Rotary lever lifting automatic detection system and method based on sensor and Internet of Things

Abstract

The invention discloses a rotating lever lifting automatic detection system and method based on a sensor and the Internet of Things. The method specifically comprises the following steps: a reference sensor and a rotation sensor in a measurement module continuously measure respective horizontal angle data; the measurement data is sent to the two main and standby DTU devices; data of all the sensors are received, and relative angle calculation of the sensors, state judgment of main and standby DTU equipment, a trigger algorithm of a rotary lifting lever arm and fault judgment and switching of the main and standby DTU equipment are executed; the operation state information of the sensor and all connected sensors and the current angle data are sent to the cloud module; and the main DTU equipment receives all state information from the main DTU equipment, is responsible for processing and analyzing the received data in real time, and provides a user interface for remote control and management. The method has the beneficial effects that the linkage operation is triggered at a correct time; the reliability of the system is improved; the equipment operation state is monitored in real time, the maintenance cost is reduced, and the response efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to an automatic detection system and method for rotating lifting bars based on sensors and the Internet of Things. Background Technology

[0002] With the increasing demand for refined and intelligent urban management, especially in municipal operations such as waste collection and transportation, higher requirements are being placed on the real-time monitoring and automated operation of equipment. Traditional mechanical or manual judgment methods are inefficient, prone to errors, and difficult to implement remote monitoring and fault early warning. Therefore, utilizing Internet of Things (IoT) technology, combining sensors, edge computing, and cloud computing services to achieve accurate judgment and automated linkage of key mechanical actions, is an important direction for current technological development.

[0003] The existing lifting motion detection device has the following technical problems: Poor terrain adaptability: Simple devices typically use only one tilt sensor to measure the absolute angle of the lifting arm, but garbage truck operating sites may be uneven slopes. This can cause the measured absolute angle to differ from the actual relative rotation angle, leading to misjudgments and preventing the linkage action from being triggered at the correct time.

[0004] Low reliability: Simplified versions typically use a single sensor and processing device. If the tilt sensor or DTU device fails, the entire unit will fail, unable to continue the task, and affecting operational efficiency.

[0005] Lack of remote monitoring and fault early warning: Most simple devices lack network connectivity, making it impossible to promptly notify administrators of equipment failures. This increases maintenance costs and leads to delayed fault response.

[0006] Insufficient vibration resistance: Near the critical angle of the lifting action, the equipment may frequently switch between "triggered" and "non-triggered" states due to vibration. This may cause the linkage equipment to be frequently and falsely triggered, affecting data accuracy. Summary of the Invention

[0007] The present invention aims to overcome the above-mentioned shortcomings in the prior art and provides a sensor-based and Internet of Things-based automatic detection system and method for rotating lifting bars that can improve response efficiency and operational reliability.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: An automatic detection system for rotating lifting bars based on sensors and the Internet of Things (IoT) is used to automatically detect rotating lifting bar movements and trigger linked operations. It includes a measurement module, a computing module, and a cloud module. Measurement module: includes at least one reference sensor and at least one rotation sensor. The reference sensor is fixed on the working platform of the equipment and is used to measure the horizontal angle of the working plane; the rotation sensor is fixed on the rotating lifting arm of the equipment and is used to measure the horizontal angle of the lifting arm. The calculation module includes at least one DTU device, and each sensor is fully interconnected with the DTU device. The DTU device continuously receives data from each sensor and compares it with preset thresholds to ensure the triggering of the rotating lever arm. Cloud module: Deploys servers in the cloud, including MQTT message queues; communicates with DTU devices at the edge via MQTT message queues, configures DTU devices through messages, receives device operation status messages sent by DTU devices to the cloud module, and promptly alerts when devices fail.

[0009] This invention uses both a reference sensor and a rotation sensor to calculate their relative rotation angle, enabling accurate determination of the actual rotation angle of the lifting arm regardless of whether the working surface is level, thus triggering the linkage operation at the correct time. The redundant design employing multiple sensors and a primary / backup DTU ensures that the entire system continues to function normally even if any device fails, significantly improving system reliability. Through a cloud module, the operating status of each device can be monitored in real time, and alarm information can be sent promptly in case of device failure, reducing maintenance costs and improving response efficiency.

[0010] Preferably, the measurement module includes at least two reference sensors and at least two rotation sensors. All reference sensors are evenly distributed and fixed on the working platform of the equipment for measuring the horizontal angle of the working plane. All rotation sensors are evenly distributed and fixed on the rotating lifting arm of the equipment for measuring the horizontal angle of the lifting arm. The reference sensors and rotation sensors correspond one-to-one, and a tilt sensor pair is formed by one reference sensor and one rotation sensor.

[0011] Preferably, the computing module consists of two primary and backup DTU devices. The primary and backup DTU devices synchronize their states and automatically select a "primary" device through internal communication. The primary DTU device is the data processing center, receiving data from all sensors, performing relative angle calculations, state judgments, and triggering algorithms. Only the primary DTU device will actually trigger the linkage signal and send data to the cloud module. The backup DTU device receives the same sensor data in real time and maintains state synchronization with the primary DTU device. When the primary DTU device fails, the backup DTU device immediately takes over its role and becomes the new primary DTU device, ensuring seamless system operation.

[0012] Preferably, the cloud module is deployed on a cloud server and includes an MQTT message queue, a monitoring program, a management program, and an application program. The MQTT message queue acts as a data receiving center, receiving all status information from the two primary and backup DTU devices; The monitoring program is responsible for processing and analyzing the received data in real time. If any device is found to be offline or the data is abnormal, the monitoring program will automatically generate alarm information. The management program is responsible for device registration, remote parameter configuration, and firmware upgrade management functions; The application provides a user interface that allows users to view device status, historical data, alarm records in real time, and perform remote control and management.

[0013] This invention also provides an automatic detection method for rotating lifting bars based on sensors and the Internet of Things, specifically including the following steps: (1) Data acquisition: The reference sensor and rotation sensor in the measurement module continuously measure their respective horizontal angle data; (2) Data transmission: All sensors transmit their respective measurement data to two main and backup DTU devices via wired or wireless means; (3) Data processing: Receive data from all sensors, perform relative angle calculation of sensors, status judgment of main and backup DTU devices, trigger algorithm of rotating lifting arm, fault judgment and switching of main and backup DTU devices; (4) Cloud communication: The main and backup DTU devices simultaneously send their own and all connected sensors' operating status information and current angle data to the cloud module; (5) Cloud processing: Receives all status information from the primary and backup DTU devices, is responsible for real-time processing and analysis of the received data, and provides a user interface for remote control and management.

[0014] This method uses a preset algorithm to ensure that the linkage operation is triggered only once when moving from the "non-triggering zone" to the "triggering zone", and can effectively avoid repeated triggering when oscillating back and forth in the critical area.

[0015] Preferably, in step (3), the specific steps are as follows: (31) Calculate the relative angle: After receiving data from the reference sensor and the rotation sensor, the DTU device calculates the relative angle between the two. The relative angle = rotation sensor angle - reference sensor angle; (32) Status judgment: The DTU device judges whether the calculated relative angle meets the preset threshold triggering condition. If it does, it enters the triggering interval and executes the triggering algorithm. (33) Triggering algorithm: The DTU device executes a preset algorithm to determine whether the current relative angle has entered the triggering range from the non-triggering range; a triggering command can only be sent when this condition is met. (34) Fault diagnosis and switching: The two DTU devices are interconnected as master and backup. The master DTU device performs the above calculation and judgment, and the backup DTU device performs the calculation and judgment at the same time. If the master DTU device fails, the backup DTU device will automatically take over its work and continue to execute the subsequent steps to ensure uninterrupted operation.

[0016] Preferably, in step (33), the preset algorithm is as follows: (331) The timer is reset during system initialization. The initialization state is determined by the initial state of the system. If the system starts in the trigger interval, it is in the trigger state; if the system starts in the non-trigger interval, it is in the non-trigger state. (332) When the system is in a non-triggering state, it will trigger a linkage signal once when it first enters the triggering interval, and then enter the triggering state. If it continues to be in the non-triggering interval, it will remain unchanged. (333) When the system is in the triggered state, if it enters the non-triggered interval, it enters the ready-to-leave state; if it enters the triggered interval before the ready-to-leave state timer expires, it enters the triggered state, but will not trigger the linkage signal. (334) When the system enters the ready-to-leave state, it will immediately start the timer and begin timing; if it enters the trigger interval before the timer reaches the preset time, the state will directly change to the trigger state; if the timer reaches the preset time, it will immediately enter the non-trigger state; if it stays in the non-trigger interval during the timing period, it will remain in the ready-to-leave state, and the timer will be reset when the ready-to-leave state changes.

[0017] Preferably, in step (5), the specific steps are as follows: (51) Data reception: The MQTT message queue in the cloud module receives status information sent from the primary and backup DTU devices and the measurement values ​​of each sensor; (52) Monitoring: The monitoring program continuously analyzes the received status information. If any sensor or DTU device is found to be offline or has abnormal data, an alarm will be triggered immediately. (53) Management and application: The management program is responsible for the management and remote control of equipment information, while the application program provides a user interface that allows users to view equipment status, historical data and alarm information in real time.

[0018] Preferably, in step (52), all sensors are required to continuously upload values. If a sensor fails to upload data multiple times in a row, it is considered to be faulty, triggering an alarm and requiring timely replacement. For the main and backup DTU devices, if they continuously upload fault status or fail to upload status data, they are considered to be faulty, triggering an alarm and requiring timely replacement.

[0019] Preferably, in step (4), while communicating with the cloud, if the device's working platform is also connected to a linked device, the main and backup DTU devices will send a trigger command to the linked device to enable it to perform the corresponding operation.

[0020] The beneficial effects of this invention are: it enables accurate judgment of the actual rotation angle of the lifting arm regardless of whether the working ground is level, thereby triggering the linkage operation at the correct time; it ensures that even if any one device fails, the entire system can still work normally, greatly improving the reliability of the system; it can monitor the operating status of each device in real time and send alarm information in a timely manner when the device fails, reducing maintenance costs and improving response efficiency. Attached Figure Description

[0021] Figure 1 This is a system structure framework diagram of the present invention; Figure 2 This is a schematic diagram showing the placement of the device's working platform in this invention.

[0022] Figure 3 This is a flowchart of the method of the present invention.

[0023] Figure 4 This is a flowchart of the data processing in this invention.

[0024] Figure 5 This is a flowchart of the preset algorithm in this invention. Detailed Implementation

[0025] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 In the described embodiment, an automatic detection system for rotating lifting bars based on sensors and the Internet of Things is used to automatically detect rotating lifting bar movements and trigger linkage operations. The system includes a measurement module, a computing module, and a cloud module. Measurement module: Includes at least one reference sensor and at least one rotation sensor. The reference sensor is fixed to the work platform of the equipment and is used to measure the horizontal angle of the work plane; the rotation sensor is fixed to the rotating lifting arm of the equipment and is used to measure the horizontal angle of the lifting arm; for example... Figure 1In the embodiment shown, the measurement module includes two reference sensors and two rotation sensors. All reference sensors are evenly distributed and fixed on the working platform of the device to measure the horizontal angle of the working plane. All rotation sensors are evenly distributed and fixed on the rotating lifting arm of the device to measure the horizontal angle of the lifting arm. The reference sensors and rotation sensors are in one-to-one correspondence, and a tilt sensor pair is formed by one reference sensor and one rotation sensor.

[0027] like Figure 2 The diagram shows the installation and use of each sensor: the device is placed on an inclined surface, with an inclination angle of 10 degrees in this example. The reference sensor is placed on the device's working plane, and the rotation sensor is placed on the rotating lever plane. When the device's working plane and the rotating lever plane exceed a preset angle of 30 degrees, the external device (e.g., a camera) will be triggered through the DTU device.

[0028] The computing module includes at least one DTU device, with each sensor fully interconnected to the DTU device to achieve data redundancy and high reliability. The DTU device continuously receives data from each sensor and compares it with preset thresholds to ensure the triggering of the rotating lever arm. Figure 1 In the illustrated embodiment, the computing module consists of two primary and backup DTU devices. The primary and backup DTU devices synchronize their states and automatically select a "primary" device through internal communication. The primary DTU device is the data processing center, receiving data from all sensors, performing relative angle calculations, state judgments, and triggering algorithms. Only the primary DTU device will actually trigger the linkage signal and send data to the cloud module. The backup DTU device receives the same sensor data in real time and maintains state synchronization with the primary DTU device. When the primary DTU device fails (e.g., goes offline), the backup DTU device immediately takes over its role and becomes the new primary DTU device, ensuring seamless system operation.

[0029] The DTU device continuously receives data from various sensors. If no data is received within a preset threshold time, or if the data continues to change non-linearly, it is considered faulty and excluded from the calculation logic, but its status will be reported to the cloud module.

[0030] Cloud Module: Deploys servers in the cloud, including MQTT message queues; communicates with edge DTU devices via MQTT message queues, configures the DTU devices through messages, receives device operation status messages sent by the DTU devices to the cloud module, and promptly alerts in case of device failure. For example... Figure 1 In the illustrated embodiment, the cloud module is deployed on a cloud server and includes an MQTT message queue, a monitoring program, a management program, and an application. The MQTT message queue acts as a data receiving center, receiving all status information from the two primary and backup DTU devices; The monitoring program is responsible for processing and analyzing the received data in real time. If any device is found to be offline or the data is abnormal, the monitoring program will automatically generate alarm information. The management program is responsible for management functions such as device registration, remote parameter configuration, and firmware upgrades; The application provides a user interface that allows users to view device status, historical data, alarm records in real time, and perform remote control and management.

[0031] Among them, DTU (Data Transfer Unit): a data transmission unit, a device used to convert serial data into IP data and transmit it through a wireless network.

[0032] MQTT (Message Queuing Telemetry Transport): A lightweight publish / subscribe messaging protocol designed for low-bandwidth and unreliable network environments.

[0033] Tilt sensor: A sensor that measures the angle of inclination of an object relative to a horizontal plane.

[0034] Reference sensor: also known as reference tilt sensor, is a tilt sensor fixed on the stable platform of the equipment and used to measure the horizontal angle of the working plane of the equipment.

[0035] Rotation sensor: also known as rotation tilt sensor, is a tilt sensor fixed on the lifting arm and used to measure the horizontal angle of the lifting arm.

[0036] like Figure 3 As shown, the present invention also provides an automatic detection method for rotating lifting bars based on sensors and the Internet of Things, specifically including the following steps: (1) Data acquisition: The reference sensor and rotation sensor in the measurement module continuously measure their respective horizontal angle data.

[0037] (2) Data transmission: All sensors transmit their respective measurement data to two main and backup DTU devices via wired or wireless means.

[0038] (3) Data Processing: Receives data from all sensors, performs relative angle calculations, status checks of primary and backup DTU devices, triggers the rotating boom arm, and diagnoses and switches between primary and backup DTU devices; such as... Figure 4 As shown, specifically: (31) Calculate the relative angle: After receiving data from the reference sensor and the rotation sensor, the DTU device calculates the relative angle between the two. The relative angle = rotation sensor angle - reference sensor angle; (32) Status judgment: The DTU device judges whether the calculated relative angle meets the preset threshold triggering conditions (e.g., whether the relative angle is greater than 30 degrees). If it meets the conditions, it enters the triggering interval and executes the triggering algorithm. (33) Triggering Algorithm: The DTU device executes a preset algorithm to determine whether the current relative angle has entered the triggering range from the non-triggering range; only when this condition is met can a trigger command be sent; this algorithm also ensures that brief oscillations in the critical region will not lead to repeated triggering, and also ensures that a trigger will definitely occur once upon entering the triggering range. Figure 5 As shown, the preset algorithm is as follows: (331) The timer is reset during system initialization. The initialization state (triggered state, non-triggered state) is determined by the initial state of the system. If the system starts in the trigger interval, it is in the trigger state; if the system starts in the non-triggered interval, it is in the non-triggered state. (332) When the system is in a non-triggering state, it will trigger a linkage signal once when it first enters the triggering interval, and then enter the triggering state. If it continues to be in the non-triggering interval, it will remain unchanged. (333) When the system is in the triggered state, if it enters the non-triggered interval, it enters the ready-to-leave state; if it enters the triggered interval before the ready-to-leave state timer expires, it enters the triggered state, but will not trigger the linkage signal. This can avoid continuously triggering the linkage signal in a vibrating environment. (334) When the system enters the ready-to-leave state, it will immediately start the timer and begin timing; if it enters the trigger interval before the timer reaches the preset time (default 3 seconds), the state will directly change to the trigger state; if the timer reaches the preset time, it will immediately enter the non-trigger state; if it stays in the non-trigger interval during the timing period, it will remain in the ready-to-leave state, and the timer will be reset when the ready-to-leave state is changed.

[0039] (34) Fault diagnosis and switching: The two DTU devices are interconnected as master and backup. The master DTU device performs the above calculation and judgment, and the backup DTU device performs the calculation and judgment at the same time. If the master DTU device fails, the backup DTU device will automatically take over its work and continue to execute the subsequent steps to ensure uninterrupted operation.

[0040] The corresponding algorithm code is as follows: in_trigger = in_trigger_zone() # Check if the current zone is within the trigger zone if in_trigger: # The initial state is determined by the interval it is in state = TRIGGER else: state = NON_TRIGGER timer = 0 # Timer, unit is seconds while True: in_trigger = in_trigger_zone() if state == NON_TRIGGER: if in_trigger: # First time entering the trigger zone trigger_signal() # Immediately trigger the signal state = TRIGGER elif state == TRIGGER: if not in_trigger: # Leave the trigger zone and enter the non-trigger zone. state = PREPARE_LEAVE timer = 0 # Start the timer elif state == PREPARE_LEAVE: if in_trigger: # Re-enter the trigger zone state = TRIGGER timer = 0 # Reset the timer else: timer += time_delta # Accumulate time (e.g., increase by 0.1 seconds per iteration) if timer>= 3: # If the timer remains in the non-triggered interval for more than 3 seconds state = NON_TRIGGER timer = 0 (4) Cloud Communication: The primary and backup DTU devices simultaneously send their own and all connected sensor operating status information and current angle data to the cloud module. While communicating with the cloud, if the device's working platform is also connected to a linked device (e.g., a camera), the primary and backup DTU devices will send trigger commands to the linked device to execute corresponding operations. The DTU device and the linked device can be controlled by simple switch signals, or by using protocols such as Modbus as needed.

[0041] The data transmission protocol format is defined as follows:

[0042]

[0043] (5) Cloud processing: Receives all status information from the primary and backup DTU devices, is responsible for real-time processing and analysis of the received data, and provides a user interface for remote control and management; specifically: (51) Data reception: The MQTT message queue in the cloud module receives status information sent from the primary and backup DTU devices and the measurement values ​​of each sensor; (52) Monitoring: The monitoring program continuously analyzes the received status information. If any sensor or DTU device is found to be offline or has abnormal data, an alarm is triggered immediately. All sensors are required to continuously upload values. If a sensor fails to upload data multiple times in a row, it is considered to be faulty, an alarm is triggered, and timely replacement is required. If the main and backup DTU devices continuously upload fault status or have no status data uploaded, they are considered to be faulty, an alarm is triggered, and timely replacement is required.

[0044] (53) Management and Application: The management program is responsible for the management of equipment information and remote control, while the application program provides a user interface that allows users to view equipment status, historical data, and alarm information in real time.

[0045] This invention effectively solves the following technical problems in the prior art by employing a multi-sensor redundancy design and combining it with advanced algorithms: This invention solves the problem of misjudgment caused by uneven terrain: By using a reference sensor and a rotation sensor simultaneously to calculate the relative rotation angle between the two, it can accurately determine the actual rotation angle of the lifting arm regardless of whether the working ground is level, thereby triggering the linkage operation at the correct time.

[0046] This invention solves the problem of system paralysis caused by a single equipment failure: It adopts a redundant design of multiple sensors and main / backup DTU devices to ensure that the entire system can still work normally even if any one device fails, greatly improving the reliability of the system.

[0047] This invention solves the problem of lack of remote monitoring and fault early warning: Through a cloud module, the operating status of each device can be monitored in real time, and alarm information can be sent in a timely manner when a device fails, thereby reducing maintenance costs and improving response efficiency.

[0048] The invention solves the problem of false triggering during oscillations in the critical region: Through a specific algorithm, the invention ensures that the linkage operation is triggered only once when moving from the "non-triggering zone" to the "triggering zone", and effectively avoids repeated triggering when oscillating back and forth in the critical region.

[0049] This invention, through the use of multiple sensors, redundant design of primary and backup DTU devices, and corresponding algorithms, brings the following significant positive effects: Extremely high reliability: The redundant design of multiple sensors and the seamless switching function between primary and backup DTUs ensure that the entire system can still work normally even if a single device (sensor or DTU) fails, greatly improving the system's stability and continuous operation capability.

[0050] Excellent environmental adaptability: By calculating the relative angle between the reference sensor and the rotation sensor, this invention eliminates measurement errors caused by changes in terrain slope, enabling the system to accurately judge the lifting action on any uneven work site.

[0051] Precise trigger control: The application of key algorithms ensures that the linkage operation is triggered only once when moving from the "non-trigger" zone to the "trigger" zone, effectively avoiding false triggering or repeated triggering in the critical area due to equipment vibration, and improving work efficiency and the accuracy of linkage data.

[0052] Highly efficient remote management and maintenance capabilities: Through cloud modules, managers can remotely monitor the system's operating status in real time and receive timely alarms when equipment fails, greatly reducing the cost and response time of on-site maintenance and achieving more efficient intelligent management.

Claims

1. An automatic detection system for rotating lifting bars based on sensors and the Internet of Things, characterized in that, It is used to automatically detect the rotation of the lifting bar action and trigger linkage operations, including a measurement module, a calculation module, and a cloud module. Measurement module: It includes at least one reference sensor and at least one rotation sensor. The reference sensor is fixed on the working platform of the device and is used to measure the horizontal angle of the working plane. The rotation sensor is fixed on the rotating lifting bar arm of the device and is used to measure the horizontal angle of the lifting bar arm. Calculation module: It includes at least one DTU device, and each sensor is fully interconnected with the DTU device. The DTU device continuously receives data from each sensor and compares it with a preset threshold to ensure the triggering of the rotating lifting bar arm. Cloud module: A server is deployed in the cloud, including an MQTT message queue. It communicates with the DTU device at the edge through the MQTT message queue, configures the DTU device through messages, and at the same time receives the device operation status messages sent by the DTU device to the cloud module and issues an alarm in a timely manner when the device fails.

2. The automatic detection system for rotating lifting bars based on sensors and the Internet of Things as described in claim 1, characterized in that, The measurement module includes at least two reference sensors and at least two rotation sensors. All reference sensors are evenly distributed and fixed on the working platform of the device and are used to measure the horizontal angle of the working plane. All rotation sensors are evenly distributed and fixed on the rotating lifting bar arm of the device and are used to measure the horizontal angle of the lifting bar arm. Among them, the reference sensors and rotation sensors correspond one by one, and a pair of inclination sensors is composed of one reference sensor and one rotation sensor.

3. The automatic detection system for rotating lifting bars based on sensors and the Internet of Things according to claim 1, characterized in that, The calculation module consists of two primary and backup DTU devices. The primary and backup DTU devices perform status synchronization and automatic selection of the "primary" through internal communication. The primary DTU device is the data processing center, receives the data of all sensors, executes relative angle calculation, status judgment, and triggering algorithms. Only the primary DTU device will actually trigger the linkage signal and send data to the cloud module. The backup DTU device continuously receives the same sensor data and keeps the status synchronized with the primary DTU device. When the primary DTU device fails, the backup DTU device immediately takes over its role and becomes the new primary DTU device to ensure the seamless operation of the system.

4. The automatic detection system for rotating lifting bars based on sensors and the Internet of Things according to claim 3, characterized in that, The cloud module is deployed on a cloud server and includes an MQTT message queue, a monitoring program, a management program, and an application program. The MQTT message queue acts as a data receiving center and receives all status information from the two primary and backup DTU devices. The monitoring program is responsible for real-time processing and analysis of the received data. If any device goes offline or the data is abnormal, the monitoring program will automatically generate an alarm message. The management program is responsible for device registration, remote parameter configuration, and firmware upgrade management functions. The application program provides a user interface that allows users to view the device status, historical data, and alarm records in real time and perform remote control and management.

5. The automatic detection method for rotating lifting bars based on sensors and the Internet of Things according to claim 1, 2, 3, or 4, characterized in that, Specifically, it includes the following steps: (1) Data acquisition: The reference sensors and rotation sensors in the measurement module continuously measure their respective horizontal angle data. (2) Data transmission: All sensors send their respective measurement data to the two primary and backup DTU devices by wired or wireless means. (3) Data processing: Receive data from all sensors, perform relative angle calculation of sensors, status judgment of main and backup DTU devices, trigger algorithm of rotating lifting arm, fault judgment and switching of main and backup DTU devices; (4) Cloud communication: The main and backup DTU devices simultaneously send their own and all connected sensors' operating status information and current angle data to the cloud module; (5) Cloud processing: Receives all status information from the primary and backup DTU devices, is responsible for real-time processing and analysis of the received data, and provides a user interface for remote control and management.

6. The automatic detection method for rotating lifting bars based on sensors and the Internet of Things according to claim 5, characterized in that, In step (3), specifically: (31) Calculate the relative angle: After receiving data from the reference sensor and the rotation sensor, the DTU device calculates the relative angle between the two. The relative angle = rotation sensor angle - reference sensor angle; (32) Status judgment: The DTU device judges whether the calculated relative angle meets the preset threshold triggering condition. If it does, it enters the triggering interval and executes the triggering algorithm. (33) Triggering algorithm: The DTU device executes a preset algorithm to determine whether the current relative angle has entered the triggering range from the non-triggering range; a triggering command can only be sent when this condition is met. (34) Fault diagnosis and switching: The two DTU devices are interconnected as master and backup. The master DTU device performs the above calculation and judgment, and the backup DTU device performs the calculation and judgment at the same time. If the master DTU device fails, the backup DTU device will automatically take over its work and continue to execute the subsequent steps to ensure uninterrupted operation.

7. The automatic detection method for rotating lifting bars based on sensors and the Internet of Things according to claim 6, characterized in that, In step (33), the preset algorithm is as follows: (331) The timer is reset during system initialization. The initialization state is determined by the initial state of the system. If the system starts in the trigger interval, it is in the trigger state; if the system starts in the non-trigger interval, it is in the non-trigger state. (332) When the system is in a non-triggering state, it will trigger a linkage signal once when it first enters the triggering interval, and then enter the triggering state. If it continues to be in the non-triggering interval, it will remain unchanged. (333) When the system is in the triggered state, if it enters the non-triggered interval, it enters the ready-to-leave state; if it enters the triggered interval before the ready-to-leave state timer expires, it enters the triggered state, but will not trigger the linkage signal. (334) When the system enters the ready-to-leave state, it will immediately start the timer and begin timing; if it enters the trigger interval before the timer reaches the preset time, the state will directly change to the trigger state; if the timer reaches the preset time, it will immediately enter the non-trigger state; if it stays in the non-trigger interval during the timing period, it will remain in the ready-to-leave state, and the timer will be reset when the ready-to-leave state changes.

8. The automatic detection method for rotating lifting bars based on sensors and the Internet of Things according to claim 5, characterized in that, In step (5), specifically: (51) Data reception: The MQTT message queue in the cloud module receives status information sent from the primary and backup DTU devices and the measurement values ​​of each sensor; (52) Monitoring: The monitoring program continuously analyzes the received status information. If any sensor or DTU device is found to be offline or has abnormal data, an alarm will be triggered immediately. (53) Management and application: The management program is responsible for the management and remote control of equipment information, while the application program provides a user interface that allows users to view equipment status, historical data and alarm information in real time.

9. The automatic detection method for rotating lifting bars based on sensors and the Internet of Things according to claim 8, characterized in that, In step (52), all sensors are required to continuously upload values. If a sensor fails to upload data multiple times in a row, it is considered to be faulty, triggering an alarm and requiring timely replacement. For the main and backup DTU devices, if they continuously upload fault status or fail to upload status data, they are considered to be faulty, triggering an alarm and requiring timely replacement.

10. The automatic detection method for rotating lifting bars based on sensors and the Internet of Things according to claim 5, characterized in that, In step (4), while communicating with the cloud, if the device's working platform is also connected to a linked device, the main and backup DTU devices will send a trigger command to the linked device to perform the corresponding operation.

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