receives data from different transmission paths, and uses the first transmitted data as the data to be processed, and deletes and discards the data transmitted later. In this way, not only the communication redundancy between the crane and the remote control terminal is guaranteed, but even if one of the transmission paths fails, it will not cause the crane and the remote control terminal to lose contact. Moreover, by using the first transmitted current business data as the data to be processed, the communication efficiency and real-time performance between the crane and the remote control terminal can be improved.

[0110] It is easy to understand that when realizing the communication between the crane and the remote control terminal, each transmission path in the embodiment of the present invention should correspond to a switch for data transmission, so that when the current business data transmitted first among at least two current business data is sent to the control center of the remote control terminal in step 203, the multi-media redundancy protocol can be used to send the current business data transmitted first to the control center through the switch corresponding to the transmission path for transmitting the current business data. It can be seen that the present solution uses a multi-media redundancy protocol ring to connect the control center and the switch. Since the multi-media redundancy protocol is an open standard industrial communication network, it has high availability and meets the millisecond-level network fault self-healing. Usually, the longest self-healing time is only 200 milliseconds, so the reliability of network communication can be guaranteed.

[0111] like Figure 3 As shown, an embodiment of the present invention provides a communication device 300 for remote control of a crane, the crane comprising: a crane body 30 and a remote control terminal 31; the communication device is applied to the crane body 30, comprising: a business data acquisition module 301, a priority determination module 302, a business data replication module 303 and a business data transmission module 304;

[0112] A business data acquisition module 301 is used to acquire at least one business data generated by the business of the crane body 30;

[0113] The priority determination module 302 is used to determine the priority of at least one service data acquired by the service data acquisition module 301; wherein the priority is used to characterize the sequence of transmission of service data generated by different services;

[0114] The service data duplication module 303 is used to duplicate the service data of the current service to be transmitted according to the priority determined by the priority determination module 302, so as to obtain at least two current service data corresponding to the current service;

[0115] The business data transmission module 304 is used to transmit at least two current business data obtained by the business data replication module 303 to the remote control terminal 31 of the crane through different transmission paths; wherein each current business data is transmitted through one transmission path.

[0116] In a possible implementation, when the business data acquisition module 301 acquires at least one business data generated by the business of the crane body 30, it is configured to perform the following operations:

[0117] Acquire business data collected by at least one business device among a PLC controller, an image acquisition device, a positioning device, a voice device, a data information acquisition device, and an access control device;

[0118] In a possible implementation, the priority determination module 302 is configured to perform the following operations when determining the priority of at least one service data:

[0119] According to the IEEE802.1Q protocol, a priority level of at least one service data is determined.

[0120] In one possible implementation, Figure 4 As shown, the communication device may further include a security protection module 305; the security protection module 305 is configured to perform the following operations after determining the priority of at least one service data and before copying the service data of the current service to be transmitted:

[0121] Use a firewall with a second-layer bridge model to securely protect the transmission of business data.

[0122] In a possible implementation, the security protection module 305 is configured to perform the following operations when using a firewall with a layer 2 bridge model to perform security protection on the transmission of business data:

[0123] Process the data packets with IP headers through the MAC firewall;

[0124] When the pre-set international Internet protocol is allowed to match, the IP firewall is used to verify the data packets processed by the MAC firewall, and the data packets that pass the verification are forwarded;

[0125] or,

[0126] The data packets of service data without IP header are forwarded or discarded after being processed by MAC rules.

[0127] like Figure 5 As shown, the embodiment of the present invention also provides a communication device 500 for remote control of a crane applied to a remote control terminal, the crane comprising: a crane body 30 and a remote control terminal 31; the communication device comprising: a transmission monitoring module 501, a business data receiving module 502, a business data sending module 503 and a business data deleting module 504;

[0128] The transmission monitoring module 501 is used to monitor at least two preset transmission paths;

[0129] The service data receiving module 502 is used to receive at least two current service data corresponding to the current service transmitted in at least two transmission paths monitored by the transmission monitoring module 501;

[0130] The service data sending module 503 is used to send the first transmitted current service data among the at least two current service data received by the service data receiving module 502 to the control center of the remote control terminal 31 to process the current service data; and

[0131] The service data deleting module 504 is used to delete the other current service data among the at least two current service data received by the service data receiving module 502 except the current service data transmitted first.

[0132] In a possible implementation, each transmission path corresponds to a switch for data transmission;

[0133] When the service data sending module 503 sends the first transmitted current service data among the at least two current service data to the control center of the remote control terminal 31, it is configured to perform the following operations:

[0134] By using the multi-media redundancy protocol, the current business data transmitted first is transmitted to the control center through the switch corresponding to the transmission path for transmitting the current business data.

[0135] In one possible implementation, Figure 6 As shown, the embodiment of the present invention may also include a communication system 600 for remote control of a crane to implement the communication methods 100 and 200 for remote control of a crane mentioned in the above embodiments. The communication system for remote control of a crane may include a crane body 60 and a remote control terminal 61 located on the ground side. The crane body 60 should be installed with at least one business device 601, at least one first switch 602, a second switch 603, a firewall 604, a third switch 605 and at least two wireless clients 606; wherein each business device 601 corresponds to a first switch 602. The remote control terminal 61 located on the ground side should include at least two wireless hotspots 607, at least two fourth switches 608, at least two fifth switches 609, at least two sixth switches 610 and a control center 611; wherein each fourth switch 608 is connected to a wireless hotspot 607, each fifth switch 609 is connected to a fourth switch 608, and each sixth switch 610 is connected to a fifth switch 609.

[0136] The service equipment 601 may include a PLC controller, an image acquisition device, a positioning device, a voice device, a data information acquisition device, and an access control device, etc. The first switch 602 transmits the service data collected by each service equipment 601 respectively, and aggregates them in the second switch 603 .

[0137] The second switch 603 can be configured as a second-layer managed switch supporting the IEEE802.1Q protocol. In this way, the second switch 603 can prioritize various types of aggregated business data, for example, the business data generated by the PLC controller with higher real-time requirements will be prioritized as the highest. In other words, when the business data aggregated to the second switch 603 includes business data generated by the PLC controller, it needs to be transmitted and processed first, so as to ensure accurate control of the crane and improve the reliability and real-time performance of the crane control.

[0138] Furthermore, considering that the equipment of the crane needs to be upgraded and debugged through the remote control terminal 61, and the remote control terminal 61 located on the ground side is usually connected to the public network, the data introduced into the public network is very dangerous to the crane, so it is considered to add a firewall 604 after determining the priority of the completed business data to ensure the security of data transmission between the crane and the remote control terminal 61. It is worth noting that in this embodiment, the firewall 604 of the second layer bridge model with the same IP subnet characteristics for inbound and outbound is considered to be used, so that the business data is securely protected through the MAC and IP firewall 604 rules to ensure that the important assets and equipment on the crane will not be attacked by illegal users on the ground and illegal data.

[0139] The third switch 605 is considered to be configured as a switch supporting the parallel redundant protocol, and the third switch 605 is connected to each wireless client 606. In this way, when the third switch 605 is forwarded to the third switch 605 after security confirmation by the firewall 604, the third switch 605 will copy the business data to be transmitted. For example, when there are N wireless clients 606 connected to the third switch 605, the third switch 605 can copy the current business data to be transmitted into N copies, so that the N copies of the same current business data are transmitted respectively through the N wireless clients 606 connected thereto, that is, the current business data is transmitted to the remote control terminal 61 on the ground side through path 1, path 2, ..., path N. The corresponding remote control terminal 61 on the ground side should include N wireless hotspots 607 connected to these N wireless clients 606 to receive the current business data sent by the crane body 60 through each path.

[0140] In the embodiment of the present invention, each wireless hotspot 607 should be connected to a fourth switch 608, that is, each transmission path should include a fourth switch 608 for forwarding and transmitting the current business data. Each fourth switch 608 should be connected to a fifth switch 609. It is worth noting that the fifth switch 609 should be a switch that supports the parallel redundant protocol. In this way, the fifth switch 609 that first receives the current business data among the fifth switches 609 will further transmit the current business data to the control center 611, so that the current business data can be processed by the control center 611 such as the PLC control system, CCTV system and data service system, while the other fifth switches 609 that receive the current business data later will delete or discard the current business data. That is to say, by adopting a multi-path parallel redundant data transmission method, not only is it ensured that the connection between the crane body 60 and the remote control terminal 61 will not be lost due to a failure in a certain path, thereby improving the reliability of communication between the crane body 60 and the remote control terminal 61, but also by transmitting the current business data received first, the timeliness of the communication response between the crane body 60 and the remote control terminal 61 can be improved.

[0141] It is possible to further configure a sixth switch 610 after each fifth switch 609, and each sixth switch 610 is configured to form a ring network protocol architecture that supports the multi-media redundancy protocol. Since the multi-media redundancy protocol is an open standard industrial communication network, it has high availability and meets millisecond-level network fault self-healing requirements. Usually, the longest self-healing time is only 200 milliseconds. In this way, the sixth switch 610 that supports the multi-media redundancy protocol is connected to the control center 611 to ensure the reliability of network communication.

[0142] For example, in one embodiment, six business devices are installed on the crane body, including a PLC controller, an image acquisition device, a positioning device, a voice device, a data information acquisition device, and an access control device; the six business devices collect data and transmit them to the second switch switch7 through the first switches 602 switch1, ..., switch6 connected thereto, respectively; switch7 identifies the priority of each received business data, and determines the PLC control data with higher real-time requirements as the data corresponding to the business with higher priority, so that the PLC control data is transmitted to the third switch RNA switch1 supporting the parallel redundant protocol after passing through the second layer bridge firewall, and the third switch RNA switch1 copies the PLC data to obtain two PLC control data, and transmits the two PLC control data through the two network wireless clients WIFI Client 1 and WIFI Client 2 connected thereto. The two wireless hotspots of the remote control terminal are WIFI AP 1 and WIFI AP 2, which are connected to WIFI Client 1 and WIFI Client 2 respectively, forming transmission path A and transmission path B. The fourth switch connected to WIFI AP 1 and WIFI AP 2 respectively is used to forward the received PLC control data to the fifth switches RNA switch2 and RNA switch3 of the respective paths A and B. If the PLC control data of path A reaches RNA switch2 first, then the PLC data will be transmitted to the sixth switch of path A, and forwarded by the sixth switch to the PLC control system of the control center, so that the system will respond after processing the PLC data. The PLC control data that arrives at RNA switch3 later in path B will be deleted or discarded. Conversely, the same applies when the PLC control data of path B reaches RNA switch3 first. It can be seen that the solution provided by this solution realizes redundancy between the crane and the remote control terminal, and improves the reliability and security of communication between the crane and the remote control terminal.

[0143] like Figure 7 As shown, an embodiment of the present invention further provides a computing device 700, comprising: at least one memory 701 and at least one processor 702;

[0144] At least one memory 701, for storing a machine-readable program;

[0145] At least one processor 702 is coupled to at least one memory 701, and is used to call a machine-readable program to execute the communication method 100 and 200 for remote control of a crane provided in any of the above embodiments.

[0146] The present invention also provides a computer-readable medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, the processor executes the communication method 100 and 200 for remote control of a crane provided in any of the above embodiments. The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements the communication method 100 and 200 for remote control of a crane described in any of the above embodiments. Specifically, a system or device equipped with a storage medium can be provided, on which a software program code for implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.

[0147] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0148] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0149] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0150] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0151] It should be noted that not all steps and modules in the above-mentioned processes and device structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented by some components in multiple independent devices. Among them, the above-mentioned communication device for remote control of the crane and the communication method for remote control of the crane are based on the same inventive concept.

[0152] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as special processors, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0153] The present invention is shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present invention, and these embodiments are also within the protection scope of the present invention.

Claims

1. A communication method for remote control of a crane, characterized in that: The crane comprises: a crane body and a remote control terminal; the communication method is applied to the crane body, comprising: Acquire at least one piece of business data generated by the business of the crane body; Determine the priority of the at least one service data; wherein the priority is used to characterize the sequence of transmission of service data generated by different services; According to the determined priority, the service data of the current service to be transmitted is copied to obtain at least two current service data corresponding to the current service; The at least two current business data are respectively transmitted to the remote control terminal of the crane through non-overlapping transmission paths; wherein each current business data is transmitted by one transmission path; and each of the transmission paths corresponds to a switch for data transmission, and the current business data transmitted first is transmitted to the control center of the remote control terminal through the switch corresponding to the transmission path for transmitting the current business data by using a multi-media redundancy protocol.

2. The method according to claim 1, characterized in that The step of acquiring at least one business data generated by the business of the crane body comprises: Acquire business data collected by at least one business device among a PLC controller, an image acquisition device, a positioning device, a voice device, a data information acquisition device, and an access control device; and / or, The step of determining the priority of the at least one service data comprises: According to the IEEE802.1Q protocol, the priority of the at least one service data is determined.

3. The method according to claim 1, characterized in that: After determining the priority of the at least one service data and before copying the service data of the current service to be transmitted, the method further includes: A firewall with a second-layer bridge model is used to provide security protection for the transmission of the business data.

4. The method according to claim 3, characterized in that The step of using a firewall with a second-layer bridge model to provide security protection for the transmission of the business data includes: Process the data packets with IP headers through the MAC firewall; When the pre-set international Internet protocol is allowed to match, the IP firewall is used to verify the data packets processed by the MAC firewall, and the data packets that pass the verification are forwarded; or, The data packets of service data without IP header are forwarded or discarded after being processed by MAC rules.

5. A communication method for remote control of a crane, characterized in that: The crane comprises: a crane body and a remote control terminal; the communication method is applied to the remote control terminal, comprising: monitoring at least two pre-set transmission paths; Receiving at least two current service data corresponding to the current service transmitted in the at least two transmission paths; sending the current business data transmitted first among the at least two current business data to the control center of the remote control terminal to process the current business data; and Deleting other current business data except the current business data transmitted first among the at least two current business data; wherein, One of the transmission paths corresponds to a switch for data transmission, and the step of sending the first transmitted current service data among the at least two current service data to the control center of the remote control terminal comprises: By using the multi-media redundancy protocol, the current business data transmitted first is transmitted to the control center through the switch corresponding to the transmission path for transmitting the current business data.

6. A communication device for remote control of a crane, characterized in that: The crane comprises: a crane body and a remote control terminal; the communication device is applied to the crane body and comprises: a business data acquisition module, a priority determination module, a business data replication module and a business data transmission module; The business data acquisition module is used to acquire at least one business data generated by the business of the crane body; The priority determination module is used to determine the priority of the at least one service data acquired by the service data acquisition module; wherein the priority is used to characterize the sequence of transmission of service data generated by different services; The service data duplication module is used to duplicate the service data of the current service to be transmitted according to the priority determined by the priority determination module, so as to obtain at least two current service data corresponding to the current service; The business data transmission module is used to transmit the at least two current business data to the remote control terminal of the crane through non-overlapping transmission paths respectively; wherein each current business data is transmitted by a transmission path; and each of the transmission paths corresponds to a switch for data transmission, and the current business data transmitted first is transmitted to the control center of the remote control terminal through the switch corresponding to the transmission path for transmitting the current business data by using a multi-media redundancy protocol.

7. The device according to claim 6, characterized in that When acquiring at least one business data generated by the business of the crane body, the business data acquisition module is configured to perform the following operations: Acquire business data collected by at least one business device among a PLC controller, an image acquisition device, a positioning device, a voice device, a data information acquisition device, and an access control device; and / or, The priority determination module is configured to perform the following operations when determining the priority of the at least one service data: According to the IEEE802.1Q protocol, the priority of the at least one service data is determined.

8. The device according to claim 6, characterized in that Further including: A security protection module; the security protection module is configured to perform the following operations after determining the priority of the at least one service data and before copying the service data of the current service to be transmitted: A firewall with a second-layer bridge model is used to provide security protection for the transmission of the business data.

9. The device according to claim 8, characterized in that When the security protection module uses a firewall with a second-layer bridge model to perform security protection on the transmission of the business data, it is configured to perform the following operations: Process the data packets with IP headers through the MAC firewall; When the pre-set international Internet protocol is allowed to match, the IP firewall is used to verify the data packets processed by the MAC firewall, and the data packets that pass the verification are forwarded; or, The data packets of service data without IP header are forwarded or discarded after being processed by MAC rules.

10. A communication device for remote control of a crane, characterized in that: The crane comprises: a crane body and a remote control terminal; the communication device is applied to the remote control terminal, and comprises: a transmission monitoring module, a business data receiving module, a business data sending module and a business data deleting module; The transmission monitoring module is used to monitor at least two preset transmission paths; The service data receiving module is used to receive at least two current service data corresponding to the current service transmitted in the at least two transmission paths monitored by the transmission monitoring module; The service data sending module is used to send the current service data transmitted first among the at least two current service data received by the service data receiving module to the control center of the remote control terminal to process the current service data; and The service data deletion module is used to delete the other current service data except the first transmitted current service data among the at least two current service data received by the service data receiving module, wherein: Each of the transmission paths corresponds to a switch for data transmission; When the service data sending module sends the current service data transmitted first among the at least two current service data to the control center of the remote control terminal, the service data sending module is configured to perform the following operations: By using the multi-media redundancy protocol, the current business data transmitted first is transmitted to the control center through the switch corresponding to the transmission path for transmitting the current business data.

11. A computing device, characterized in that include: at least one memory and at least one processor; The at least one memory is used to store a machine-readable program; The at least one processor is configured to call the machine-readable program to execute the method according to any one of claims 1 to 5.

12. A computer readable medium, characterized in that The computer readable medium stores computer instructions, which, when executed by a processor, cause the processor to perform any one of the methods of claims 1 to 5.

13. Computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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