Method and system for realizing real-time communication of crown block in interference environment, electronic equipment and storage medium

Abstract

The invention belongs to the technical field of crown blocks, and provides a crown block real-time communication implementation method and system in an interference environment, electronic equipment and a storage medium, and the method comprises the steps of terminal control instruction execution, communication transmitting frequency band determination, state data packaging, beam direction adjustment, frequency hopping anti-interference analysis, strategy updating and abnormal emergency processing. Through a dynamic optimization mechanism of a frequency hopping communication strategy and a low-interference frequency hopping strategy prediction model, a current frequency band strategy is optimized in real time according to environment information and communication quality feedback, and the interference resistance of a communication frequency band is optimized; through a beam adjustment strategy and EOE protocol packaging, the signal strength is enhanced, signal attenuation and multipath interference are reduced, and the real-time performance of data transmission is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of overhead cranes, and in particular to a method, system, electronic equipment and storage medium for implementing real-time communication of overhead cranes in an interference environment. Background Art

[0002] Multifunctional overhead cranes in steel mills, ports, and large manufacturing plants integrate numerous control functions, including lifting, handling, positioning, and precision operation. Their control systems typically include a master controller, multiple frequency converters, position sensors, safety sensors, video surveillance, a human-machine interface, and numerous other devices. The precise positioning, coordinated movement, and safety interlocking of overhead cranes often require real-time control instructions and status feedback in the millisecond range. Communication delays or jitter can lead to inaccurate positioning, uncoordinated movement, and even safety accidents. Industrial environments are harsh, including electromagnetic interference, dust, vibration, and temperature and humidity fluctuations. Failure of a single communication link can cause the entire overhead crane system to lose control or shut down, resulting in significant production losses and safety risks.

[0003] However, the traditional redundant network fault switching time is too long to meet the millisecond-level real-time requirements of overhead crane control; proprietary redundancy protocols are costly, have poor compatibility, and limited scalability. In complex metal structures and strong interference environments, stability, real-time and security are difficult to guarantee. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the purpose of the present invention is to provide a method, system, electronic equipment and storage medium for realizing real-time communication of overhead crane in an interference environment, so as to solve the problems of poor real-time performance, high cost and poor risk resistance of the current method.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A method for implementing real-time communication of an overhead crane in an interference environment, comprising:

[0007] Receive the terminal control instruction sent by the control terminal, and control the target overhead crane to perform the action corresponding to the terminal control instruction;

[0008] Determining a communication transmission frequency band using a preset frequency hopping communication strategy during operation of the target overhead crane;

[0009] Encapsulating the state data of the target overhead crane based on the EOE communication protocol to obtain a state data packet;

[0010] Adjusting the beam direction of the built-in radio frequency unit of the target overhead traveling vehicle according to the beam adjustment strategy, and uploading the status data packet to the control end through a plurality of preset base stations according to the communication transmission frequency band;

[0011] Inputting the attribute data of the status data received by the preset base station into a low-interference frequency hopping strategy prediction model to perform frequency hopping anti-interference analysis to obtain a low-interference frequency hopping prediction strategy;

[0012] The frequency hopping communication strategy is updated using the low-interference frequency hopping prediction strategy, and the process returns to the step of "determining a communication transmission frequency band using a preset frequency hopping communication strategy during operation of the target overhead travelling crane";

[0013] During the operation of the target overhead crane, if the target overhead crane does not receive any information from the control terminal within a preset time window, the communication state is determined to be abnormal communication interruption, and the target overhead crane is moved to a preset emergency area.

[0014] Preferably, receiving the terminal control instruction sent by the control terminal and controlling the target overhead crane to execute the action corresponding to the terminal control instruction includes:

[0015] Receive the operator's operation information and convert the operation information into a structured control instruction; the structured control instruction includes: instruction ID, action type, action parameters, execution time limit and check code;

[0016] Encapsulating the structured control instruction according to the EOE communication protocol to obtain the terminal control instruction;

[0017] Synchronously sending the terminal control instruction to each of the preset base stations;

[0018] Directing the beam direction of the preset base station to focus on the area where the target overhead crane is located by using the beam adjustment strategy according to the position information of the target overhead crane;

[0019] After the target overhead crane receives the terminal control instructions transmitted by all preset base stations, it compares and denoises all received terminal control instructions, and controls the target overhead crane to execute actions corresponding to the denoised terminal control instructions.

[0020] Preferably, during the operation of the target overhead crane, a preset frequency hopping communication strategy is used to determine a communication transmission frequency band, including:

[0021] Using the preset base station to collaboratively scan the electromagnetic environment within a preset communication frequency band at a fixed frequency to obtain an environmental electromagnetic value, and eliminating frequency bands within the preset communication frequency band where the environmental electromagnetic value exceeds a preset strong interference threshold to obtain a basic frequency band set;

[0022] Setting a frequency hopping period and a frequency difference threshold constraint; the frequency difference threshold constraint is the minimum threshold of the difference between two adjacent frequency bands;

[0023] At the beginning of each frequency hopping cycle, a next hopping frequency band is selected within the basic frequency band set according to the current frequency hopping communication strategy and the frequency difference threshold constraint to obtain the communication transmission frequency band.

[0024] Preferably, the state data of the target overhead crane is encapsulated based on the EOE communication protocol to obtain a state data packet, including:

[0025] Determine the state ID, timestamp, and device number of the target overhead crane to obtain a basic state field;

[0026] Collect the current position coordinates, operating speed, lifting height, load weight, motor temperature, current and voltage values ​​of the target overhead crane to obtain operating parameters;

[0027] Collecting the fault code, alarm level, and communication link quality data of the target overhead crane to obtain an abnormal status field;

[0028] Encapsulate the synchronization flag, data type flag, frame length, and reserved bit into a header, and encapsulate the basic status field, the operating parameters, and the abnormal status field into a payload;

[0029] Using a CRC32 check algorithm to check the header and the payload portion to obtain a check value, and determining the check value as the tail;

[0030] The header, the payload, and the tail are combined to obtain the status data packet.

[0031] Preferably, adjusting the beam direction of the built-in radio frequency unit of the target overhead traveling vehicle according to the beam adjustment strategy, and uploading the status data packet to the control end through a plurality of preset base stations according to the communication transmission frequency band, comprises:

[0032] Construct the beam adjustment strategy; the expression of the beam adjustment strategy includes: ; ;in, is the connecting vector; 、 、 are the origins of the radio frequency units The horizontal coordinate, vertical coordinate and vertical coordinate of 、 、 are the horizontal coordinate, vertical coordinate and vertical coordinate of the preset base station respectively; is the coordinate of the i-th radio frequency block of the radio frequency unit; Represents a vector The modulus value of is the signal propagation speed; is the transmission delay of the i-th radio block;

[0033] Before uploading the status data packet, collecting the position data of each of the preset base stations, calculating the transmission delay of each transmission block of the transmitting unit using the beam adjustment strategy according to the position data, and obtaining a transmission control strategy;

[0034] The status data packet is sent to the preset base station using the communication transmission frequency band according to the sending control strategy, and the status data packet is uploaded to the control end through the preset base station.

[0035] Preferably, the process of constructing the low-interference frequency hopping strategy prediction model includes:

[0036] After each frequency hopping cycle ends, communication data is obtained by synchronously recording the signal quality data, corresponding frequency band information, and associated environmental data within the current cycle through each of the preset base stations; the signal quality data includes: received signal strength, signal-to-noise ratio, bit error rate, packet loss rate, and signal stability; the corresponding frequency band information includes: communication transmission frequency band, frequency band usage time, and frequency difference before and after switching between adjacent frequency bands; the associated environmental data includes: environmental electromagnetic value and interference occurrence time;

[0037] Dividing the signal quality data into high-quality communication states, low-quality communication states, and abnormal communication states in proportion according to the distribution of the signal quality data, integrating the communication data with the high-quality communication states, the low-quality communication states, and the abnormal communication states as labels to obtain a training set;

[0038] Build a CNN-LSTM hybrid neural network model;

[0039] The CNN-LSTM hybrid neural network model is trained using the training set to obtain the low-interference frequency hopping strategy prediction model.

[0040] Preferably, during the operation of the target overhead crane, if the target overhead crane does not receive information from the control terminal within a preset time window, determining the communication state as abnormal communication interruption and moving the target overhead crane to a preset emergency area includes:

[0041] After the target overhead crane completes the current operation, if no information is received from the control terminal, the current state is maintained;

[0042] The current execution progress data of the target overhead crane is encapsulated into a verification data packet, and the verification data packet is sent to the control end using the radio frequency unit. If the target overhead crane receives a status correct instruction issued by the control end, the current status is maintained; otherwise, the target overhead crane is moved to the preset emergency area.

[0043] Preferably, a system for implementing real-time communication of an overhead traveling vehicle in an interference environment includes:

[0044] The instruction execution module is used to receive the terminal control instruction sent by the control terminal and control the target overhead crane to execute the action corresponding to the terminal control instruction;

[0045] A frequency band determination module, configured to determine a communication transmission frequency band using a preset frequency hopping communication strategy during operation of the target overhead travelling crane;

[0046] A data encapsulation module is used to encapsulate the status data of the target overhead traveling vehicle based on the EOE communication protocol to obtain a status data packet;

[0047] a data uploading module, configured to adjust the beam direction of the built-in radio frequency unit of the target overhead travelling vehicle according to the beam adjustment strategy, and upload the status data packet to the control terminal through a plurality of preset base stations according to the communication transmission frequency band;

[0048] A strategy optimization module, configured to input the attribute data of the status data received by the preset base station into a low-interference frequency hopping strategy prediction model to perform frequency hopping anti-interference analysis to obtain a low-interference frequency hopping prediction strategy;

[0049] a strategy updating module, configured to update the frequency hopping communication strategy using the low-interference frequency hopping prediction strategy and return the strategy to the frequency band determination module;

[0050] The abnormal emergency module is used to determine the communication status as abnormal communication interruption if the target overhead crane does not receive information from the control terminal within a preset time window during the operation of the target overhead crane, and move the target overhead crane to a preset emergency area.

[0051] Preferably, an electronic device comprises: at least one processor, and a memory communicatively connected to the processor; wherein the memory stores instructions that can be executed by the processor, and the instructions are executed by the processor so that the processor can execute the aforementioned method for implementing real-time communication of an overhead crane in an interference environment.

[0052] Preferably, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the aforementioned method for achieving real-time communication of an overhead crane in an interference environment.

[0053] The present invention discloses the following technical effects:

[0054] The application provides a method and system for realizing real-time communication of a crown block in an interference environment, electronic equipment and a storage medium. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0056] Figure 1 A flowchart of a process for realizing real-time communication of a crown block in an interference environment is provided for the embodiments of the present application.

[0057] Figure 2 A flowchart of a process for realizing real-time communication of a crown block in an interference environment is provided for the embodiments of the present application.

[0058] Figure 3 A flowchart of a process for realizing real-time communication of a crown block in an interference environment is provided for the embodiments of the present application.

[0059] Figure 4 A flowchart of a process for realizing real-time communication of a crown block in an interference environment is provided for the embodiments of the present application.

[0060] Figure 5 A flowchart of a process for realizing real-time communication of a crown block in an interference environment is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0062] The present application aims to provide a method and system for realizing real-time communication of a crown block in an interference environment, electronic equipment and a storage medium, to solve the problems of poor real-time performance, high cost and poor risk resistance of current methods.

[0063] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0064] Figure 1 Schematic diagram of the process of achieving real-time communication of overhead crane in interference environment provided by an embodiment of the present invention, such as Figure 1 As shown, the present invention provides a method for realizing real-time communication of an overhead traveling vehicle in an interference environment, comprising:

[0065] Step 100: receiving a terminal control instruction sent by a control terminal, and controlling a target overhead crane to execute an action corresponding to the terminal control instruction;

[0066] Step 200: Determine a communication transmission frequency band using a preset frequency hopping communication strategy during operation of the target overhead travelling crane;

[0067] Step 300: Encapsulating the state data of the target overhead traveling vehicle based on the EOE communication protocol to obtain a state data packet;

[0068] Step 400: adjusting the beam direction of the built-in radio frequency unit of the target overhead traveling vehicle according to the beam adjustment strategy, and uploading the status data packet to the control terminal through a plurality of preset base stations according to the communication transmission frequency band;

[0069] Step 500: Inputting the attribute data of the status data received by the preset base station into a low-interference frequency hopping strategy prediction model to perform frequency hopping anti-interference analysis to obtain a low-interference frequency hopping prediction strategy;

[0070] Step 600: updating the frequency hopping communication strategy using the low-interference frequency hopping prediction strategy, and returning to the step of "determining the communication transmission frequency band using the preset frequency hopping communication strategy during the operation of the target overhead travelling vehicle";

[0071] Step 700: During the operation of the target overhead crane, if the target overhead crane does not receive any information from the control terminal within a preset time window, the communication status is determined to be abnormal communication interruption, and the target overhead crane is moved to a preset emergency area.

[0072] refer to Figure 2 , receiving the terminal control instruction sent by the control terminal, and controlling the target overhead crane to execute the action corresponding to the terminal control instruction, including:

[0073] Step 101: Receive the operator's operation information and convert the operation information into a structured control instruction; the structured control instruction includes: instruction ID, action type, action parameters, execution time limit and check code;

[0074] Step 102: Encapsulating the structured control instruction according to the EOE communication protocol to obtain the terminal control instruction;

[0075] Step 103: synchronously sending the terminal control instruction to each of the preset base stations;

[0076] Step 104: Directing and focusing the beam direction of the preset base station on the area where the target trolley is located according to the position information of the target trolley and the beam adjustment strategy;

[0077] Step 105: After the target trolley receives all the terminal control instructions transmitted by the preset base station, comparing and denoising all the received terminal control instructions, and controlling the target trolley to execute the action corresponding to the denoised terminal control instructions.

[0078] Reference Figure 3 During the operation of the target trolley, the preset frequency hopping communication strategy is used to determine the communication transmission frequency band, including:

[0079] Step 201: Using the preset base station to cooperatively scan the electromagnetic environment in the preset communication frequency band range at a fixed frequency, obtaining the environmental electromagnetic value, and eliminating the frequency band in the preset communication frequency band range whose environmental electromagnetic value exceeds the preset strong interference threshold, obtaining a basic frequency band set;

[0080] Step 202: Set the frequency hopping period and the frequency difference threshold constraint; the frequency difference threshold constraint is the minimum threshold of the difference between two adjacent frequency bands;

[0081] Step 203: At the beginning of each frequency hopping period, select the next frequency hopping band in the basic frequency band set according to the current frequency hopping communication strategy and the frequency difference threshold constraint, and obtain the communication transmission frequency band.

[0082] Reference Figure 4 Based on the EOE communication protocol, the state data of the target trolley is packaged to obtain a state data packet, including:

[0083] Step 301: Determine the state ID, timestamp, and device number of the target trolley to obtain a basic state field;

[0084] Step 302: Collect the current position coordinates, running speed, lifting height, load weight, motor temperature, current and voltage values of the target trolley to obtain running parameters;

[0085] Step 303: Collect the fault code, alarm level, and communication link quality data of the target trolley to obtain an abnormal state field;

[0086] Step 304: Package the synchronization identifier, data type identifier, frame length, and reserved bits as a header, and package the basic state field, running parameters, and abnormal state field as a Payload part;

[0087] Step 305: Using a CRC32 check algorithm to check the header and the payload, obtaining a check value, and determining the check value as the tail;

[0088] Step 306: Merge the header, the payload, and the tail to obtain the status data packet.

[0089] refer to Figure 5 , adjusting the beam direction of the built-in radio frequency unit of the target overhead traveling vehicle according to the beam adjustment strategy, and uploading the status data packet to the control end through several preset base stations according to the communication transmission frequency band, including:

[0090] Step 401: Construct the beam adjustment strategy. The expression of the beam adjustment strategy includes: ; ;in, is the connecting vector; 、 、 are the origins of the radio frequency units The horizontal coordinate, vertical coordinate and vertical coordinate of 、 、 are the horizontal coordinate, vertical coordinate and vertical coordinate of the preset base station respectively; is the coordinate of the i-th radio frequency block of the radio frequency unit; Represents a vector The modulus value of is the signal propagation speed; is the transmission delay of the i-th radio block;

[0091] Step 402: Before uploading the status data packet, collect the location data of each of the preset base stations, calculate the transmission delay of each transmission block of the transmitting unit using the beam adjustment strategy according to the location data, and obtain a transmission control strategy;

[0092] Step 403: Send the status data packet to the preset base station using the communication transmission frequency band according to the transmission control strategy, and upload the status data packet to the control end through the preset base station.

[0093] Specifically, the process of constructing the low-interference frequency hopping strategy prediction model includes:

[0094] After each frequency hopping cycle ends, communication data is obtained by synchronously recording the signal quality data, corresponding frequency band information, and associated environmental data within the current cycle through each of the preset base stations; the signal quality data includes: received signal strength, signal-to-noise ratio, bit error rate, packet loss rate, and signal stability; the corresponding frequency band information includes: communication transmission frequency band, frequency band usage time, and frequency difference before and after switching between adjacent frequency bands; the associated environmental data includes: environmental electromagnetic value and interference occurrence time;

[0095] Dividing the signal quality data into high-quality communication states, low-quality communication states, and abnormal communication states in proportion according to the distribution of the signal quality data, integrating the communication data with the high-quality communication states, the low-quality communication states, and the abnormal communication states as labels to obtain a training set;

[0096] Build a CNN-LSTM hybrid neural network model;

[0097] The CNN-LSTM hybrid neural network model is trained using the training set to obtain the low-interference frequency hopping strategy prediction model.

[0098] Furthermore, during the operation of the target overhead crane, if the target overhead crane does not receive information from the control terminal within a preset time window, the communication state is determined to be abnormal communication interruption, and the target overhead crane is moved to a preset emergency area, including:

[0099] After the target overhead crane completes the current operation, if no information is received from the control terminal, the current state is maintained;

[0100] The current execution progress data of the target overhead crane is encapsulated into a verification data packet, and the verification data packet is sent to the control end using the radio frequency unit. If the target overhead crane receives a status correct instruction issued by the control end, the current status is maintained; otherwise, the target overhead crane is moved to the preset emergency area.

[0101] Specifically, after receiving the terminal control instruction from the control terminal, the target crane executes corresponding actions; during the operation of the target crane, the frequency of communication transmission is determined by the pre-set frequency hopping communication method; based on the EOE communication protocol, the state data of the target crane is packaged into a state data packet; according to the beam adjustment method, the beam direction of the internal radio frequency unit of the target crane is adjusted, and then the state data packet is uploaded to the control terminal through several pre-set base stations according to the previously determined communication transmission frequency; the attribute data of the pre-set base station receiving the state data is input into the low-interference frequency hopping strategy prediction model for frequency hopping anti-interference analysis to obtain a low-interference frequency hopping prediction strategy; the low-interference frequency hopping prediction strategy is used to update the frequency hopping communication method, and then the step of determining the communication transmission frequency by the pre-set frequency hopping communication method during the operation of the target crane is returned; if no information is received from the control terminal within the pre-set time during the operation of the target crane, it is considered that the communication is abnormally interrupted, and the target crane is moved to a pre-set emergency area.

[0102] Further, the operator inputs operation information including manual instructions, pre-set procedures or emergency stop instructions through a man-machine interface or a remote terminal. These information is converted into structured control instructions, including instruction number, action type, parameter, execution deadline and check code. Then, these structured instructions are packaged into terminal control instructions by EOE protocol. When packaging, the instruction header is added with synchronization identifier and priority, and the instruction tail is added with time stamp. Through time trigger mechanism, these instructions are synchronously sent to at least 3 pre-set base stations, ensuring that they receive instructions at the same time reference. According to the real-time position of the target crane, the system calculates the relative azimuth and elevation angle of each base station with it, adjusts the beam direction of the base station, aims at the crane area, and improves the strength of the signal received by the crane. After receiving the instructions sent by all base stations, the crane will first select the complete and unaltered instructions according to the instruction number and check code. Then, the data is filtered by majority voting method.

[0103] Specifically, the base station periodically scans the set communication frequency range to obtain electromagnetic environment data. Time stamp synchronization ensures the consistency of data. According to the electromagnetic environment data, the strong interference standard is determined. From the set communication frequency range, the frequency bands exceeding this standard are removed to obtain a set of available frequencies. Set the two limiting conditions of frequency hopping period and frequency difference. The frequency hopping period is determined according to the real-time requirements of the control instruction. The frequency difference is the minimum difference between two adjacent frequency bands, which will be adjusted according to the interference situation. At the beginning of each frequency hopping period, the next frequency band to be jumped from the set of available frequencies is selected according to the current frequency hopping strategy and the limitation of frequency difference.

[0104] Furthermore, the data collection and synchronization method first determines the target overhead crane's status ID, time, and device number to obtain basic status information. Then, the crane's operating data, such as position coordinates, speed, lifting height, load weight, motor temperature, current, and voltage, is collected synchronously at a fixed frequency, while discarding abnormal data. Real-time collection of abnormal crane status information includes fault codes, alarm levels (ranked from 1 to 5, with level 1 representing a minor warning and level 5 representing an emergency), and communication quality data (including RSSI, signal-to-noise ratio (SNR), packet loss rate (PLR), and link jitter, with the same sampling frequency as the operational data). The EOE protocol encapsulation rules encapsulate the synchronization flag, data type flag, frame length (total number of bytes in the header and payload), and reserved bits (for subsequent expansion) into a header. The payload is encapsulated according to priority: abnormal status information is placed first (to ensure fault information is transmitted first), followed by basic status information, and finally operational data. Each subfield is preceded by a two-bit length flag (recording the number of bytes in the field) to facilitate parsing by the receiver. The CRC32 algorithm is used to perform a comprehensive check on the header and payload, generating a 32-bit checksum as the tail. Furthermore, an 8-bit parity check bit is added to the fault code and alarm level in the abnormal status information, forming a dual check mechanism to improve the integrity of critical data.

[0105] Preferably, the beam adjustment strategy:

[0106]

[0107]

[0108] In the formula is the connecting vector; 、 、 are the origins of the RF units respectively The horizontal coordinate, vertical coordinate and vertical coordinate of 、 、 are the horizontal coordinate, vertical coordinate and vertical coordinate of the preset base station respectively; is the coordinate of the i-th RF block of the RF unit; Represents a vector The modulus value of is the signal propagation speed; is the transmission delay of the i-th radio block.

[0109] The three-dimensional coordinates of the preset base station and the target trolley are obtained in real time by using the ultra-wideband positioning technology. The positioning frequency is synchronized with the frequency hopping period to ensure the timeliness of the data. When the trolley moves, the inertial measurement unit estimates the position change and combines with the base station data fusion correction to reduce the positioning delay. At the same time, according to the calculated delay, the radio frequency signal transmission time is compensated to ensure that the multi-antenna signals are consistent in phase at the base station.

[0110] Specifically, at the end of each frequency hopping period, each preset base station synchronously records the communication data in the current period, which includes signal quality, frequency band information and environmental data. Among them: the signal quality data includes: received signal strength (RSSI), signal-to-noise ratio (SNR), bit error rate (BER), packet loss rate (PLR) and signal stability (represented by the signal strength variance of the unit window). Frequency band information includes: communication transmission frequency band, frequency band usage time, frequency difference before and after adjacent frequency band switching and switching response time. Environmental data includes: environmental electromagnetic value, interference occurrence time, interference duration and interference type. Next, the frequency band information is encoded to change the frequency band value into a discrete index. Then, the time domain features are extracted by the sliding window method, including the mean, rate of change and interference occurrence frequency of the signal quality index. According to the distribution of the signal quality data, set the quantization threshold to divide the communication state label into high quality, low quality and abnormal communication states. The preprocessed communication data is divided into training set, validation set and test set in the ratio of 7:2:1, and the data is integrated with these labels. A CNN-LSTM hybrid neural network model is established, which consists of an input layer, a CNN feature extraction layer, an LSTM time series processing layer and an output layer. The output layer uses a softmax activation function to output the frequency band selection probability distribution corresponding to the high-quality communication state, and also gives the recommended frequency band and switching confidence of the next frequency hopping period. The CNN-LSTM model is trained with the training set to obtain the final target model.

[0111] Optionally, if the target trolley does not receive information from the control end within a set time while working, it is determined that the communication is interrupted, and the trolley is moved to the pre-set emergency area. If the trolley does not receive information after completing the current operation, it remains in the current state. The current progress data of the trolley is packaged into a verification data packet and sent to the control end through the radio frequency unit. If the trolley receives the "state correct" instruction from the control end, it remains in the current state; otherwise, it moves to the emergency area.

[0112] As an optional implementation, the embodiment also provides a trolley real-time communication implementation system in an interference environment, comprising:

[0113] The instruction execution module is configured to receive a terminal control instruction issued by the control end, and control the target trolley to perform an action corresponding to the terminal control instruction.

[0114] A frequency band determination module is configured to determine a communication transmission frequency band by using a preset frequency hopping communication strategy during the operation of the target trolley.

[0115] A data packaging module is configured to package state data of the target trolley based on an EOE communication protocol to obtain a state data packet.

[0116] A data uploading module is configured to adjust a beam direction of a built-in radio frequency unit of the target trolley according to a beam adjustment strategy, and upload the state data packet to the control end through a plurality of preset base stations according to the communication transmission frequency band.

[0117] A strategy optimization module is configured to input attribute data of the state data received by the preset base station into a low-interference frequency hopping strategy prediction model to perform frequency hopping anti-interference analysis, and obtain a low-interference frequency hopping prediction strategy.

[0118] A strategy updating module is configured to update the frequency hopping communication strategy by using the low-interference frequency hopping prediction strategy, and return the frequency band determination module.

[0119] An abnormal emergency module is configured to determine a communication state as a communication abnormal interruption if the target trolley does not receive information from the control end within a preset time window during the operation of the target trolley, and move the target trolley to a preset emergency area.

[0120] As an optional implementation, the embodiment further provides an electronic device, including at least one processor and a memory connected with the processor in communication; wherein the memory stores instructions executable by the processor, and the instructions are executed by the processor to enable the processor to execute the aforementioned trolley real-time communication implementation method in an interference environment.

[0121] As an optional implementation, the embodiment further provides a non-transient computer readable storage medium storing computer instructions, and the computer instructions are used to enable a computer to execute the aforementioned trolley real-time communication implementation method in an interference environment.

[0122] The beneficial effects of the present application are as follows:

[0123] The present application optimizes the current frequency band strategy in real time according to environmental information and communication quality feedback by the dynamic optimization mechanism of the frequency hopping communication strategy and the low-interference frequency hopping strategy prediction model, optimizes the resistance of the communication frequency band to interference, enhances the signal strength by the beam adjustment strategy and the EOE protocol packaging, reduces signal attenuation and multipath interference, and improves the real-time performance of data transmission.

[0124] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0125] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A method for achieving real-time communication of an overhead crane in an interference environment, characterized in that: include: Receive the terminal control instruction sent by the control terminal, and control the target overhead crane to perform the action corresponding to the terminal control instruction; Determining a communication transmission frequency band using a preset frequency hopping communication strategy during operation of the target overhead crane; Encapsulating the state data of the target overhead crane based on the EOE communication protocol to obtain a state data packet; Adjusting the beam direction of the built-in radio frequency unit of the target overhead traveling vehicle according to the beam adjustment strategy, and uploading the status data packet to the control end through a plurality of preset base stations according to the communication transmission frequency band; Inputting the attribute data of the status data received by the preset base station into a low-interference frequency hopping strategy prediction model to perform frequency hopping anti-interference analysis to obtain a low-interference frequency hopping prediction strategy; The frequency hopping communication strategy is updated using the low-interference frequency hopping prediction strategy, and the process returns to the step of "determining a communication transmission frequency band using a preset frequency hopping communication strategy during operation of the target overhead travelling vehicle"; During the operation of the target overhead crane, if the target overhead crane does not receive any information from the control terminal within a preset time window, the communication state is determined to be abnormal communication interruption, and the target overhead crane is moved to a preset emergency area.

2. The method for realizing real-time communication of an overhead crane in an interference environment according to claim 1, characterized in that: Receiving the terminal control instruction sent by the control terminal and controlling the target overhead crane to perform the action corresponding to the terminal control instruction, including: Receive the operator's operation information and convert the operation information into a structured control instruction; the structured control instruction includes: instruction ID, action type, action parameters, execution time limit and check code; Encapsulating the structured control instruction according to the EOE communication protocol to obtain the terminal control instruction; Synchronously sending the terminal control instruction to each of the preset base stations; Directing the beam direction of the preset base station to focus on the area where the target overhead crane is located by using the beam adjustment strategy according to the position information of the target overhead crane; After the target overhead crane receives the terminal control instructions transmitted by all preset base stations, it compares and denoises all received terminal control instructions, and controls the target overhead crane to execute actions corresponding to the denoised terminal control instructions.

3. The method for realizing real-time communication of an overhead crane in an interference environment according to claim 2, characterized in that: Determining a communication transmission frequency band using a preset frequency hopping communication strategy during operation of the target overhead travelling crane includes: Using the preset base station to collaboratively scan the electromagnetic environment within a preset communication frequency band at a fixed frequency to obtain an environmental electromagnetic value, and eliminating frequency bands within the preset communication frequency band where the environmental electromagnetic value exceeds a preset strong interference threshold to obtain a basic frequency band set; Setting a frequency hopping period and a frequency difference threshold constraint; the frequency difference threshold constraint is the minimum threshold of the difference between two adjacent frequency bands; At the beginning of each frequency hopping cycle, a next hopping frequency band is selected within the basic frequency band set according to the current frequency hopping communication strategy and the frequency difference threshold constraint to obtain the communication transmission frequency band.

4. The method for realizing real-time communication of an overhead crane in an interference environment according to claim 3, characterized in that: The state data of the target overhead crane is encapsulated based on the EOE communication protocol to obtain a state data packet, including: Determine the state ID, timestamp, and device number of the target overhead crane to obtain a basic state field; Collect the current position coordinates, operating speed, lifting height, load weight, motor temperature, current and voltage values ​​of the target overhead crane to obtain operating parameters; Collecting the fault code, alarm level, and communication link quality data of the target overhead crane to obtain an abnormal status field; Encapsulate the synchronization flag, data type flag, frame length, and reserved bit into a header, and encapsulate the basic status field, the operating parameters, and the abnormal status field into a payload; Using a CRC32 check algorithm to check the header and the payload portion to obtain a check value, and determining the check value as the tail; The header, the payload, and the tail are combined to obtain the status data packet.

5. The method for realizing real-time communication of an overhead crane in an interference environment according to claim 4, characterized in that: Adjusting the beam direction of the built-in radio frequency unit of the target overhead traveling vehicle according to the beam adjustment strategy, and uploading the status data packet to the control end through a plurality of preset base stations according to the communication transmission frequency band, including: Construct the beam adjustment strategy; the expression of the beam adjustment strategy includes: ; ;in, is the connecting vector; 、 、 are the origins of the radio frequency units The horizontal coordinate, vertical coordinate and vertical coordinate of 、 、 are the horizontal coordinate, vertical coordinate and vertical coordinate of the preset base station respectively; is the coordinate of the i-th radio frequency block of the radio frequency unit; Represents a vector The modulus value of is the signal propagation speed; is the transmission delay of the i-th radio block; Before uploading the status data packet, collecting the position data of each of the preset base stations, calculating the transmission delay of each transmission block of the transmitting unit using the beam adjustment strategy according to the position data, and obtaining a transmission control strategy; The status data packet is sent to the preset base station using the communication transmission frequency band according to the sending control strategy, and the status data packet is uploaded to the control end through the preset base station.

6. The method for realizing real-time communication of an overhead crane in an interference environment according to claim 5, characterized in that: The process of constructing the low-interference frequency hopping strategy prediction model includes: After each frequency hopping cycle ends, communication data is obtained by synchronously recording the signal quality data, corresponding frequency band information, and associated environmental data within the current cycle through each of the preset base stations; the signal quality data includes: received signal strength, signal-to-noise ratio, bit error rate, packet loss rate, and signal stability; the corresponding frequency band information includes: communication transmission frequency band, frequency band usage time, and frequency difference before and after switching between adjacent frequency bands; the associated environmental data includes: environmental electromagnetic value and interference occurrence time; Dividing the signal quality data into high-quality communication states, low-quality communication states, and abnormal communication states in proportion according to the distribution of the signal quality data, integrating the communication data with the high-quality communication states, the low-quality communication states, and the abnormal communication states as labels to obtain a training set; Build a CNN-LSTM hybrid neural network model; The CNN-LSTM hybrid neural network model is trained using the training set to obtain the low-interference frequency hopping strategy prediction model.

7. The method for realizing real-time communication of an overhead crane in an interference environment according to claim 6, characterized in that: During the operation of the target overhead crane, if the target overhead crane does not receive information from the control terminal within a preset time window, determining the communication state as abnormal communication interruption and moving the target overhead crane to a preset emergency area includes: After the target overhead crane completes the current operation, if no information is received from the control terminal, the current state is maintained; The current execution progress data of the target overhead crane is encapsulated into a verification data packet, and the verification data packet is sent to the control end using the radio frequency unit. If the target overhead crane receives a status correct instruction issued by the control end, the current status is maintained; otherwise, the target overhead crane is moved to the preset emergency area.

8. A system for achieving real-time communication of overhead cranes in an interference environment, characterized in that: include: The instruction execution module is used to receive the terminal control instruction sent by the control terminal and control the target overhead crane to execute the action corresponding to the terminal control instruction; A frequency band determination module, configured to determine a communication transmission frequency band using a preset frequency hopping communication strategy during operation of the target overhead travelling crane; A data encapsulation module is used to encapsulate the status data of the target overhead traveling vehicle based on the EOE communication protocol to obtain a status data packet; a data uploading module, configured to adjust the beam direction of the built-in radio frequency unit of the target overhead travelling vehicle according to the beam adjustment strategy, and upload the status data packet to the control terminal through a plurality of preset base stations according to the communication transmission frequency band; A strategy optimization module, configured to input the attribute data of the status data received by the preset base station into a low-interference frequency hopping strategy prediction model to perform frequency hopping anti-interference analysis to obtain a low-interference frequency hopping prediction strategy; a strategy updating module, configured to update the frequency hopping communication strategy using the low-interference frequency hopping prediction strategy and return the strategy to the frequency band determination module; The abnormal emergency module is used to determine the communication status as abnormal communication interruption if the target overhead crane does not receive information from the control terminal within a preset time window during the operation of the target overhead crane, and move the target overhead crane to a preset emergency area.

9. An electronic device, characterized in that: include: At least one processor, and a memory communicatively connected to the processor; wherein the memory stores instructions executable by the processor, and the instructions are executed by the processor so that the processor can execute a method for realizing real-time communication of an overhead crane in an interference environment as claimed in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable a computer to execute a method for implementing real-time communication of an overhead traveling vehicle in an interference environment according to any one of claims 1 to 7.

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