An emergency control method, device, computer equipment, and storage medium for a crane.

Abstract

This application relates to an emergency control method, apparatus, computer equipment, and storage medium for a crane. The method includes: receiving a fault signal in response to a fault triggered by a first physical control element; extracting a preset emergency strategy based on the fault signal; configuring a replaceable target control element according to the emergency strategy using control element matching degree; receiving control commands using the target control element; and responding to the control commands when the reliability characteristic value of the control commands meets preset conditions. This method enables the configuration of a target control element to replace the faulty physical control element when a physical control element fails, thereby receiving and responding to control commands and reducing the safety risks of cranes due to physical control element failures.

Description

Technical Field

[0001] This 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 Technology

[0002] Existing cranes use physical control components to control their movements, status, and function switching. If these physical control components malfunction during lifting operations, the crane may be unable to continue operating. Since physical control components typically lack hardware redundancy, there are safety risks such as the load remaining suspended in mid-air or the crane being unable to retract until repair or replacement is performed. Therefore, it is necessary to design an emergency plan for the eventual failure of the physical control components. Summary of the Invention

[0003] Therefore, it is necessary to provide an emergency control method, device, computer equipment, and storage medium for cranes to address the aforementioned technical problems. This method can configure a target control component to replace the faulty physical control component when the physical control component malfunctions, so as to receive and respond to control commands, thereby reducing the safety risks of cranes caused by physical control component malfunctions.

[0004] An emergency control method for a crane, the method comprising:

[0005] In response to a fault triggered by the first physical actuator, a fault signal is received;

[0006] Extract a preset emergency strategy based on the fault signal;

[0007] According to the emergency strategy, alternative target manipulators are configured using manipulator matching degree;

[0008] The target manipulator receives control commands, and responds to the control commands when the reliability characteristic value of the control commands meets preset conditions.

[0009] In one embodiment, the step of configuring alternative target manipulators using manipulator matching according to the emergency strategy includes:

[0010] When multiple preset second entity control components meet preset configuration requirements, the second entity control component with the highest control matching degree is selected as the target control component based on the control matching degree of each second entity control component.

[0011] In one embodiment, it further includes:

[0012] When no second physical actuator meets the preset configuration requirements, a preset virtual actuator is selected as the target actuator.

[0013] When a second entity control element meets the preset configuration requirements, the second entity control element is used as the target control element.

[0014] In one embodiment, the formula for calculating the manipulation matching degree is:

[0015] M = α1×U + α2×V + α3×W,

[0016] Where 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.

[0017] In one embodiment, the formula for calculating the reliability characteristic value is:

[0018] T=(β1×N / E-β2×L)×(1-((A+ B) / C)

[0019] Where 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 set of physical controller instructions, B is the set of virtual controller instructions, C is the maximum allowed set of bus network instructions, and β1 and β2 are the corresponding weights.

[0020] In one embodiment, after the step of receiving a fault signal in response to a fault triggered by a first physical actuator, the method includes:

[0021] Based on the fault signal, the first physical control unit is unbound from the currently corresponding control function.

[0022] In one embodiment, the step of extracting a preset emergency strategy based on the fault signal includes:

[0023] The corresponding emergency strategy is extracted from the preset emergency database using the fault code corresponding to the fault signal.

[0024] An emergency control device for a crane, the device comprising: a signal receiving module, a strategy extraction module, an operation replacement module, and a command control module, wherein,

[0025] The signal receiving module is used to receive a fault signal in response to a fault triggered by the first physical actuator;

[0026] The strategy extraction module is used to extract preset emergency strategies based on the fault signals;

[0027] A manipulation replacement module is used to configure alternative target manipulation components according to the said emergency strategy using manipulation matching degree;

[0028] The instruction control module is used to receive control instructions using the target manipulator, and respond to the control instructions when the reliability characteristic value of the control instructions meets the preset conditions.

[0029] A computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program performing the following steps:

[0030] In response to a fault triggered by the first physical actuator, a fault signal is received;

[0031] Extract a preset emergency strategy based on the fault signal;

[0032] According to the emergency strategy, alternative target manipulators are configured using manipulator matching degree;

[0033] The target manipulator receives control commands and responds to the control commands when the control commands meet preset conditions.

[0034] A computer-readable storage medium having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0035] In response to a fault triggered by the first physical actuator, a fault signal is received;

[0036] Extract a preset emergency strategy based on the fault signal;

[0037] According to the emergency strategy, alternative target manipulators are configured using manipulator matching degree;

[0038] The target manipulator receives control commands, and responds to the control commands when the reliability characteristic value of the control commands meets preset conditions.

[0039] The aforementioned emergency control method, device, computer equipment, and storage medium for cranes respond to a fault triggered by a first physical control element by receiving a fault signal; extracting a preset emergency strategy based on the fault signal; configuring a replaceable target control element according to the emergency strategy using control matching degree; receiving control commands using the target control element; and responding to the control command when the reliability characteristic value of the control command meets preset conditions. Using the technical solution of this application, when the first physical control element fails, a replaceable target control element is selected, preferably a second physical control element, to prioritize compliance with the operator's operating habits. The target control element can be a normally operating second physical control element or a virtual control element, thus covering a wider range of applicable situations. Utilizing a target control element as a backup control method can reduce the risk of crane downtime due to faults and facilitate widespread application without increasing hardware costs. Attached Figure Description

[0040] Figure 1 This is a diagram illustrating the application environment of the emergency control method for the crane in the first embodiment;

[0041] Figure 2 This is a flowchart illustrating the emergency control method for the crane in the second embodiment;

[0042] Figure 3 This is a schematic diagram of the system input section in the second embodiment;

[0043] Figure 4 This is the virtual control interface corresponding to the remote control in the second embodiment;

[0044] Figure 5 This is the virtual control interface corresponding to the bus button panel in the second embodiment;

[0045] Figure 6 This is the virtual control interface corresponding to the bus control handle in the second embodiment;

[0046] Figure 7 This is a flowchart illustrating the emergency control method for the crane in the third embodiment;

[0047] Figure 8 This is a structural block diagram of the emergency control device for the crane in the fourth embodiment;

[0048] Figure 9 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0049] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0050] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0051] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, may be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or," "and / or," "including at least one of the following," etc., as used in this application, may be interpreted as inclusive, or mean any one or any combination thereof. For example, "including at least one of the following: A, B, C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C." Similarly, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A and B and C." Exceptions to this definition only occur when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0052] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0053] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0054] It should be noted that step designations such as S10 and S20 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S20 first and then S10, etc., but these should all be within the protection scope of this application.

[0055] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0056] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0057] First Embodiment

[0058] The emergency control method for cranes provided in this application can be applied to, for example... Figure 1The application environment shown includes a crane comprising a controller 100, a torque limiter 200, a bus control handle (left) 300, a bus button panel 400, a bus control handle (right) 500, a remote controller 600, and other physical control components. Commonly used physical control components for crane operation include the bus control handles 300 (500), the bus button panel 400, and the remote controller 600. Operators generate corresponding bus messages through these physical control actions, communicating with the controller via the corresponding bus network. The controller then parses the bus messages and controls the crane's actions, status, and function switching.

[0059] In one embodiment, the controller 100 communicates with the torque limiter 200 via a first bus network. After sending a bus message, it transmits the message to the torque limiter 200 via the first bus network, displaying the current status information of all bus devices in the crane on the touch screen of the torque limiter 200. The bus control handle 300 (500) includes two axially movable rockers and a button, generating corresponding control commands through axial movement. The bus button panel 400 includes at least one button, generating corresponding control commands through button movement. The controller 100 communicates with the bus control handle 300 (500) and the bus button panel 400 via a second bus network, receiving control commands sent by the bus control handle 300 (500) and the bus button panel 400. The remote controller 600 includes a receiver and a transmitter. The transmitter includes a button, generating control commands through button movement and transmitting them to the receiver. The controller 100 communicates with the receiver via a third bus network, receiving control commands sent by the receiver. While receiving control commands, the controller 100 also receives response signals. Based on the control commands, it drives the corresponding solenoid valve for action control, status or function switching control. When a response signal is lost or abnormal, the controller 100 sends the operating status of the currently running physical control unit to the torque limiter 200, and displays the fault status on the touch screen of the torque limiter 200.

[0060] Optionally, when a physical control element 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 element according to the control matching degree based on the emergency strategy to replace the faulty physical control element; receives control commands using the target control element; and responds to the control command when the reliability characteristic value of the control command meets a preset condition.

[0061] In this embodiment, the target control unit can be a physical control unit that is not currently malfunctioning and is functioning normally, or it can be a virtual control unit. It is not limited to a specific control device and serves as a backup control scheme. When a preset malfunction event occurs in any physical control unit, a corresponding malfunction signal is generated. Based on the malfunction signal, a corresponding control function requirement is determined, and then the target control unit is used to complete the control function of the malfunctioning physical control unit.

[0062] The emergency control method for cranes disclosed in this application configures a target control unit to replace the faulty physical control unit when the physical control unit malfunctions, serving as a backup control method. This reduces the risk of crane downtime due to malfunctions and facilitates widespread application without increasing hardware costs.

[0063] Second Embodiment

[0064] In one embodiment, such as Figure 2 As shown, an emergency control method for a crane is provided, which can be applied to... Figure 1 Taking the controller in the example, the following steps are included:

[0065] S11. In response to a fault triggered by the first physical actuator, receive a fault signal;

[0066] S12. Extract the preset emergency strategy based on the fault signal;

[0067] S13. Configure alternative target control components based on control matching degree according to emergency strategy;

[0068] S14. Receive control commands using the target control unit. When the reliability characteristic value of the control command meets the preset conditions, respond to the control command.

[0069] In step S11, the "first" in the first entity control is to distinguish it from the entity control that has not experienced the current fault. In this embodiment, the first entity control is the entity control that has triggered the fault, and the second entity control represents the entity control that has not experienced the current fault.

[0070] The fault in this embodiment can be described as follows: the controller receives a control command but does not receive a corresponding response signal, indicating that the response signal is lost or abnormal, thus determining that the corresponding physical actuator has malfunctioned. Based on this, the current physical actuator cannot continue to be used, nor can the impact of the fault be exacerbated. Therefore, this embodiment utilizes a preset emergency strategy, using existing hardware design to configure a target actuator to replace the faulty physical actuator and perform the operating functions of the faulty physical actuator.

[0071] Optionally, after step S11, which is to receive a fault signal in response to a fault triggered by the first physical actuator, the process includes: unbinding the first physical actuator from the currently corresponding operating function based on the fault signal.

[0072] The hardware and software equipment for the crane are all configured with fixed identification codes. Before the physical control unit in this embodiment has any operational function, it needs to be associated with a preset operational function. To establish a clear association and avoid functional confusion, this embodiment uses identification codes to establish the association between the physical control unit and the operational function. Therefore, when a physical control unit malfunctions, to prevent the malfunctioning physical control unit from exacerbating the malfunction, this embodiment decouples the malfunctioning physical control unit from the operational function.

[0073] Optionally, step S12, the step of extracting a preset emergency strategy based on the fault signal, includes: extracting the corresponding emergency strategy from a preset emergency database using the fault code corresponding to the fault signal.

[0074] Fault codes are used to identify fault information. Engineers typically assign fault codes to the faulty parts and causes of faulty equipment to diagnose and troubleshoot problems, allowing them to configure remedial strategies based on these codes. Therefore, this embodiment collects remedial strategies for different fault information into a pre-set emergency database, determines the fault code based on the fault signal, and then extracts the corresponding emergency strategy from the pre-set emergency database based on the fault code.

[0075] Optionally, in step S13, configuring alternative target control components using control matching degree according to emergency strategy, the target control component represents an alternative scheme that can be used to replace the first entity control component to perform control functions. It is not limited to a fixed control component and can be any redundant measure that can perform real-time control functions.

[0076] This embodiment provides two alternative solutions: one is a physical actuator that has not triggered a fault, i.e., a second physical actuator; the other is a virtual actuator. For example... Figure 3 As shown in the diagram, the system input section allows the controller to communicate with multiple physical actuators and multiple virtual actuators to receive corresponding control commands.

[0077] Optionally, the step of configuring the target control unit according to the control matching degree in step S13 includes:

[0078] When multiple preset second physical control components meet preset configuration requirements, the second physical control component with the highest operation matching degree is selected as the target control component based on the operation matching degree of each second physical control component. The operation matching degree represents the functional matching degree information between physical control components. In this embodiment, based on the preset functional matching degree information between physical control components, a replaceable target control component is screened from all normally functioning second physical control components. The physical control component with the highest functional matching degree is selected (e.g., physical control component 2), and the operator is further prompted whether to temporarily replace the faulty first physical control component. The configuration requirements can be set to normal use. When all second physical control components are functioning normally, all second physical control components meet the configuration requirements. For example, the first physical control component is a left handle, and the preset second physical control components can be a right handle, button panel, or knob capable of performing similar operations. When the left handle malfunctions, one of the preset right handle, button panel, or knob is selected as the target control component.

[0079] The target actuator can be a preset second physical actuator or a preset virtual actuator. In one embodiment, the method for configuring an alternative target actuator further includes:

[0080] When no second physical actuator meets the preset configuration requirements, a preset virtual actuator is selected as the target actuator.

[0081] When a second entity control element meets the preset configuration requirements, the second entity control element is used as the target control element.

[0082] To further explain, according to the emergency strategy, one or more second physical controllers that can be used as target controllers are first identified. When multiple second physical controllers meet the configuration requirements, the control matching degree between the first physical controller and each second physical controller is calculated, and then the second physical controller with the highest control matching degree is determined as the target controller. When the preset second physical controller meets the configuration requirements and is confirmed by the operator, the second physical controller replaces the faulty first physical controller to meet the operator's emergency needs. If no target controller can be found among all the preset second physical controllers that matches the faulty first physical controller, a matching virtual controller is selected based on the internally reserved virtual controller function matching degree information. After confirmation by the operator, the virtual controller is temporarily used to replace the first physical controller.

[0083] Optionally, the formula for calculating the manipulation matching degree is: M = α1×U+α2×V+α3×W, where 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.

[0084] The signal types include analog signals and digital signals. Analog signals include voltage signals, current signals, and resistance signals. Digital signals include binary signals, pulse signals, and bus signals. The physical operation methods include button type, knob type, push rod type, and slider type. The signal value ranges include voltage value range, current value range, resistance value range, and digital signal value range.

[0085] Optionally, the step of selecting a preset virtual control as the target control includes: selecting a preset virtual control from a preset virtual control interface as the target control.

[0086] In this system, a virtual control interface pops up on the touchscreen of the torque limiter. This interface displays all virtual control elements, and the corresponding virtual control element is selected as the target control element. In one embodiment, such as... Figure 4 As shown, the virtual control interface can display virtual control elements corresponding to the remote control. In one embodiment, such as... Figure 5 As shown, the virtual control interface can display virtual control elements corresponding to the bus button panel. In one embodiment, such as... Figure 6 As shown, the virtual control interface can display virtual control components corresponding to the left (right) bus control handle.

[0087] To further explain, step S13 also includes: after determining the target control unit, associating the target control unit with the corresponding control function based on the replacement confirmation instruction, so as to receive control instructions through the target control unit.

[0088] Optionally, the preset conditions in step S14 include: the reliability characteristic value of the control command received by the target actuator meets the preset rated value.

[0089] The formula for calculating 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 bus network error frames, L is the bus network load rate, A is the set of physical control unit instructions, B is the set of virtual control unit instructions, C is the maximum allowed set of instructions for the bus network, and β1 and β2 are the corresponding weights.

[0090] In one embodiment, when the second physical actuator and the virtual actuator are simultaneously activated, at a certain moment there are control commands A sent by the second physical actuator and B sent by the virtual actuator. To confirm the reliability of the control commands in the bus network and avoid security risks caused by the unreliability of the bus network, this embodiment judges the reliability characteristic value of the control commands. When a preset rated value is met, the current control command 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 commands in the bus network can be responded to normally; otherwise, no control commands in the bus network are responded to.

[0091] In the aforementioned emergency control method for cranes, a fault signal is generated in response to a fault triggered by the first physical control component; a preset emergency strategy is extracted based on the fault signal; a replaceable target control component is configured according to the emergency strategy using control matching degree; and control commands are received using the target control component. When the reliability characteristic value of the control command meets preset conditions, the control command is responded to. Using the technical solution of this application, when the first physical control component fails, a replaceable target control component is selected. Preferably, a second physical control component is selected to prioritize compliance with the operator's operating habits. The target control component can be a normally operating second physical control component or a virtual control component, thus covering a wider range of applicable situations. Using a target control component as a backup control method can reduce the risk of crane downtime due to faults and facilitate widespread application without increasing hardware costs.

[0092] Third Embodiment

[0093] In one embodiment, such as Figure 7 As shown, an emergency control method for a crane is provided, which can be applied to... Figure 1 Taking the controller in the example, the following steps are included:

[0094] S21. In response to a fault triggered by the first physical actuator, receive a fault signal;

[0095] S22. Determine whether there is a replaceable second physical control unit based on the fault signal. If there is, proceed to step S23; otherwise, proceed to step S24.

[0096] S23. Select the second physical actuator to replace the first physical actuator to perform the actuator function;

[0097] S24. Determine if there is a replaceable virtual control. If there is, proceed to step S25; otherwise, end the process.

[0098] S25. Select a virtual control component to replace the first physical control component to perform the control function;

[0099] S26, Receive control commands;

[0100] S27. Determine whether the reliability characteristic value of the control command meets the preset rated value. If it does, proceed to step S28; otherwise, proceed to step S29.

[0101] S28, Respond to control commands;

[0102] S29. Does not respond to control commands.

[0103] In the aforementioned emergency control method for cranes, when the first physical control component malfunctions, a fault signal is received. Based on the fault signal, a replacement second physical control component or a virtual control component is selected, with the second physical control component having higher priority than the virtual control component to ensure compatibility with the operator's operating habits. Therefore, the redundant control design can be either a normally functioning second physical control component or a virtual control component, covering a wider range of applicable situations. Utilizing redundant control as a backup control method can reduce the risks associated with crane downtime due to malfunctions and facilitates widespread application without increasing hardware costs.

[0104] It should be understood that, although Figure 2 , 7 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 , 7 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed 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 some of the sub-steps or stages of other steps.

[0105] Fourth embodiment

[0106] In one embodiment, such as Figure 8 As shown, an emergency control device for a crane is provided, comprising: a signal receiving module 31, a strategy extraction module 32, an operation replacement module 33, and a command control module 34, wherein:

[0107] Signal receiving module 31 is used to receive fault signals in response to a fault triggered by the first physical actuator;

[0108] The strategy extraction module 32 is used to extract preset emergency strategies based on fault signals;

[0109] The manipulation replacement module 33 is used to configure alternative target manipulation components according to the manipulation matching degree in accordance with the emergency strategy;

[0110] The command control module 34 is used to receive control commands using the target manipulator, and responds to the control command when the reliability characteristic value of the control command meets the preset conditions.

[0111] Specific limitations regarding the emergency control device for cranes can be found in the above description of the emergency control methods for cranes, and will not be repeated here. Each module in the aforementioned emergency control device for cranes can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0112] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores emergency control data for the crane. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements an emergency control method for the crane.

[0113] Those skilled in the art will understand that Figure 9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0114] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0115] In response to a fault triggered by the first physical control element, a fault signal is received; a preset emergency strategy is extracted based on the fault signal; an alternative target control element is configured according to the control matching degree based on the emergency strategy; control commands are received using the target control element; and the control command is responded to when the reliability characteristic value of the control command meets the preset conditions.

[0116] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0117] In response to a fault triggered by the first physical control element, a fault signal is received; a preset emergency strategy is extracted based on the fault signal; an alternative target control element is configured according to the control matching degree based on the emergency strategy; control commands are received using the target control element; and the control command is responded to when the reliability characteristic value of the control command meets the preset conditions.

[0118] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can 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 a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0119] The technical features of the above embodiments can 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.

[0120] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An emergency control method for a crane, characterized in that, The method includes: In response to a fault triggered by the first physical actuator, a fault signal is received; Extract a preset emergency strategy based on the fault signal; According to the emergency strategy, alternative target manipulators are configured using manipulator matching degree; The target manipulator receives control commands, and responds to the control commands when the reliability characteristic value of the control commands meets preset conditions. The step of configuring alternative target manipulators according to the emergency strategy using manipulator matching degree includes: When multiple preset second entity control components meet preset configuration requirements, the second entity control component with the highest control matching degree is selected as the target control component based on the control matching degree of each second entity control component. The formula for calculating the manipulation matching degree is: M = α1 × U + α2 × V + α3 × W, Where 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.

2. The method according to claim 1, characterized in that, Also includes: When no second physical actuator meets the preset configuration requirements, a preset virtual actuator is selected as the target actuator. When a second entity control element meets the preset configuration requirements, the second entity control element is used as the target control element.

3. The method according to claim 1, characterized in that, The formula for calculating 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 bus network error frames, L is the bus network load rate, A is the set of physical controller instructions, B is the set of virtual controller instructions, C is the maximum allowed set of bus network instructions, and β1 and β2 are the corresponding weights.

4. The method according to claim 1, characterized in that, After the step of receiving a fault signal in response to a fault triggered by the first physical actuator, the method includes: Based on the fault signal, the first physical control unit is unbound from the currently corresponding control function.

5. The method according to claim 1, characterized in that, The steps for extracting a preset emergency strategy based on the fault signal include: The corresponding emergency strategy is extracted from the preset emergency database using the fault code corresponding to the fault signal.

6. An emergency control device for a crane, characterized in that, The device includes: The signal receiving module is used to receive a fault signal in response to a fault triggered by the first physical actuator; The strategy extraction module is used to extract preset emergency strategies based on the fault signals; A manipulation replacement module is used to configure alternative target manipulation components according to the said emergency strategy using manipulation matching degree; The instruction control module is used to receive control instructions using the target manipulator, and respond to the control instructions when the reliability characteristic value of the control instructions meets the preset conditions. The manipulation replacement module is specifically used to select the second entity manipulation component with the highest manipulation matching degree as the target manipulation component when a plurality of preset second entity manipulation components meet preset configuration requirements, based on the manipulation matching degree of each second entity manipulation component. The formula for calculating the manipulation matching degree is: M = α1 × U + α2 × V + α3 × W, Where 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.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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