Remote crane control system and method

Abstract

The invention provides a remote crane control system and method. The system comprises an operation end and an equipment end, the operation end comprises a control module and an operation end double-link communication module, the equipment end comprises an equipment control module and an equipment end double-link communication module, and the two communication modules are connected through double communication links; the control module is used for generating a crane control instruction and a heartbeat data packet sending triggering instruction; the operation end double-link communication module is used for sending a crane control instruction to the equipment end double-link communication module based on double communication links; and in response to the heartbeat data packet sending instruction, sending a preset heartbeat data packet to the device-end double-link communication module based on the double communication links, so that the device-end double-link communication module receives the preset heartbeat data packet, and the equipment control module is used for determining a to-be-executed control instruction according to the communication condition of the dual-communication link, and controlling the crane to implement corresponding operation according to the to-be-executed control instruction. According to the invention, the overall operation safety and reliability are improved.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, and in particular to a remote crane control system and method. Background Technology

[0002] Existing remote crane control systems pose potential safety hazards under conditions such as communication failures, link interruptions, and environmental interference. Specifically, existing remote crane control systems use a single link to transmit commands. This single link may be interrupted due to network fluctuations, signal shielding, or electromagnetic interference. In such cases, operation commands cannot be transmitted in real time, and the crane is highly susceptible to loss of control or misoperation, posing serious safety risks. Summary of the Invention

[0003] This invention provides a remote crane control system and method to address the high safety risks inherent in existing technologies and achieve safe remote crane control.

[0004] This invention provides a remote crane control system, including an operator terminal and an equipment terminal; The operating terminal includes a control module and an operating terminal dual-link communication module, and the device terminal includes a device control module and a device terminal dual-link communication module. The operating terminal dual-link communication module and the device terminal dual-link communication module are connected through a first communication link and a second communication link. The control module is used to generate crane control commands and trigger heartbeat data packet sending commands according to a preset time period; The operator-side dual-link communication module is used to send the crane control command to the device-side dual-link communication module based on the first communication link and the second communication link; and in response to the heartbeat data packet sending command, to send a preset heartbeat data packet to the device-side dual-link communication module based on the first communication link and the second communication link. The device-side dual-link communication module is used to receive the crane control command and / or the preset heartbeat data packet based on the first communication link and the second communication link; The equipment control module is used to determine the control command to be executed based on the connectivity of the first communication link and the second communication link, and to control the crane to perform the corresponding operation based on the control command to be executed; wherein, the control command to be executed includes a slow-stop procedure implementation command and an effective control command, the slow-stop control command is used to implement the corresponding operation of the preset slow-stop procedure, and the effective control command includes the crane control command transmitted by the first communication link or the second communication link, and the connectivity of the first communication link and the second communication link is determined based on the reception of the preset heartbeat data packet of the corresponding link.

[0005] According to a remote crane control system provided by the present invention, the first communication link is an ExpressLRS wireless link; and / or the second communication link is a wireless link based on industrial-grade LoRa communication.

[0006] According to the present invention, a remote crane control system includes an operation input module, an instruction generation module, and an operation terminal dual-link management module. The operation input module is used to acquire operator operation input based on an input device; wherein, the input device includes at least one of a mechanical manual input device, an electronic automatic input device, and a graphical interface-based input device; The instruction generation module is used to generate motion control instructions as crane control instructions based on the operation input. The dual-link management module of the operating terminal is used to trigger a heartbeat data packet sending instruction according to a preset time period, and to encrypt the crane control instructions transmitted based on the first communication link and / or the second communication link using a preset encryption mechanism.

[0007] According to a remote crane control system provided by the present invention, the control module further includes a remote emergency stop and manual intervention control interface, which is used for at least one of equipment parameter configuration, communication module debugging, firmware remote upgrade and fault log export.

[0008] According to the present invention, a remote crane control system includes a device control module comprising a control processing module and a device-side dual-link management module. The control processing module is used to control the crane to perform corresponding operations according to the control command to be executed; The device-side dual-link management module is used for: The connectivity status of the first communication link is determined based on the reception status of the preset heartbeat data packet of the first communication link; the connectivity status of the second communication link is determined based on the reception status of the preset heartbeat data packet of the second communication link. If at least one of the first and second communication links is in a connectivity abnormality, a pausing procedure implementation instruction is triggered, and the pausing procedure implementation instruction is used as a control instruction to be executed to perform the corresponding operation of the preset pausing procedure. If both the first and second communication links are in normal connectivity, then the crane control command transmitted based on the first or second communication link is selected as the valid control command, and the valid control command is used as the control command to be executed. According to a remote crane control system provided by the present invention, the device-side dual-link management module is used for: If either the first or the second communication link is in a connectivity abnormal state, real-time device data and / or abnormal status information are obtained based on the corresponding communication link where the connectivity is normal, and the real-time device data and / or the abnormal status information are sent to the operating terminal through the corresponding communication link where the connectivity is normal.

[0009] According to a remote crane control system provided by the present invention, the dual-link management module at the device end is further used for: If the heartbeat data packet reception includes the continuous loss of a preset number of preset heartbeat data packets, the connectivity of the corresponding communication link is determined to be abnormal.

[0010] The present invention also provides a remote crane control method, comprising: The control module on the operating terminal generates crane control commands and triggers the heartbeat data packet sending command according to a preset time period. Based on the operator terminal dual-link communication module, the crane control command is sent to the device terminal dual-link communication module based on the first communication link and the second communication link; and in response to the heartbeat data packet sending command, a preset heartbeat data packet is sent to the device terminal dual-link communication module based on the first communication link and the second communication link. Based on the dual-link communication module on the device side, the crane control command and / or the preset heartbeat data packet are received based on the first communication link and the second communication link; Based on the equipment control module, the control command to be executed is determined according to the connectivity of the first communication link and the second communication link, and the crane is controlled to perform the corresponding operation according to the control command to be executed; The control instructions to be executed include a slow-stop procedure implementation instruction and an effective control instruction. The slow-stop control instruction is used to implement the corresponding operation of the preset slow-stop procedure. The effective control instruction includes a crane control instruction transmitted by the first communication link or the second communication link. The connectivity of the first communication link and the second communication link is determined based on the reception of the preset heartbeat data packets of the corresponding link.

[0011] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the remote crane control method as described above.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the remote crane control method as described above.

[0013] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the remote crane control method as described above.

[0014] The remote crane control system and method provided by this invention utilizes a dual-communication mechanism—a first communication link and a second communication link—to connect the operator's terminal and the equipment terminal via dual-link communication modules. This allows for the simultaneous transmission of crane control commands generated by the operator's control module across both links, achieving dual data backup and facilitating subsequent diagnostics and testing. The dual-link communication modules on the operator's and equipment terminals detect the connectivity of the first and second communication links by sending and receiving heartbeat data packets. Based on the connectivity of the first and second communication links, the equipment control module determines the control commands to be executed and controls the crane to perform corresponding operations according to these commands. The control commands to be executed include a slow-stop procedure implementation command and crane control commands. If a connectivity anomaly occurs, a slow-stop operation is performed, ensuring the controlled safety and integrity of the crane system under different communication conditions and improving overall operational safety and communication reliability. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is one of the structural schematic diagrams of the remote crane control system provided by the present invention; Figure 2 This is the second structural schematic diagram of the remote crane control system provided by the present invention; Figure 3 This is one of the data flow diagrams of the remote crane control system provided by the present invention; Figure 4 This is the second schematic diagram of data flow in the remote crane control system provided by the present invention; Figure 5 This is the third schematic diagram of data flow in the remote crane control system provided by the present invention; Figure 6 This is the fourth schematic diagram of data flow in the remote crane control system provided by the present invention; Figure 7This is the fifth schematic diagram of data flow in the remote crane control system provided by the present invention; Figure 8 This is a flowchart illustrating the remote crane control method provided by the present invention; Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0018] The following is combined Figures 1-7 The remote crane control system of the present invention is described below. Figure 1 This is one of the structural schematic diagrams of the remote crane control system provided by the present invention, such as... Figure 1 As shown, the system includes an operation terminal 110 and a device terminal 120.

[0019] Equipment end 120 refers to mechanical equipment including cranes, especially crane end, while operation end 110 refers to industrial control consoles or controllers for operating cranes.

[0020] The operation terminal 110 includes a control module 112 and an operation terminal dual-link communication module 114, and the device terminal 120 includes a device control module 122 and a device terminal dual-link communication module 124. The operation terminal dual-link communication module 114 and the device terminal dual-link communication module 124 are connected through a first communication link and a second communication link.

[0021] The communication module of the operator terminal 110 is referred to as the operator terminal dual-link communication module 114, and the communication module of the device terminal 120 is referred to as the device terminal dual-link communication module 124. The two communication modules are connected through a first communication link and a second communication link.

[0022] It is important to note that the first and second communication links transmit data simultaneously, enabling the system to possess redundancy and diagnostic capabilities. The data transmitted simultaneously by the first and second communication links serves as backups for each other, achieving data redundancy. In the event of a system failure, the system can automatically diagnose and detect faults based on the data backups.

[0023] The control module 112 is used to generate operation instructions (i.e., crane control instructions) and to trigger the heartbeat data packet sending instruction according to a preset time period.

[0024] The operating terminal 110 also includes a control module 112, which is used to generate crane control commands. Simultaneously, the control module acts as a trigger for sending heartbeat data packets, generating heartbeat data packet sending commands according to a preset time period.

[0025] The heartbeat data packet sending command is used to control the dual-link communication module 114 of the operating terminal to send a preset heartbeat data packet according to a preset time period.

[0026] The preset time period can be set according to the actual situation, and the present invention does not impose any restrictions on it.

[0027] The operator-side dual-link communication module 114 is used to send the crane control command to the device-side dual-link communication module 124 based on the first communication link and the second communication link; and in response to the heartbeat data packet sending command, to send a preset heartbeat data packet to the device-side dual-link communication module 124 based on the first communication link and the second communication link.

[0028] After the control module 112 generates the crane control command, it sends the crane control command to the device terminal 120 through the dual-link communication module 114. The device terminal 120 receives the crane control command from the dual-link communication module 124.

[0029] Meanwhile, the dual-link communication module 114 on the operating end, as the heartbeat initiator of the preset heartbeat data packet, responds to the heartbeat data packet sending instruction and sends the preset heartbeat data packet to the dual-link communication module 124 on the device end according to the preset time period.

[0030] It should be noted that both crane control commands and preset heartbeat data packets are transmitted simultaneously via the first and second communication links to achieve data redundancy.

[0031] The device-side dual-link communication module 124 is used to receive the crane control command and / or the preset heartbeat data packet based on the first communication link and the second communication link.

[0032] The equipment control module 122 is used to determine the control command to be executed based on the connectivity of the first communication link and the second communication link, and to control the crane to perform the corresponding operation based on the control command to be executed.

[0033] The control instructions to be executed include a slow-stop procedure implementation instruction and an effective control instruction. The slow-stop control instruction is used to implement the corresponding operation of the preset slow-stop procedure. The effective control instruction includes a crane control instruction transmitted by the first communication link or the second communication link. The connectivity of the first communication link and the second communication link is determined based on the reception of the preset heartbeat data packets of the corresponding link.

[0034] The device control module 122 is used to determine the control command to be executed by the device terminal 120 based on the connectivity of the first communication link and the second communication link, and to control the device terminal 120 to perform the corresponding operation according to the control command to be executed.

[0035] Specifically, the connectivity between the first and second communication links is determined based on the reception of preset heartbeat data packets on the first and second communication links.

[0036] The control instructions to be executed include slow-stop procedure implementation instructions and effective control instructions. The equipment control module 122 parses the specific instructions and controls the equipment terminal 120 to perform the corresponding operations based on the parsing results.

[0037] The pausing control command is used to implement the corresponding operation of the preset pausing procedure. The pausing procedure is mainly used to switch to a safe state in a timely manner when a critical component or system fails, implement pausing or safe operation, ensure the system's fault response capability, make it controllable within a safe range, and achieve safety integrity.

[0038] Valid control commands include crane control commands transmitted via the first communication link or the second communication link. Specifically, when both the first and second communication links are normally connected, the crane control commands transmitted by both are the same, and the crane control command from either link can be selected as the valid control command.

[0039] This invention provides a remote crane control system that utilizes a dual-communication mechanism—a first communication link and a second communication link—to connect the operator's terminal and the equipment terminal via dual-link communication modules. This allows for the simultaneous transmission of crane control commands generated by the operator's control module across both links, achieving dual data backup and facilitating subsequent diagnostics and testing. The dual-link communication modules on the operator's and equipment terminals detect the connectivity of the first and second communication links by sending and receiving heartbeat data packets. Based on the connectivity of the first and second communication links, the equipment control module determines the control commands to be executed and controls the crane to perform corresponding operations according to these commands. The control commands to be executed include a slow-stop procedure execution command and crane control commands. If a connectivity anomaly occurs, a slow-stop operation is initiated, ensuring the controlled safety and integrity of the crane system under different communication conditions, thereby improving overall operational safety and communication reliability.

[0040] The first communication link and the second communication link are described below. In some embodiments, the first communication link is an ExpressLRS wireless link; and / or The second communication link is a wireless link based on industrial-grade LoRa communication.

[0041] Specifically, the first communication link can be an ExpressLRS wireless link.

[0042] In some embodiments, a 900MHz and 2.4GHz ELRS (ExpressLRS) wireless link is used as the first communication link.

[0043] It should be noted that ELRS (Epress Long Range System) communication technology features low latency. The link employs hybrid mode encoding for both command and data, and transmits data in layers. For real-time control layer commands, such as travel and acceleration / deceleration adjustments, and direction adjustments, the ExpressLRS wireless link can continuously update with a refresh rate of 50Hz to 500Hz. For non-real-time data layer data transmission, such as sensor status, the ExpressLRS wireless link can achieve a refresh rate of 5Hz to 50Hz. The ExpressLRS wireless link enables bidirectional communication, features dynamic frequency hopping and encryption protection, and boasts ultra-low latency and a high refresh rate.

[0044] In some embodiments, the ExpressLRS wireless link operates in the 900MHz and 2.4GHz frequency bands, employing dynamic frequency hopping and data encryption.

[0045] In some embodiments, this embodiment selects a wireless link based on industrial-grade LoRa communication as the second communication link, which has the characteristics of high anti-interference and high stability.

[0046] It should be noted that the wireless link based on industrial-grade LoRa communication can achieve bidirectional communication, has AES encryption and long-distance communication capabilities, and adopts encryption and anti-interference design.

[0047] Based on this, further, such as Figure 2 As shown, the dual-link communication module 114 of the operation end can be divided into a first operation end communication module and a second operation end communication module, and the dual-link communication module 124 of the device end can be divided into a first device end communication module and a second device end communication module.

[0048] The first operator terminal communication module and the first device terminal communication module are connected via a first communication link, and the second operator terminal communication module and the second device terminal communication module are connected via a second communication link. In other words, the first communication link connects the first operator terminal communication module of the operator terminal 110 with the first device terminal communication module of the device, and the second communication link connects the second operator terminal communication module of the operator terminal 110 with the second device terminal communication module of the device.

[0049] Furthermore, based on the bidirectional communication characteristics of the ExpressLRS wireless link and the industrial-grade LoRa wireless link, the device-side dual-link communication module 124 can also act as the heartbeat initiator of the preset heartbeat data packet, sending the preset heartbeat data packet to the operator-side dual-link communication module 114 according to a preset time period, based on a similar control method described above. This invention will not elaborate further on this aspect.

[0050] Meanwhile, the device 120 can also send the feedback information generated during the operation to the operator 110 through the first communication link and the second communication link, so as to perform subsequent fault detection or other operations.

[0051] In some embodiments, the control module 112 includes an operation input module, an instruction generation module, and an operation terminal dual-link management module; The operation input module is used to acquire operator operation input based on an input device; wherein, the input device includes at least one of a mechanical manual input device, an electronic automatic input device, and a graphical interface-based input device; The instruction generation module is used to generate motion control instructions as crane control instructions based on the operation input. The dual-link management module of the operating terminal is used to trigger a heartbeat data packet sending instruction according to a preset time period, and to encrypt the crane control instructions transmitted based on the first communication link and / or the second communication link using a preset encryption mechanism.

[0052] Specifically, crane control commands are generated through input from the operation input module.

[0053] The operator inputs the relevant content of the instructions to be generated through input devices, which is recorded as operation input. Input devices include mechanical manual input devices (such as operating handles, buttons, switches, etc.), electronic automatic input devices (such as devices that can directly output preset action sequences, automated path planning instructions, etc.), and graphical interface-based input devices.

[0054] The instruction generation module generates standardized motion control instructions based on the operation input, which serve as crane control instructions.

[0055] Furthermore, in some embodiments, the generated crane control commands support multi-level operation permission verification and misoperation protection logic to ensure the accuracy and security of command execution.

[0056] It should be noted that graphical interface-based input devices provide a graphical interface, allowing operators to generate operation inputs through touch, buttons, etc., and then generate crane control commands to control the crane's movement, lifting, rotation, and other operations.

[0057] Furthermore, the graphical interface-based input device can also be used to display data such as the action status, equipment parameters, link quality, and fault alarms transmitted in real time from the crane end by the device end 120, and display them on the interface in graphical or textual form, so that the operator can easily understand the equipment operation status.

[0058] In some embodiments, graphical user interface-based input devices include, but are not limited to, displays, touchscreens, and touch tablets.

[0059] In some embodiments, the operation input module can also receive manual driving operation instructions from the operator (such as crane travel, lifting, rotation, grabbing, etc.) as operation input, and the instruction generation module generates standardized motion control instructions as crane control instructions based on the manual driving operation instructions.

[0060] Furthermore, in some embodiments, crane control commands are transmitted in a layered manner in conjunction with the characteristics of the ELRS protocol: control commands are divided into a real-time control layer (such as lifting, speed, and direction adjustment, 1000Hz refresh rate) and a non-real-time data layer (such as sensor telemetry, 10Hz refresh rate), and bandwidth allocation is optimized through the ELRS Hybrid Mode.

[0061] The dual-link management module on the operating end triggers a heartbeat data packet sending command according to a preset time period.

[0062] The heartbeat data packet sending command is used to control the dual-link communication module 114 on the operating end to send preset heartbeat data packets according to a preset time period, so as to maintain the effectiveness of the connection with the dual-link communication module 124 on the device end and detect the connectivity status in a timely manner. At the same time, when the connectivity status is abnormal, a reconnection mechanism is triggered to restore the link.

[0063] Understandably, the heartbeat data packet mechanism can effectively detect abnormal interruptions that the communication protocol itself cannot respond to quickly, such as sudden power outages or network lines being disconnected.

[0064] The dual-link management module on the operating end is also used to encrypt crane control commands transmitted based on the first communication link and / or the second communication link using a preset encryption mechanism. To ensure the confidentiality and integrity of communication data, the transmitted crane control commands are encrypted using encryption mechanisms (such as dynamic frequency hopping and AES encryption) during transmission to prevent data tampering and unauthorized control.

[0065] In actual operation, the encryption methods of the two communication links are not necessarily the same. That is to say, different encryption methods can be used to encrypt the information transmitted in the first and second communication links, or the information transmitted in one of the two communication links can be encrypted. This invention does not limit this.

[0066] In some embodiments, the control module further includes a remote emergency stop and manual intervention control interface, which is used for at least one of device parameter configuration, communication module debugging, firmware remote upgrade, and fault log export.

[0067] Specifically, the present invention retains remote emergency stop and manual intervention control interfaces in the control module 112 to provide functions such as equipment parameter configuration, communication module debugging, firmware remote upgrade and fault log export, so as to support the daily maintenance and fault diagnosis of the system.

[0068] In some embodiments, the device control module 122 includes a control processing block and a device-side dual-link management module; The control processing module is used to control the crane to perform corresponding operations according to the control command to be executed; The device-side dual-link management module is used for: The connectivity status of the first communication link is determined based on the reception status of the preset heartbeat data packet of the first communication link; the connectivity status of the second communication link is determined based on the reception status of the preset heartbeat data packet of the second communication link. If at least one of the first and second communication links is in a connectivity abnormality, a pausing procedure implementation instruction is triggered, and the pausing procedure implementation instruction is used as a control instruction to be executed to perform the corresponding operation of the preset pausing procedure. If both the first and second communication links are in normal connectivity, then the crane control command transmitted based on the first or second communication link is selected as the valid control command, and the valid control command is used as the control command to be executed. Specifically, the control processing module is used to control the crane to perform corresponding operations based on the control commands to be executed.

[0069] It is understood that the control commands to be executed include slow-stop procedure implementation commands and valid control commands. That is, when the control commands to be executed include slow-stop procedure implementation commands, the control processing module controls the crane to perform the corresponding slow-stop operation according to the slow-stop procedure implementation commands, so as to control the crane to stop smoothly and prevent equipment loss of control. Similarly, when the control commands to be executed include valid control commands, the control processing module controls the crane to perform the corresponding operation according to the valid control commands.

[0070] The device-side dual-link management module determines the connectivity of the first and second communication links by receiving preset heartbeat data packets through the first and second communication links respectively.

[0071] In other words, if the preset heartbeat data packet sent by the dual-link communication module 114 at the operating end and transmitted via the first communication link is received normally by the dual-link communication module 124 at the device end, the connectivity of the first communication link is determined to be normal. Similarly, if the preset heartbeat data packet sent by the dual-link communication module 114 at the operating end and transmitted via the second communication link is received normally by the dual-link communication module 124 at the device end, the connectivity of the second communication link is determined to be normal. Otherwise, the connectivity is determined to be abnormal.

[0072] Normal reception includes: the dual-link communication module 124 on the device side receives the preset heartbeat data packet according to the preset time period.

[0073] The preset heartbeat data packet is used to detect the health status of the link. It can not only check whether the communication link is still connected, but also check whether the data has actually been successfully transmitted.

[0074] Based on the connection status of the first and second communication links, the control commands to be executed are determined according to the connection status of the first and second communication links, and the crane is controlled to perform corresponding operations according to the control commands to be executed.

[0075] Specifically, if one or more of the first and second communication links are experiencing connectivity issues, a stop procedure execution command is triggered. This stop procedure execution command is then treated as a control command to be executed. Subsequently, the crane is controlled to execute the corresponding operation of the preset stop procedure according to the preset stop procedure execution command.

[0076] For details on data flow, please refer to... Figure 3 . Figure 3 The diagram shows that when the connectivity of the first communication link is abnormal, the system enters a slow-down state.

[0077] If both the first and second communication links are functioning normally, then since both communication links are connected correctly and transmit the same crane control commands, the specific data flow can be found by referring to [reference needed]. Figure 4 . Figure 4 This shows the connection status of both the first and second communication links when they are both normally connected.

[0078] At this point, a crane control command transmitted via either the first or second communication link is selected as the valid control command, and this valid control command is designated as the control command to be executed. Subsequently, the crane is controlled to perform the corresponding operation based on the valid control command.

[0079] Furthermore, in some embodiments, both the first and second communication links are normally connected, but the crane control commands transmitted by them are different. In this case, according to the arbitration rules, the crane control command transmitted by the first communication link should be selected as the valid control command. For specific data flow details, please refer to... Figure 5 .

[0080] In some embodiments, after generating the slow-stop procedure implementation instruction, the control processing module immediately executes the preset slow-stop procedure corresponding to the slow-stop procedure implementation instruction to achieve smooth stopping of the crane, slow unloading, and limiting the range of motion, thereby avoiding sudden actions or inertial impacts.

[0081] Meanwhile, if any abnormality occurs in either the first or second communication link, communication can be restored using the characteristics of heartbeat packets.

[0082] In other words, it can be understood that if any one of the first or second communication links experiences an anomaly, the other link will be used for slowing down or safe operation while restoring that link, ensuring controllability within a safe range and achieving safety integrity.

[0083] In some embodiments, the device-side dual-link management module is further configured to: If either the first or the second communication link is in a connectivity abnormal state, real-time device data and / or abnormal status information are obtained based on the corresponding communication link where the connectivity is normal, and the real-time device data and / or the abnormal status information are sent to the operating terminal through the corresponding communication link where the connectivity is normal.

[0084] Specifically, if one of the first and second communication links is in an abnormal connectivity state, it indicates that there is an anomaly in the corresponding communication link (e.g., communication failure or link malfunction). In this case, real-time device data and / or abnormal status information are acquired and reported to the operator terminal 110 via the other communication link, which is in a normal connectivity state.

[0085] The real-time equipment data includes information such as equipment location, operating status, motor current, power supply voltage, and limit switch status; abnormal statuses include link disconnection, electrical fault, and emergency stop triggering; and it provides event logging functionality for system traceability and security auditing.

[0086] In other words, when one communication link fails, alarm information is uploaded through another communication link. At the same time, the link that uploaded the alarm information receives the slow-stop procedure implementation instruction and performs slow-stop or safety operation according to the slow-stop procedure implementation instruction to ensure controllability within a safe range and achieve safety integrity.

[0087] At this point, the entire system is downgraded to limited motion control, allowing only the transmission of specified crane control commands (i.e., slow stop procedure implementation commands), real-time equipment data, and / or the aforementioned abnormal status information. For example, only crane control commands such as stop and slow descent are allowed to be transmitted, ensuring that the equipment remains controllable and does not lose control in the event of a link failure.

[0088] For details on data flow, please refer to... Figure 6 , Figure 6 The system enters a slow-down state when the connectivity of the first communication link is abnormal, and at the same time, it feeds back real-time data and / or abnormal status information of the device through the second communication link.

[0089] This invention employs a dual communication mechanism to achieve data redundancy, and combines heartbeat detection, disconnection easing, and status feedback technology to ensure that the device can be controlled and alarmed in a timely manner in the event of communication abnormalities, thereby improving the overall security and reliability of the system.

[0090] In some embodiments, the device-side dual-link management module is further configured to: If the heartbeat data packet reception includes the continuous loss of a preset number of preset heartbeat data packets, the connectivity of the corresponding communication link is determined to be abnormal.

[0091] Under normal conditions, control commands are transmitted simultaneously through the first and second communication links while being monitored. The operator terminal 110 and the device terminal 120 periodically detect heartbeats via the first and second communication links.

[0092] During the periodic heartbeat detection process of the first and second communication links, if one or both links consecutively lose a preset number of preset heartbeat data packets, the link that lost the heartbeat data packets is determined to have an abnormal connection. At this time, a stop procedure execution command is triggered to start the safe stop procedure.

[0093] If only one communication link is not working, switch to another communication link to maintain minimal device control and status feedback, notify the operator (110) of the abnormal status, and wait for manual intervention or automatic recovery.

[0094] Furthermore, in some embodiments, after the link is restored, relevant information is uploaded to the operator terminal 110. For specific data flow details, please refer to... Figure 7 , Figure 7 The diagram shows that when the connectivity of the first communication link is abnormal, the system enters a slow-down state and simultaneously feeds back real-time data and / or abnormal status information of the device through the second communication link. Afterward, the first communication link is restored, and relevant status information is uploaded through the first communication link.

[0095] This invention establishes a dual communication mechanism with a first and a second communication link, combined with measures such as heartbeat detection, data transmission detection, link anomaly slowdown, and status feedback, to ensure that the crane system remains under control and can be safely shut down in the event of communication failure. This improves the overall operational safety and communication reliability, and is particularly suitable for remote operation in smart construction sites, port hoisting, and high-risk environments.

[0096] The remote crane control method provided by the present invention is described below. The remote crane control method described below can be referred to in correspondence with the remote crane control system described above. Figure 8 This is a flowchart illustrating the remote crane control method provided by the present invention, as shown below. Figure 8 As shown, the method includes: Step 810: Generate crane control commands based on the control module of the operator terminal, and trigger the heartbeat data packet sending command according to the preset time period; Step 820: Based on the dual-link communication module of the operator terminal, the crane control command is sent to the dual-link communication module of the device terminal based on the first communication link and the second communication link; and in response to the heartbeat data packet sending command, a preset heartbeat data packet is sent to the dual-link communication module of the device terminal based on the first communication link and the second communication link. Step 830: Based on the dual-link communication module on the device side, and based on the first communication link and the second communication link, receive the crane control command and / or the preset heartbeat data packet; Step 840: Based on the equipment control module, determine the control command to be executed according to the connectivity of the first communication link and the second communication link, and control the crane to perform the corresponding operation according to the control command to be executed; The control instructions to be executed include a pausing procedure implementation instruction and an effective control instruction. The pausing control instruction is used to implement the corresponding operation of the preset pausing procedure. The effective control instruction includes a crane control instruction transmitted via the first communication link or the second communication link. The connectivity of the first communication link and the second communication link is determined based on the reception of preset heartbeat data packets on the corresponding links. According to the remote crane control method provided by the present invention, the first communication link is an ExpressLRS wireless link; and / or the second communication link is a wireless link based on industrial-grade LoRa communication.

[0097] According to a remote crane control method provided by the present invention, the control module includes an operation input module, an instruction generation module, and an operation terminal dual-link management module; The operation input module is used to acquire operator operation input based on an input device; wherein, the input device includes at least one of a mechanical manual input device, an electronic automatic input device, and a graphical interface-based input device; The instruction generation module is used to generate motion control instructions as crane control instructions based on the operation input. The dual-link management module of the operating terminal is used to trigger a heartbeat data packet sending instruction according to a preset time period, and to encrypt the crane control instructions transmitted based on the first communication link and / or the second communication link using a preset encryption mechanism.

[0098] According to a remote crane control method provided by the present invention, the control module further includes a remote emergency stop and manual intervention control interface, which is used for at least one of equipment parameter configuration, communication module debugging, firmware remote upgrade and fault log export.

[0099] According to a remote crane control method provided by the present invention, the equipment control module includes a control processing module and an equipment-side dual-link management module; The control processing module is used to control the crane to perform corresponding operations according to the control command to be executed; The device-side dual-link management module is used for: The connectivity status of the first communication link is determined based on the reception status of the preset heartbeat data packet of the first communication link; the connectivity status of the second communication link is determined based on the reception status of the preset heartbeat data packet of the second communication link. If at least one of the first and second communication links is in a connectivity abnormality, a pausing procedure implementation instruction is triggered, and the pausing procedure implementation instruction is used as a control instruction to be executed to perform the corresponding operation of the preset pausing procedure. If both the first and second communication links are in normal connectivity, then the crane control command transmitted based on the first or second communication link is selected as the valid control command, and the valid control command is used as the control command to be executed. According to a remote crane control method provided by the present invention, the device-side dual-link management module is used for: If either the first or the second communication link is in a connectivity abnormal state, real-time device data and / or abnormal status information are obtained based on the corresponding communication link where the connectivity is normal, and the real-time device data and / or the abnormal status information are sent to the operating terminal through the corresponding communication link where the connectivity is normal.

[0100] According to a remote crane control method provided by the present invention, the dual-link management module on the device side is further used for: If the heartbeat data packet reception includes the continuous loss of a preset number of preset heartbeat data packets, the connectivity of the corresponding communication link is determined to be abnormal.

[0101] Figure 9 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 9As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other through the communication bus 940. The processor 910 can call logical instructions in the memory 930 to execute a remote crane control system. This method includes: generating crane control instructions based on the control module of the operator terminal, and triggering a heartbeat data packet transmission instruction according to a preset time period; sending the crane control instructions to the device-side dual-link communication module based on the operator terminal's dual-link communication module, using a first communication link and a second communication link; and responding to the heartbeat data packet transmission instruction, sending a preset heartbeat data packet to the device-side dual-link communication module based on the first communication link and the second communication link; and, based on the device-side dual-link communication module, sending a preset heartbeat data packet to the device-side dual-link communication module based on the first communication link and the second communication link. The communication link receives the crane control command and / or the preset heartbeat data packet; based on the equipment control module, according to the connectivity of the first communication link and the second communication link, it determines the control command to be executed, and controls the crane to perform the corresponding operation according to the control command to be executed; wherein, the control command to be executed includes a slow-stop procedure implementation command and a valid control command, the slow-stop control command is used to implement the corresponding operation of the preset slow-stop procedure, and the valid control command includes the crane control command transmitted by the first communication link or the second communication link, and the connectivity of the first communication link and the second communication link is determined according to the reception status of the preset heartbeat data packet of the corresponding link.

[0102] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0103] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the remote crane control system provided by the methods described above. The method includes: generating crane control commands based on the control module of the operator terminal, and triggering a heartbeat data packet sending command according to a preset time period; sending the crane control commands to the device-side dual-link communication module based on the operator terminal's dual-link communication module, using a first communication link and a second communication link; and responding to the heartbeat data packet sending command, sending a preset heartbeat data packet to the device-side dual-link communication module based on the first communication link and the second communication link. The device, based on its dual-link communication module and the first and second communication links, receives crane control commands and / or preset heartbeat data packets. Based on the device control module, it determines the control commands to be executed according to the connectivity of the first and second communication links, and controls the crane to perform corresponding operations according to the control commands to be executed. The control commands to be executed include a slow-stop procedure implementation command and a valid control command. The slow-stop control command is used to implement the corresponding operation of the preset slow-stop procedure. The valid control command includes crane control commands transmitted via the first or second communication link. The connectivity of the first and second communication links is determined based on the reception of preset heartbeat data packets on the corresponding links.

[0104] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a remote crane control system provided by the methods described above. The method includes: generating crane control commands based on an operator terminal's control module, and triggering a heartbeat data packet transmission command according to a preset time period; transmitting the crane control commands to a device-side dual-link communication module based on an operator terminal's dual-link communication module, using a first communication link and a second communication link; and, in response to the heartbeat data packet transmission command, transmitting a preset heartbeat data packet to the device-side dual-link communication module based on the first communication link and the second communication link; and based on the device-side dual-link communication module... The system, based on the first and second communication links, receives the crane control command and / or the preset heartbeat data packet; based on the equipment control module, it determines the control command to be executed according to the connectivity of the first and second communication links, and controls the crane to perform the corresponding operation according to the control command to be executed; wherein, the control command to be executed includes a slow-stop procedure implementation command and a valid control command, the slow-stop control command is used to implement the corresponding operation of the preset slow-stop procedure, and the valid control command includes the crane control command transmitted by the first or second communication link, the connectivity of the first and second communication links is determined according to the reception status of the preset heartbeat data packet of the corresponding link.

[0105] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0106] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote crane control system, characterized in that, Including the operator end and the device end; The operating terminal includes a control module and an operating terminal dual-link communication module, and the device terminal includes a device control module and a device terminal dual-link communication module. The operating terminal dual-link communication module and the device terminal dual-link communication module are connected through a first communication link and a second communication link. The control module is used to generate crane control commands and trigger heartbeat data packet sending commands according to a preset time period; The operator-side dual-link communication module is used to send the crane control command to the device-side dual-link communication module based on the first communication link and the second communication link; In response to the heartbeat data packet sending instruction, a preset heartbeat data packet is sent to the device-side dual-link communication module based on the first communication link and the second communication link; The device-side dual-link communication module is used to receive the crane control command and / or the preset heartbeat data packet based on the first communication link and the second communication link; The equipment control module is used to determine the control command to be executed based on the connectivity of the first communication link and the second communication link, and to control the crane to perform the corresponding operation based on the control command to be executed; wherein, the control command to be executed includes a slow-stop procedure implementation command and an effective control command, the slow-stop control command is used to implement the corresponding operation of the preset slow-stop procedure, and the effective control command includes the crane control command transmitted by the first communication link or the second communication link, and the connectivity of the first communication link and the second communication link is determined based on the reception of the preset heartbeat data packet of the corresponding link.

2. The remote crane control system according to claim 1, characterized in that, The first communication link is an ExpressLRS wireless link; and / or the second communication link is a wireless link based on industrial-grade LoRa communication.

3. The remote crane control system according to claim 1 or 2, characterized in that, The control module includes an operation input module, an instruction generation module, and an operation terminal dual-link management module; The operation input module is used to acquire operator operation input based on an input device; wherein, the input device includes at least one of a mechanical manual input device, an electronic automatic input device, and a graphical interface-based input device; The instruction generation module is used to generate motion control instructions as crane control instructions based on the operation input. The dual-link management module of the operating terminal is used to trigger a heartbeat data packet sending instruction according to a preset time period, and to encrypt the crane control instructions transmitted based on the first communication link and / or the second communication link using a preset encryption mechanism.

4. The remote crane control system according to claim 3, characterized in that, The control module also includes a remote emergency stop and manual intervention control interface, which is used for at least one of the following: device parameter configuration, communication module debugging, firmware remote upgrade, and fault log export.

5. The remote crane control system according to claim 4, characterized in that, The device control module includes a control processing module and a device-side dual-link management module; The control processing module is used to control the crane to perform corresponding operations according to the control command to be executed; The device-side dual-link management module is used for: The connectivity status of the first communication link is determined based on the reception status of the preset heartbeat data packet of the first communication link; the connectivity status of the second communication link is determined based on the reception status of the preset heartbeat data packet of the second communication link. If at least one of the first and second communication links is in a connectivity abnormality, a pausing procedure implementation instruction is triggered, and the pausing procedure implementation instruction is used as a control instruction to be executed to perform the corresponding operation of the preset pausing procedure. If both the first and second communication links are in normal connectivity, then the crane control command transmitted based on the first or second communication link is selected as the valid control command, and the valid control command is used as the control command to be executed.

6. The remote crane control system according to claim 5, characterized in that, The device-side dual-link management module is used for: If either the first or the second communication link is in a connectivity abnormal state, real-time device data and / or abnormal status information are obtained based on the corresponding communication link where the connectivity is normal, and the real-time device data and / or the abnormal status information are sent to the operating terminal through the corresponding communication link where the connectivity is normal.

7. The remote crane control system according to claim 5, characterized in that, The device-side dual-link management module is also used for: If the heartbeat data packet reception includes the continuous loss of a preset number of preset heartbeat data packets, the connectivity of the corresponding communication link is determined to be abnormal.

8. A remote crane control method, characterized in that, include: The control module on the operating terminal generates crane control commands and triggers the heartbeat data packet sending command according to a preset time period. The operator terminal dual-link communication module, based on the first communication link and the second communication link, sends the crane control commands to the device terminal dual-link communication module. In response to the heartbeat data packet sending instruction, a preset heartbeat data packet is sent to the device-side dual-link communication module based on the first communication link and the second communication link; Based on the dual-link communication module on the device side, the crane control command and / or the preset heartbeat data packet are received based on the first communication link and the second communication link; Based on the equipment control module, the control command to be executed is determined according to the connectivity of the first communication link and the second communication link, and the crane is controlled to perform the corresponding operation according to the control command to be executed; The control instructions to be executed include a slow-stop procedure implementation instruction and an effective control instruction. The slow-stop control instruction is used to implement the corresponding operation of the preset slow-stop procedure. The effective control instruction includes a crane control instruction transmitted by the first communication link or the second communication link. The connectivity of the first communication link and the second communication link is determined based on the reception of the preset heartbeat data packets of the corresponding link.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the remote crane control method as described in claim 8.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the remote crane control method as described in claim 8.

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