Emergency control method and device of crane, computer equipment and storage medium

Abstract

The invention relates to an emergency control method and device for a crane, computer equipment and a storage medium. The method comprises the following steps: receiving a fault signal in response to a trigger fault of a first entity operating member; extracting a preset emergency strategy according to the fault signal; according to the emergency strategy, a replaceable target control piece is configured through the control matching degree; and receiving a control instruction by utilizing the target control part, and when the reliability characteristic value of the control instruction meets a preset condition, responding to the control instruction. By adopting the method, when the entity control member triggers the fault, the target control member is configured to replace the faulted entity control member so as to receive and respond to the control instruction, so that the safety risk of the crane caused by the fault of the entity control member is reduced.

Description

Technical Field

[0001] The present application relates to the field of engineering control technology, and in particular to an emergency control method, device, computer equipment and storage medium for a crane. Background Art

[0002] Existing cranes use physical controls to perform crane motion control, status and function switching. During hoisting operations, if a physical control fails, the crane may not be able to continue operating. Because physical controls usually do not have hardware redundancy design, there are safety risks such as heavy objects hanging in the air or the crane being unable to retract before repair or replacement. Therefore, it is necessary to design an emergency plan for physical control failures. Summary of the invention

[0003] Based on this, it is necessary to provide an emergency control method, device, computer equipment and storage medium for a crane to address the above-mentioned technical problems. When a physical control component triggers a fault, a target control component can be configured to replace the faulty physical control component to receive and respond to control instructions, thereby reducing the safety risks of the crane caused by the failure of the physical control component.

[0004] A method for emergency control of a crane, the method comprising: In response to a first physical operating member triggering a fault, receiving a fault signal; Extracting a preset emergency strategy according to the fault signal; configuring replaceable target controls using control matching according to the emergency strategy; The target operating element is used to receive a control instruction, and when a reliability characteristic value of the control instruction meets a preset condition, the control instruction is responded to.

[0005] In one embodiment, the step of configuring a replaceable target control element using the control matching degree according to the emergency strategy includes: When the preset plurality of second physical controllers meet the preset configuration requirements, the second physical controller with the highest degree of control matching is selected as the target controller according to the control matching degrees of the second physical controllers.

[0006] In one embodiment, it also includes: When no second physical control element meets the preset configuration requirement, selecting a preset virtual control element as the target control element; When a second physical control element meets the preset configuration requirement, the second physical control element is used as the target control element.

[0007] In one embodiment, the calculation formula of the manipulation matching degree is: M = α1×U+α2×V+α3×W, Among them, M is the manipulation matching degree, U is the signal type matching degree, V is the physical operation mode matching degree, W is the signal value range matching degree, and α1, α2, and α3 are the corresponding weights.

[0008] In one embodiment, the calculation formula of the reliability characteristic value is: T=(β1×N / E-β2×L)×(1-((A+ B) / C) Among them, T is the reliability characteristic value, N is the number of valid instructions per unit time, E is the number of bus network error frames, L is the bus network load rate, A is the physical control component instruction set, B is the virtual control component instruction set, C is the maximum allowed instruction set of the bus network, and β1 and β2 are the corresponding weights.

[0009] In one embodiment, after the step of receiving a fault signal in response to the first physical operating member triggering a fault, the method further comprises: The first physical operating component is unbound from the currently corresponding operating function according to the fault signal.

[0010] In one embodiment, the step of extracting a preset emergency strategy according to the fault signal includes: The corresponding emergency strategy is extracted from a preset emergency library using the fault code corresponding to the fault signal.

[0011] An emergency control device for a crane, comprising: a signal receiving module, a strategy extraction module, a manipulation replacement module and a command control module, wherein: A signal receiving module, configured to receive a fault signal in response to a fault being triggered by the first physical operating member; A strategy extraction module, used to extract a preset emergency strategy according to the fault signal; A manipulation replacement module, configured to configure a replaceable target manipulation component according to the emergency strategy using the manipulation matching degree; The command control module is used to receive a control command using the target control element, and respond to the control command when the reliability characteristic value of the control command meets a preset condition.

[0012] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented: In response to a first physical operating member triggering a fault, receiving a fault signal; Extracting a preset emergency strategy according to the fault signal; configuring replaceable target controls using control matching according to the emergency strategy; The target operating element is used to receive a control instruction, and when the control instruction meets a preset condition, the control instruction is responded to.

[0013] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps: In response to a first physical operating member triggering a fault, receiving a fault signal; Extracting a preset emergency strategy according to the fault signal; configuring replaceable target controls using control matching according to the emergency strategy; The target operating element is used to receive a control instruction, and when a reliability characteristic value of the control instruction meets a preset condition, the control instruction is responded to.

[0014] The emergency control method, device, computer equipment and storage medium of the above-mentioned crane receive a fault signal in response to a fault triggered by the first physical control component; extract a preset emergency strategy according to the fault signal; configure a replaceable target control component according to the emergency strategy using the control matching degree; receive a control instruction using the target control component, and respond to the control instruction when the reliability characteristic value of the control instruction meets the preset conditions. Using the technical solution of the present application, when the first physical control component fails, a replaceable target control component is selected, preferably, the second physical control component is selected first to prioritize the operator's operating habits. The target control component can be a normally operating second physical control component, or it can be a virtual control component, so the applicable situations are more comprehensive. Using the target control component as a backup control method can reduce the risk of crane failure and shutdown, and is conducive to popularization and application without increasing hardware costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is an application environment diagram of the emergency control method for a crane in the first embodiment; Figure 2 It is a flow chart of the emergency control method of the crane in the second embodiment; Figure 3 A schematic diagram of the input part of the system in the second embodiment; Figure 4 A virtual control interface corresponding to the remote controller in the second embodiment; Figure 5 A virtual control interface corresponding to the bus key panel in the second embodiment; Figure 6 A virtual control interface corresponding to the bus control handle in the second embodiment; Figure 7 It is a schematic flow chart of the emergency control method of the crane in the third embodiment; Figure 8 It is a structural block diagram of the emergency control device of the crane in the fourth embodiment; Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0016] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0017] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0018] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising" and "including" indicate that there are the described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or", "and / or", "including at least one of the following" etc. used in this application can be interpreted as inclusive, or mean any one or any combination. For example, “comprising at least one of the following: A, B, C” means “any of the following: A; B; C; A and B; A and C; B and C; A and B and C”, and for another example, “A, B or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A and B and C”. An exception to this definition will only occur when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0019] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0020] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0021] It should be noted that in this article, step codes such as S10 and S20 are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S20 first and then S10, etc., but these should all be within the scope of protection of this application.

[0022] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0023] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0024] First embodiment The emergency control method of the crane provided in this application can be applied to Figure 1 In the application environment shown. The crane includes a controller 100, a torque limiter 200, a bus operating handle (left) 300, a bus key panel 400, a bus operating handle (right) 500, a remote controller 600, and other physical operating parts. The physical operating parts commonly used in crane operation include: bus operating handle 300 (500), bus key panel 400, remote controller 600, etc. The operator generates corresponding bus messages through the operation of the physical operating parts, and communicates with the controller through the corresponding bus network, so that the controller can parse the bus message and perform action control, state and function switching on the crane.

[0025] In one embodiment, the controller 100 communicates with the torque limiter 200 via the first bus network, and after sending a bus message, it is transmitted to the torque limiter 200 via the first bus network, and the current status information of all bus devices in the crane is displayed on the touch screen of the torque limiter 200. The bus control handle 300 (500) includes two axially moving rockers and buttons, and generates corresponding control instructions through axial movements; the bus button panel 400 includes at least one button, and generates corresponding control instructions through button movements. The controller 100 communicates with the bus control handle 300 (500) and the bus button panel 400 via the second bus network, and receives control instructions sent by the bus control handle 300 (500) and the bus button panel 400. The remote controller 600 includes a receiver and a transmitter, and the transmitter includes a button, and generates control instructions through button movements and transmits them to the receiver. The controller 100 communicates with the receiver via the third bus network, and receives the control instructions sent by the receiver. While receiving the control instructions, the controller 100 also receives a response signal. According to the control instructions, the corresponding solenoid valve is driven to perform action control, state or function switching control. When the response signal is lost or abnormal, the controller 100 sends the operating status of the currently running physical operating component to the torque limiter 200, and displays the fault condition through the touch screen of the torque limiter 200.

[0026] Optionally, when a physical control component triggers a fault, the controller 100 generates a fault signal; extracts a preset emergency strategy based on the fault signal; configures a replaceable target control component using the control matching degree according to the emergency strategy to replace the faulty physical control component; receives a control instruction using the target control component, and responds to the control instruction when the reliability characteristic value of the control instruction meets a preset condition.

[0027] The target control component in this embodiment can be a physical control component that has not experienced the current fault and is working normally, or a virtual control component. It is not limited to a certain control device. It is a backup control scheme. When a preset fault event occurs in any physical control component, a corresponding fault signal is generated. Based on the fault signal, it is determined that there is a corresponding control function requirement, and then the target control component is used to complete the control function of the physical control component that has failed.

[0028] The emergency control method of the crane of the present application configures a target control component to replace the faulty physical control component when a physical control component triggers a fault. This serves as a backup control method to reduce the risk of crane downtime due to faults and is conducive to promotion and application without increasing hardware costs.

[0029] Second embodiment In one embodiment, Figure 2 As shown, a crane emergency control method is provided, which is applied to Figure 1The controller in the example is used to illustrate the following steps: S11, in response to a first physical operating component triggering a fault, receiving a fault signal; S12, extracting a preset emergency strategy according to the fault signal; S13, configuring replaceable target control parts using control matching according to the emergency strategy; S14. Receive a control instruction using the target control element, and respond to the control instruction when the reliability characteristic value of the control instruction meets a preset condition.

[0030] In step S11, the "first" in the first physical control is to distinguish it from a physical control that has not experienced a current fault. In this embodiment, the first physical control is a physical control that has triggered a fault, and the second physical control is a physical control that has not experienced a current fault.

[0031] The fault in this embodiment can be described as the controller not receiving the corresponding response signal while receiving the control command, indicating that the response signal is lost or abnormal, and then judging that the corresponding physical control part is faulty. Based on this, the current physical control part cannot continue to be used, and the impact of the fault cannot be aggravated. Therefore, in this embodiment, the preset emergency strategy is used to configure the target control part to replace the faulty physical control part with the existing hardware design to perform the control function of the faulty physical control part.

[0032] Optionally, after the step S11, in response to the first physical operating component triggering a fault, receiving a fault signal, the step includes: unbinding the first physical operating component from the currently corresponding operating function according to the fault signal.

[0033] Among them, the software and hardware equipment of the crane are all configured with fixed identification codes. Before the physical control part in this embodiment has the control function, it needs to be associated with the preset control function. In order to establish a clear association relationship and avoid functional confusion, this embodiment uses the identification code to establish the association relationship between the physical control part and the operation function. Therefore, when the physical control part triggers a fault, in order to avoid the faulty physical control part aggravating the fault impact, this embodiment unbinds the faulty physical control part from the control function.

[0034] Optionally, step S12, the step of extracting a preset emergency strategy according to the fault signal, includes: extracting a corresponding emergency strategy from a preset emergency library using a fault code corresponding to the fault signal.

[0035] Among them, the fault code is used to identify the fault information. Usually, in order to diagnose and troubleshoot the faulty equipment, engineers will assign fault codes to the fault location and cause of the faulty equipment, so as to configure the solution strategy according to the fault code. Based on this, in this embodiment, the solution strategies for different fault information are collected into a preset emergency library, and then the fault code is determined according to the fault signal, and then the corresponding emergency strategy is extracted from the preset emergency library according to the fault code.

[0036] Optionally, in step S13, configuring a replaceable target control component according to the emergency strategy using the control matching degree, the target control component represents an alternative solution that can be used to replace the first physical control component to perform the control function, and is not limited to a fixed control component, but can be any redundant measure that can perform real-time control functions.

[0037] In this embodiment, two alternative solutions are provided, one is a physical control element that has not triggered a fault, that is, a second physical control element, and the other is a virtual control element. Figure 3 As shown, it is a schematic diagram of the input part of the system. The controller can communicate with multiple physical controls and multiple virtual controls to receive corresponding control instructions.

[0038] Optionally, the step of configuring the target control element according to the emergency strategy using the control matching degree in step S13 includes: When multiple preset second physical controls meet the preset configuration requirements, the second physical control with the highest degree of control matching is selected as the target control according to the control matching degree of each second physical control. The control matching degree is represented by the functional matching degree information between physical controls. In this embodiment, according to the functional matching degree information between the preset physical controls, the replaceable target controls are screened from all the normally working second physical controls, and the physical control with the highest degree of functional matching is selected (for example: physical control 2), and the operator is further prompted whether to temporarily replace the faulty first physical control. The configuration requirements can be set to normal use. When all second physical controls are used normally, all second physical controls meet the configuration requirements. For example, the first physical control is a left handle, and the preset second physical control can be a right handle, a button panel, or a knob that can perform similar operating actions. When the left handle fails, one of the preset right handles, button panel, and knob is selected as the target control.

[0039] The target control element may be a preset second physical control element or a preset virtual control element. In one embodiment, the method for configuring a replaceable target control element further includes: When no second physical control element meets the preset configuration requirement, selecting a preset virtual control element as the target control element; When a second physical control element meets the preset configuration requirement, the second physical control element is used as the target control element.

[0040] Further explanation: according to the emergency strategy, one or more of the second physical controls that can be used as the target control are first determined. When multiple second physical controls meet the configuration requirements, the control matching degree between the first physical control and each second physical control is calculated, and then the second physical control with the highest control matching degree is determined as the target control. When the preset second physical control meets the configuration requirements, after the operator confirms, the second physical control replaces the faulty first physical control to meet the operator's emergency needs; if the target control that matches the faulty first physical control cannot be screened out from all the preset second physical controls, a matching virtual control is selected according to the internal reserved virtual control function matching degree information, and then the virtual control is temporarily used to replace the first physical control after the operator confirms.

[0041] Optionally, the calculation formula for the manipulation matching degree is: M = α1×U+α2×V+α3×W, wherein M is the manipulation matching degree, U is the signal type matching degree, V is the physical operation mode matching degree, W is the signal value range matching degree, and α1, α2, and α3 are corresponding weights.

[0042] Among them, signal types include: analog signals, digital signals, etc. Analog signals include: voltage signals, current signals, resistance signals; digital signals include binary signals, pulse signals, bus signals; physical operation methods include: button type, knob type, push rod type, slider type, etc.; signal value ranges include: voltage value range, current value range, resistance value range, digital signal value range, etc.

[0043] Optionally, the step of selecting a preset virtual control element as the target control element includes: selecting a preset virtual control element as the target control element from a preset virtual control interface.

[0044] The virtual control interface pops up through the touch screen of the torque limiter, and all virtual control elements are displayed in the virtual control interface, and a corresponding virtual control element is selected as the target control element. Figure 4 As shown, the virtual control interface may display virtual control elements corresponding to the remote controller. Figure 5 As shown, the virtual control interface may display virtual control elements corresponding to the bus key panel. Figure 6 As shown, the virtual control interface may display virtual control elements corresponding to the left (right) bus control handle.

[0045] To further explain, step S13 also includes: after determining the target control element, based on the replacement confirmation instruction, associating the target control element with the corresponding control function so as to receive the control instruction through the target control element.

[0046] Optionally, the preset condition in step S14 includes: a reliability characteristic value of the control instruction received by the target control element meets a preset rated value.

[0047] The calculation formula of the reliability characteristic value is: T=(β1×N / E-β2×L)×(1-((A+ B) / C), where T is the reliability characteristic value, N is the number of valid instructions per unit time, E is the number of error frames of the bus network, L is the bus network load rate, A is the physical control component instruction set, B is the virtual control component instruction set, C is the maximum allowed instruction set of the bus network, and β1 and β2 are corresponding weights.

[0048] In one embodiment, when the second physical control member and the virtual control member are enabled at the same time, there are control instructions A sent by the second physical control member and control instructions B sent by the virtual control member at a certain moment. In order to confirm the credibility of the control instructions in the bus network and avoid safety risks caused by the unreliability of the bus network, this embodiment judges the reliability characteristic value of the control instruction. When the preset rated value is met, the current control instruction is determined to be reliable. For example, when the reliability characteristic value T ≥ the preset rated value T (e), the current bus network is determined to be reliable, and the control instructions in the bus network can be responded to normally at this time; otherwise, no control instructions in the bus network are responded to.

[0049] In the above-mentioned emergency control method for the crane, in response to a fault triggered by the first physical control component, a fault signal is generated; a preset emergency strategy is extracted according to the fault signal; a replaceable target control component is configured according to the emergency strategy using the control matching degree; a control instruction is received using the target control component, and when the reliability characteristic value of the control instruction meets the preset conditions, the control instruction is responded to. With the technical solution of the present application, when the first physical control component fails, a replaceable target control component is selected, preferably, the second physical control component is selected first to prioritize the operator's operating habits. The target control component can be a normally operating second physical control component, or it can be a virtual control component, so the applicable situations are more comprehensive. Using the target control component as a backup control method can reduce the risk of crane failure and shutdown, and is conducive to popularization and application without increasing hardware costs.

[0050] Third embodiment In one embodiment, Figure 7 As shown, a crane emergency control method is provided, which is applied to Figure 1 The controller in the example is used to illustrate the following steps: S21, receiving a fault signal in response to a first physical operating component triggering a fault; S22, judging whether there is a replaceable second physical operating member according to the fault signal, if yes, go to step S23, if no, go to step S24; S23, selecting a second physical operating component to replace the first physical operating component to perform the operating function; S24, determining whether there is a replaceable virtual control element, if so, proceeding to step S25, otherwise, the process ends; S25, selecting a virtual control element to replace the first physical control element to perform the control function; S26, receiving control instructions; S27, judging whether the reliability characteristic value of the control instruction meets the preset rated value, if so, go to step S28, otherwise go to step S29; S28, responding to control instructions; S29: No response to control instructions.

[0051] In the above-mentioned emergency control method for the crane, when the first physical control part triggers a fault, a fault signal is received, and a replaceable second physical control part or a virtual control part is selected according to the fault signal, and the priority of the second physical control part is higher than the virtual control part to give priority to the operator's operating habits. Therefore, the redundant control design can be a normally operating second physical control part or a virtual control part, covering more comprehensive applicable situations. Using redundant control as a backup control method can reduce the risk of crane failure and shutdown, and is conducive to promotion and application without increasing hardware costs.

[0052] It should be understood that although Figure 2 , 7 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 , 7 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0053] Fourth embodiment In one embodiment, Figure 8As shown, an emergency control device for a crane is provided, comprising: a signal receiving module 31, a strategy extraction module 32, a manipulation replacement module 33 and a command control module 34, wherein: The signal receiving module 31 is used for receiving a fault signal in response to the first physical operating member triggering a fault; The strategy extraction module 32 is used to extract a preset emergency strategy according to the fault signal; The manipulation replacement module 33 is used to configure a replaceable target manipulation component according to the emergency strategy using the manipulation matching degree; The instruction control module 34 is used to receive the control instruction by using the target control element, and respond to the control instruction when the reliability characteristic value of the control instruction meets the preset condition.

[0054] The specific definition of the emergency control device of the crane can be found in the definition of the emergency control method of the crane above, which will not be repeated here. Each module in the above-mentioned emergency control device of the crane can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0055] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig. 9 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store emergency control data of the crane. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for emergency control of a crane is implemented.

[0056] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0057] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented: In response to a fault triggered by a first physical control component, a fault signal is received; a preset emergency strategy is extracted according to the fault signal; a replaceable target control component is configured according to the emergency strategy using the control matching degree; a control instruction is received using the target control component, and when the reliability characteristic value of the control instruction meets the preset condition, the control instruction is responded to.

[0058] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: In response to a fault triggered by a first physical control component, a fault signal is received; a preset emergency strategy is extracted according to the fault signal; a replaceable target control component is configured according to the emergency strategy using the control matching degree; a control instruction is received using the target control component, and when the reliability characteristic value of the control instruction meets the preset condition, the control instruction is responded to.

[0059] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0060] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A crane emergency control method, characterized in that: The method comprises: In response to a first physical operating member triggering a fault, receiving a fault signal; Extracting a preset emergency strategy according to the fault signal; configuring replaceable target controls using control matching according to the emergency strategy; The target operating element is used to receive a control instruction, and when a reliability characteristic value of the control instruction meets a preset condition, the control instruction is responded to.

2. The method according to claim 1, characterized in that The step of configuring a replaceable target control component using the control matching degree according to the emergency strategy comprises: When the preset plurality of second physical controllers meet the preset configuration requirements, the second physical controller with the highest degree of control matching is selected as the target controller according to the control matching degrees of the second physical controllers.

3. The method according to claim 2, characterized in that Also includes: When no second physical control element meets the preset configuration requirement, selecting a preset virtual control element as the target control element; When a second physical control element meets the preset configuration requirement, the second physical control element is used as the target control element.

4. The method according to claim 2, characterized in that: The calculation formula of the manipulation matching degree is: M = α1×U+α2×V+α3×W, Among them, M is the manipulation matching degree, U is the signal type matching degree, V is the physical operation mode matching degree, W is the signal value range matching degree, and α1, α2, and α3 are the corresponding weights.

5. The method according to claim 1, characterized in that The calculation formula of the reliability characteristic value is: T=(β1×N / E-β2×L)×(1-((A+ B) / C) Among them, T is the reliability characteristic value, N is the number of valid instructions per unit time, E is the number of bus network error frames, L is the bus network load rate, A is the physical control component instruction set, B is the virtual control component instruction set, C is the maximum allowed instruction set of the bus network, and β1 and β2 are the corresponding weights.

6. The method according to claim 1, characterized in that After the step of receiving a fault signal in response to the first physical operating member triggering a fault, the method further comprises: The first physical operating component is unbound from the currently corresponding operating function according to the fault signal.

7. The method according to claim 1, characterized in that The step of extracting a preset emergency strategy according to the fault signal comprises: The corresponding emergency strategy is extracted from a preset emergency library using the fault code corresponding to the fault signal.

8. An emergency control device for a crane, characterized in that: The device comprises: A signal receiving module, configured to receive a fault signal in response to a fault being triggered by the first physical operating member; A strategy extraction module, used to extract a preset emergency strategy according to the fault signal; A manipulation replacement module, configured to configure a replaceable target manipulation component according to the emergency strategy using the manipulation matching degree; The command control module is used to receive a control command using the target control element, and respond to the control command when the reliability characteristic value of the control command meets a preset condition.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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