Abnormality detection method and system based on industrial remote controller

Abstract

The invention discloses an abnormity detection method and system based on an industrial remote controller, and belongs to the technical field of abnormity detection, and the method comprises the following steps: environment self-adaption and signal transmission, attitude safety detection and threshold adjustment, and abnormity response execution. According to the invention, grades are divided according to real-time environmental parameters and a detection threshold is adaptively adjusted; signal strength is monitored in real time in encrypted communication, and channels are switched and locked when the signal strength is abnormal; the inclination angle of the equipment is dynamically monitored, and the alarm threshold and the delay time are adjusted, so that all-directional protection on environment, communication and attitude abnormalities is realized, the abnormality detection reliability is improved, and the problem of low abnormality detection reliability based on an industrial remote controller in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of anomaly detection technology, and in particular to anomaly detection methods and systems based on industrial remote controls. Background Technology

[0002] Firstly, insufficient adaptability to harsh environments makes anomaly detection susceptible to interference and failure. Existing product design concepts prioritize "control functions" over "all-scenario protection," failing to fully consider the impact of complex environments such as humidity, dust, and acid / alkali corrosion in industrial settings. The hardware structure does not employ high-level sealing processes and materials resistant to harsh environments, only meeting basic usage requirements without designing specific protection for anomaly detection-related components (such as signal acquisition modules and sensor interfaces). This makes these core components susceptible to dust accumulation, moisture intrusion, and corrosion, leading to anomaly detection malfunction or false triggering. It cannot accurately identify real anomalies such as low battery or equipment tilt, and may also falsely report fault signals when there are no anomalies, seriously undermining the reliability of remote control.

[0003] Secondly, there is a lack of protection against communication anomalies, posing risks of illegal intrusion and signal interference. Existing technologies lack a hardware and software collaborative communication security system. At the software level, there is no well-designed encryption verification mechanism and structured coding protocol, and at the hardware level, there is no targeted anti-interference filtering circuit. This means that anomaly detection is limited to the device's own hardware status and does not cover the security detection of the communication link. External electromagnetic interference can easily tamper with control signals, making it impossible for the anomaly detection module to identify the true command status. At the same time, illegal intruders can bypass security verification and intervene in the control link, causing the anomaly detection system to be unable to distinguish between legitimate and illegitimate commands, ultimately leading to misoperation and seriously threatening operational safety.

[0004] Furthermore, the detection mechanism for unexpected operating conditions is simplistic and has obvious vulnerabilities. Existing products lack sufficient anticipation of abnormal risks and have not established a multi-layered abnormal response mechanism. They do not integrate dedicated abnormal detection modules (such as a two-dimensional tilt angle detection module), relying solely on simple mechanical structures for passive protection. They also lack redundant backups for critical safety functions. When the remote control is accidentally dropped, the false triggering of control components such as the joystick due to impact cannot be quickly responded to and cut off by the abnormal detection system. Moreover, the emergency stop function only uses a single contact design, lacking hardware circuitry or software fallback mechanisms for signal clearing in the event of a power failure. Residual signals cannot be effectively cleared, which can easily lead to continuous equipment operation and safety accidents. Therefore, there is a problem of low reliability in abnormal detection based on industrial remote controls. Summary of the Invention

[0005] To address the low reliability of existing anomaly detection methods based on industrial remote controllers, this invention provides an anomaly detection method and system based on industrial remote controllers. The technical solution is as follows: On the one hand, an anomaly detection method based on an industrial remote controller is provided. The method includes: Step 201, real-time acquisition of environmental parameters of the environment where the industrial remote controller is located, classification of environmental levels based on environmental parameters, and determination of whether to dynamically adjust the anomaly detection threshold and sampling frequency according to the environmental level. If yes, the control signal transmission and reception stage is performed after dynamic adjustment; otherwise, the control signal transmission and reception stage is performed directly. Step 202, in the control signal transmission and reception stage, bidirectional encryption and authentication of the communication link are performed. The control signal is abnormally interrupted based on real-time monitoring of signal strength. If yes, the current communication link is cut off, a communication security anomaly alarm is triggered, and the system automatically switches to the backup communication channel and enters a security lock state before entering the anti-tilt stage; otherwise, the anti-tilt stage is entered. Step 203, in the anti-tilt stage, the tilt angle of the transmitter in the left-right and front-back directions is detected in real-time, and determination of whether to dynamically adjust the tilt angle alarm threshold in the left-right and front-back directions is made. If yes, the alarm delay time is adjusted after adjusting the tilt angle alarm threshold; otherwise, the alarm delay time is adjusted directly.

[0006] On the other hand, an anomaly detection system based on an industrial remote controller is provided. This system includes: an environment adaptation and signal transmission module, an attitude safety detection and threshold adjustment module, and an anomaly response execution module. The environment adaptation and signal transmission module is used to collect environmental parameters of the environment in which the industrial remote controller is located in real time, classify the environment level based on the environmental parameters, and determine whether to dynamically adjust the anomaly detection threshold and sampling frequency according to the environment level. If so, the control signal transmission and reception stage is performed after dynamic adjustment; otherwise, the control signal transmission and reception stage is performed directly. The attitude safety detection and threshold adjustment module is used to monitor the communication link during the control signal transmission and reception stage. Two-way encryption and authentication are performed. The control signal is judged to be abnormally interrupted based on the real-time monitoring signal strength. If so, the current communication link is cut off, a communication security abnormality alarm is triggered, and the system automatically switches to the backup communication channel and enters the security lock state before entering the anti-tilt stage. If not, the anti-tilt stage is entered. The abnormal response execution module is used in the anti-tilt stage to judge whether to dynamically adjust the tilt angle alarm threshold in the left and right and front and back directions based on the real-time detection of the transmitter's tilt angle. If so, the alarm delay time is adjusted after adjusting the tilt angle alarm threshold. If not, the alarm delay time is directly adjusted.

[0007] Beneficial effects The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: 1. The anomaly detection method and system based on industrial remote controllers provided by this invention classifies levels according to real-time environmental parameters and adaptively adjusts the detection threshold; monitors signal strength in real time during encrypted communication, switches channels and locks them when anomalies occur; dynamically monitors the tilt angle of the equipment and adjusts the alarm threshold and delay time, thereby achieving comprehensive protection against environmental, communication and posture anomalies, improving the reliability of anomaly detection, and solving the problem of low reliability of anomaly detection based on industrial remote controllers in the prior art.

[0008] 2. This invention establishes a multi-dimensional environmental classification system by real-time collection of key environmental parameters such as dust concentration, humidity, and corrosive gas concentration. It accurately classifies the comprehensive environmental level into four categories: normal, severe, harsh, and hazardous. Based on the environmental level, it dynamically adjusts the anomaly detection threshold and sampling frequency. This solves the problem of anomaly detection failure or false triggering caused by insufficient environmental adaptability in existing industrial remote controls: maintaining baseline parameters in normal environments ensures detection efficiency; in severe and harsh environments, it enhances anti-interference capabilities by increasing sampling frequency and optimizing detection thresholds; in hazardous environments, it employs an upper limit adjustment strategy for thresholds and frequencies to minimize the impact of dust accumulation, moisture intrusion, and corrosion on detection components, avoiding misjudgments caused by signal drift. Simultaneously, the sealed structure and protective materials at the hardware level, combined with dynamic parameter adjustment at the software level, form a dual guarantee of hardware protection and software adaptability. This enables the industrial remote control to operate stably in various complex industrial environments such as humid, dusty, and acid / alkali corrosive environments, significantly improving the accuracy and reliability of anomaly detection and effectively eliminating missed or false detections caused by environmental interference.

[0009] 3. By constructing a triple communication security protection mechanism in the control signal transmission link, including two-way encryption, authentication, and backup channel switching, the shortcomings of existing products in communication anomaly protection are addressed. The two-way encryption and authentication mechanism blocks illegal intrusion paths at the source, preventing unauthorized devices from interfering with the control link; it monitors signal strength in real time and determines whether the control signal is abnormally interrupted, ensuring the communication link status is perceptible; when an abnormal interruption is detected, the current link is immediately disconnected, an alarm is triggered, the system switches to a backup channel, and enters a security lockout state, forming a complete closed-loop emergency response for communication anomalies. This not only effectively resists external electromagnetic interference from tampering with control signals, ensuring the integrity and authenticity of control command transmission, but also quickly responds to communication interruption faults, preventing equipment malfunctions caused by signal loss or tampering. Simultaneously, the communication security detection seamlessly integrates with the subsequent anti-tilt mechanism, ensuring that the equipment's safe management status is maintained even in communication anomaly scenarios, significantly improving the security and stability of remote control operation of industrial remote controls, and providing reliable communication security for industrial operations.

[0010] 4. The system collects the transmitter's tilt angles in the left-right and front-back directions in real time during a preset sampling period. Combining this with corresponding correction coefficients within the angle range, it dynamically adjusts the alarm thresholds for both positive and negative tilts in each direction. This ensures the threshold settings accurately match the actual posture of the equipment. When the tilt angle approaches a dangerous range, the alarm threshold is automatically reduced to improve warning sensitivity; when the posture is stable, the baseline threshold is maintained to avoid false triggers. Simultaneously, the alarm delay time is dynamically adjusted based on a comprehensive threshold scaling factor, ensuring rapid response to emergency anomalies while preventing false alarms caused by instantaneous posture fluctuations. Furthermore, the redundant design of the emergency stop function, in conjunction with posture detection, allows for rapid triggering of emergency stop signals in sudden situations such as equipment drops or tilts. In the event of a power failure, the output signal is automatically cleared, fundamentally eliminating safety hazards such as accidental triggering due to impact or residual signal residue. This intelligent posture detection solution represents an upgrade from "passive protection" to "active prediction," comprehensively covering risk points in unexpected working conditions, significantly improving the safety protection capabilities of industrial remote controls in complex operating scenarios, and effectively reducing the probability of equipment damage and personnel safety accidents. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 A flowchart of an anomaly detection method based on an industrial remote controller provided in this application embodiment; Figure 2 A flowchart illustrating the adjustment of alarm delay time in an anomaly detection method based on an industrial remote controller provided in this application embodiment; Figure 3 This is a schematic diagram of the structure of an anomaly detection system based on an industrial remote controller provided in an embodiment of this application. Detailed Implementation

[0013] The following provides explanations for some of the terms used in this application. It should be noted that these explanations are for the convenience of those skilled in the art and do not constitute a limitation on the scope of protection claimed in this application.

[0014] The embodiments of this application involve at least one, including one or more; where "multiple" means two or more. Furthermore, it should be understood that in the description of this specification, terms such as "first," "second," and "third" are used only for descriptive purposes and should not be construed as indicating relative importance or order. For example, "first device" and "second device" do not represent the degree of importance of the two or their order, but are merely for descriptive distinction. In the embodiments of this application, "and / or" merely describes an association relationship, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0015] The directional terms mentioned in the embodiments of this application, such as "up", "down", "left", "right", "inner", and "outer", are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0016] References to "one embodiment," "in some examples," or "some embodiments" as described in the embodiments of this application mean that one or more embodiments of this specification include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in some examples," "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0017] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0018] like Figure 1 The diagram shown is a flowchart of an anomaly detection method based on an industrial remote controller provided in this application embodiment. The method includes the following steps: Step 201: Collect environmental parameters of the environment where the industrial remote controller is located in real time, classify the environment level based on the environmental parameters, and determine whether to dynamically adjust the anomaly detection threshold and sampling frequency according to the environment level. If yes, proceed with the control signal sending and receiving stage after dynamic adjustment; otherwise, proceed directly with the control signal sending and receiving stage.

[0019] It should be noted that environmental parameters include dust concentration, humidity, and gas concentration; The specific steps for classifying environmental levels based on environmental parameters are as follows: Dust concentration values ​​are acquired using dust concentration sensors, compared with a baseline dust concentration range, and the dust environment level is determined based on the comparison results. Specifically: If the dust concentration value is less than or equal to the lower limit of the dust concentration benchmark, it is judged as a Class I dust environment level; If the dust concentration value is within the dust concentration benchmark range, it is determined to be a level 2 dust environment. The dust concentration benchmark range refers to the open interval formed by the lower limit and the upper limit of the dust concentration benchmark. If the dust concentration value is greater than or equal to the upper limit of the dust concentration benchmark, it is determined to be a level three dust environment.

[0020] Classifying environmental levels based on environmental parameters also includes: Humidity values ​​are acquired using a humidity sensor, compared to a humidity baseline range, and the humidity environmental level is determined based on the comparison results. Specifically: If the humidity value is less than or equal to the lower limit of the humidity reference, it is determined to be a level 1 humidity level; If the humidity value is within the humidity reference range, it is determined to be a level 2 humidity level. The humidity reference range refers to the open interval formed by the lower limit and upper limit of the humidity reference. If the humidity value is greater than or equal to the upper limit of the humidity baseline, it is determined to be a level three humidity level; Corrosive gas concentration values ​​are obtained using a corrosive gas concentration sensor. These values ​​are then compared to a baseline range for corrosive gas concentrations. Based on the comparison results, the corrosive environment level is determined. Specifically: If the concentration of corrosive gas is less than or equal to the lower limit of the corrosive gas concentration benchmark, it is determined to be a Class I corrosive gas concentration level.

[0021] Classifying environmental levels based on environmental parameters also includes: If the concentration of corrosive gas is within the reference range of corrosive gas concentration, it is determined to be a level 2 corrosive gas concentration. The reference range of corrosive gas concentration refers to the open interval formed by the lower limit and the upper limit of the reference range of corrosive gas concentration. If the concentration of corrosive gas is greater than or equal to the upper limit of the corrosive gas concentration benchmark, it is determined to be a level three corrosive gas concentration. S100: If any one of the dust environment level, humidity environment level, or corrosion environment level reaches level three, the current comprehensive environmental level is determined to be hazardous. S101. If the hazardous level is not reached, but at least two of the dust environment level, humidity environment level and corrosion environment level reach level three, the current comprehensive environmental level is determined to be severe. S102. If the environmental severity level is not reached, but at least one of the dust environment level, humidity environment level, and corrosion environment level reaches level three, then the current comprehensive environmental level is determined to be severe. S103. If none of S100-S102 are satisfied, then the current comprehensive environmental level is determined to be normal.

[0022] In this embodiment, firstly, the dust concentration value in the current environment is accurately collected using a dust concentration sensor. This step leverages the sensor's high sensitivity to quickly capture the real-time content of dust particles in the environment, ensuring the authenticity and timeliness of the collected data and providing reliable data support for subsequent level determination. Then, the collected dust concentration value is precisely compared with a preset dust concentration benchmark range (an open interval consisting of a lower limit and an upper limit of the benchmark). Based on the comparison result, the dust environment level is determined. If the dust concentration value is less than or equal to the lower limit of the benchmark, it is determined to be... Level 1 dust environment classification accurately identifies safe environments with extremely low dust content, providing a basis for low-load or unprotected equipment operation. If the dust concentration is within the dust concentration benchmark range, it is classified as Level 2 dust environment classification. This classification effectively identifies normal environments with dust content within a reasonable range, ensuring stable equipment operation under normal protective measures. If the dust concentration is greater than or equal to the upper limit of the dust concentration benchmark, it is classified as Level 3 dust environment classification. This classification provides timely warnings of risky environments with excessive dust content, preventing high dust concentrations from causing wear, blockage, or other damage to equipment components. Simultaneously, the humidity level is determined while the dust environment level is being assessed. A humidity sensor collects ambient humidity values ​​in real time. This sensor boasts a wide measurement range and high precision, adapting to humidity detection needs in various environments and ensuring data accuracy. The collected humidity values ​​are compared with a preset humidity baseline range (an open interval consisting of a lower and upper limit). The humidity environment level is determined based on the comparison results. If the humidity value is less than or equal to the lower limit, it is classified as Level 1 humidity. This level accurately identifies low-humidity, dry environments, mitigating potential risks such as static electricity buildup. If the humidity value is within the baseline range, it is classified as Level 2 humidity. This level corresponds to a suitable, normal environment, ensuring that electronic components and mechanical structures remain unaffected by humidity and operate normally. If the humidity value is greater than or equal to the upper limit, it is classified as Level 3 humidity. This level promptly identifies high-humidity, damp environments, preventing equipment malfunctions such as short circuits and corrosion caused by high humidity.Meanwhile, a corrosive gas concentration sensor collects the concentration of corrosive gases in the current environment. This sensor has specific detection capabilities for corrosive gases, effectively eliminating interference from other gases and ensuring the accuracy of the corrosive gas concentration data. The collected corrosive gas concentration value is compared with a preset corrosive gas concentration benchmark range (an open interval consisting of the lower and upper limits of the benchmark). Based on the comparison results, the corrosive environment level is determined. If the corrosive gas concentration value is less than or equal to the lower limit of the benchmark, it is classified as Level 1, corresponding to a safe environment with extremely low corrosive gas content, ensuring that the equipment is not damaged by corrosion. If the corrosive gas concentration value is within the benchmark range, it is classified as Level 2, corresponding to a normal environment with controllable corrosive gas content, ensuring long-term stable operation of the equipment under conventional anti-corrosion measures. If the corrosive gas concentration value is greater than or equal to the upper limit of the benchmark, it is classified as Level 3, which provides timely warning of dangerous environments with excessive corrosive gases, preventing irreversible corrosion damage to the equipment. After determining the levels of the three individual parameters—dust environment level, humidity environment level, and corrosion environment level—the final determination stage of the comprehensive environment level is entered. First, determination step S100 is executed. If any one of the three individual parameters reaches level three, the current comprehensive environment level is directly determined to be hazardous. This determination logic enables rapid identification of hazardous environments, promptly triggering the highest level of safety warnings to maximize personnel safety and equipment integrity. If the hazardous level is not reached, determination step S101 is executed. If at least two of the three individual parameters reach level three, the current comprehensive environment level is determined to be severe. This level determination can accurately identify severe environments with multiple parameters exceeding limits, triggering corresponding levels of safety control measures and specifically mitigating multiple environmental factors. The combined risks brought about by the superposition of factors; if the severity level is not reached, then proceed to judgment step S102. If at least one of the three single parameter levels reaches level three, the current comprehensive environment level is judged to be severe. This level corresponds to a severe environment where a single parameter exceeds the standard, which can guide staff to take targeted protective and rectification measures to reduce the impact of a single parameter exceeding the standard on equipment and personnel. If none of the above three judgment conditions S100 to S102 are met, that is, none of the three single parameter levels reach level three (all are level one or level two), then proceed to judgment step S103, and the current comprehensive environment level is judged to be normal. This level indicates that all parameters of the current environment are within the appropriate range, which can ensure the normal operation of equipment and the safe operation of personnel, without the need to take additional protective or control measures.The entire process, through the logical design of "precise single-parameter data collection and level determination - comprehensive multi-parameter evaluation," achieves the scientific and accurate classification of environmental levels. The technical design and effects of each step are progressively enhanced, ensuring the accuracy of each environmental parameter detection and level determination, and achieving accurate identification of environments with different risk levels through comprehensive judgment logic. This provides a clear and reliable technical basis for subsequent environmental management, equipment operation and maintenance, and safety protection.

[0023] It should be further explained that the specific steps for determining whether to dynamically adjust the anomaly detection threshold and sampling frequency are as follows: Establish a mapping table of environmental level and working parameter adjustment coefficients, where the working parameters include the anomaly detection threshold and the sampling frequency threshold; When the current overall environmental level is determined to be normal, the abnormal detection baseline threshold and the sampling frequency baseline threshold are maintained. When the current comprehensive environment level is determined to be severe, the current comprehensive environment level is input into the environment level-working parameter adjustment coefficient mapping table, and the detection threshold first-level gain coefficient and frequency threshold first-level gain coefficient are output. The anomaly detection benchmark threshold and the detection threshold first-level gain coefficient are combined to obtain the target anomaly detection threshold. The sampling frequency benchmark threshold and the frequency threshold first-level gain coefficient are combined to obtain the target sampling frequency threshold. When the current comprehensive environmental level is determined to be severe, the current comprehensive environmental level is input into the environmental level-working parameter adjustment coefficient mapping table, and the detection threshold secondary gain coefficient and frequency threshold secondary gain coefficient are output. The anomaly detection benchmark threshold and the detection threshold secondary gain coefficient are combined to obtain the target anomaly detection threshold. The sampling frequency benchmark threshold and the frequency threshold secondary gain coefficient are combined to obtain the target sampling frequency threshold. The detection threshold secondary gain coefficient is greater than the detection threshold primary gain coefficient, and the frequency threshold secondary gain coefficient is greater than the frequency threshold primary gain coefficient.

[0024] Determining whether to dynamically adjust the anomaly detection threshold and sampling frequency also includes: When the current comprehensive environmental level is determined to be dangerous, the current comprehensive environmental level is input into the environmental level-operating parameter adjustment coefficient mapping table, and the detection threshold gain upper limit coefficient and frequency threshold upper limit gain coefficient are output. The anomaly detection benchmark threshold and the detection threshold upper limit gain coefficient are combined to obtain the target anomaly detection threshold, which is used to reduce the probability of signal misjudgment caused by environmental interference. The sampling frequency benchmark threshold and the frequency threshold upper limit gain coefficient are combined to obtain the target sampling frequency threshold, which is used to improve the capture and response speed of abnormal signals.

[0025] In this embodiment, an environment level-operating parameter adjustment coefficient mapping table is first established. This mapping table pre-stores the anomaly detection threshold adjustment coefficient and sampling frequency threshold adjustment coefficient corresponding to different comprehensive environment levels, providing a standardized coefficient basis for the subsequent accurate dynamic matching of operating parameters. This achieves a direct correlation mapping between environment level and operating parameter adjustment, avoiding blind parameter adjustment. Then, the current comprehensive environment level is determined, and a differentiated dynamic adjustment process for operating parameters is executed based on the determination result. If the current comprehensive environment level is determined to be normal, the anomaly detection baseline threshold and sampling frequency baseline threshold are directly maintained. This ensures basic signal monitoring needs are met while avoiding meaningless parameter adjustments that consume system resources, improving the system's operating efficiency in normal environments. If the current comprehensive environment level is determined to be severe, this comprehensive environment level is input into the established environment level-... In the working parameter adjustment coefficient mapping table, the detection threshold first-level gain coefficient and frequency threshold first-level gain coefficient are accurately output. Then, the anomaly detection baseline threshold and the detection threshold first-level gain coefficient are combined to obtain the target anomaly detection threshold adapted to harsh environments, achieving an initial improvement in anomaly detection sensitivity and effectively reducing the probability of signal missed detection caused by slight interference in harsh environments. Simultaneously, the sampling frequency baseline threshold and the frequency threshold first-level gain coefficient are combined to obtain the target sampling frequency threshold adapted to harsh environments, achieving an initial improvement in sampling frequency and accelerating the perception speed of abnormal signals in harsh environments. If the current overall environment level is determined to be severe, this overall environment level is input into the environment level- In the working parameter adjustment coefficient mapping table, the detection threshold secondary gain coefficient and frequency threshold secondary gain coefficient are output from the mapping table. The detection threshold secondary gain coefficient is greater than the detection threshold primary gain coefficient, and the frequency threshold secondary gain coefficient is greater than the frequency threshold primary gain coefficient. Then, the anomaly detection benchmark threshold and the detection threshold secondary gain coefficient are combined to obtain the target anomaly detection threshold adapted to harsh environments. Compared with harsh environments, this further improves the anomaly detection sensitivity and significantly reduces the probability of signal missed detection caused by complex interference in harsh environments. At the same time, the sampling frequency benchmark threshold and the frequency threshold secondary gain coefficient are combined to obtain the target sampling frequency threshold adapted to harsh environments. Compared with harsh environments, this further improves the sampling frequency and significantly accelerates the perception and transmission speed of abnormal signals in harsh environments.If the current overall environmental level is determined to be hazardous, this overall environmental level is input into the environmental level-operating parameter adjustment coefficient mapping table. The mapping table outputs the detection threshold gain upper limit coefficient and the frequency threshold upper limit gain coefficient. Then, the anomaly detection baseline threshold and the detection threshold gain upper limit coefficient are combined to obtain the target anomaly detection threshold adapted to the hazardous environment. This increases the upper limit of anomaly detection sensitivity, minimizing the probability of signal misjudgment caused by strong interference in hazardous environments and ensuring the accuracy of signal judgment. Simultaneously, the sampling frequency baseline threshold and the frequency threshold upper limit gain coefficient are combined to obtain the target sampling frequency threshold adapted to the hazardous environment. This increases the upper limit of sampling frequency, maximizing the acquisition and response speed of abnormal signals in hazardous environments and providing sufficient time for anomaly handling.

[0026] Step 202: In the control signal sending and receiving stage, the communication link is bidirectionally encrypted and authenticated. The control signal is judged to be abnormally interrupted based on the real-time monitoring signal strength. If so, the current communication link is cut off, a communication security abnormality alarm is triggered, and the system automatically switches to the backup communication channel and enters the security lock state before entering the anti-tilt stage. If not, the system enters the anti-tilt stage.

[0027] In this embodiment, throughout the entire process of sending and receiving control signals, bidirectional encryption and authentication are first implemented on the communication link. Bidirectional encryption mitigates the security risks of control signals being stolen or tampered with at the data transmission level. Authentication strictly verifies the legitimate identities of both communicating parties, preventing access by unauthorized devices and interference from false signals, thus ensuring the security and legitimacy of control signal transmission from the source. After completing the security protection of the communication link, the real-time transmission strength of the control signal is continuously monitored, and the monitoring results determine whether an abnormal interruption has occurred. This real-time monitoring method can accurately capture various abnormal states during signal transmission, achieving dynamic perception of the communication link's connectivity. If an abnormal interruption of the control signal is detected, the current communication link is immediately cut off, terminating signal interaction on the abnormal link at the physical transmission level, preventing the abnormal link from continuously generating invalid transmissions or even causing further problems. Upon detecting a safety hazard, a communication security anomaly alarm is triggered simultaneously. This alarm information promptly reports the communication failure to the control system, allowing staff to quickly grasp the situation. Simultaneously, the system automatically switches to a backup communication channel to ensure the continuity of the control signal transmission link, effectively preventing control failures caused by single-link interruptions. A safety lockout state is also entered, temporarily restricting various control operations on the equipment to prevent misoperation or erratic behavior during abnormal interruptions. After completing these emergency response procedures, the system formally enters the anti-tilt phase, initiating anti-tilt monitoring and control. If no abnormal interruption of the control signal is detected, indicating a stable and secure communication link, the system directly enters the anti-tilt phase, ensuring the continuity of the anti-tilt control process, preventing unnecessary emergency responses from interfering with normal control procedures, and improving the overall efficiency of the control system.

[0028] Step 203: In the anti-tilt process, based on the real-time detection of the transmitter's tilt angle in the left-right and front-back directions, determine whether to dynamically adjust the tilt angle alarm thresholds in the left-right and front-back directions. If yes, then after adjusting the tilt angle alarm thresholds, determine whether to adjust the alarm delay time. If no, then directly determine whether to adjust the alarm delay time.

[0029] It should be understood that the specific steps for determining whether to dynamically adjust the tilt angle alarm threshold in the left-right and forward-backward directions are as follows: Based on the preset sampling period, the tilt angle of the transmitter in the left and right directions and the tilt angle in the front and back directions are collected in real time. Combined with the preset alarm reference threshold for the tilt angle in the left and right directions and the preset alarm reference threshold for the tilt angle in the front and back directions, a mapping table of left and right tilt angle-alarm threshold correction coefficient and a mapping table of front and back tilt angle-alarm threshold correction coefficient are established. If the left and right tilt angles are less than or equal to the lower limit of the angle reference, the current left and right tilt angles are input into the left and right tilt angle-alarm threshold correction coefficient mapping table, and the alarm threshold gain coefficient is output. The preset left and right tilt angle alarm reference threshold and the alarm threshold gain coefficient are combined to obtain the target left and right tilt angle alarm threshold. If the left and right tilt angles are within the angle reference range, the preset left and right tilt angle alarm reference thresholds will be maintained. The angle reference range refers to the open interval formed by the lower limit of the angle reference and the upper limit of the angle reference. If the left and right tilt angles are greater than or equal to the upper limit of the angle reference, the current left and right tilt angles are input into the left and right tilt angle-alarm threshold correction coefficient mapping table, and the alarm threshold reduction coefficient is output. The preset left and right tilt angle alarm reference threshold and the alarm threshold reduction coefficient are combined to obtain the target left and right tilt angle alarm threshold.

[0030] The alarm threshold for determining whether to dynamically adjust the tilt angle in the left-right and forward-backward directions also includes: If the forward and backward tilt angle is less than or equal to the lower limit of the angle, the current forward and backward tilt angle is input into the forward and backward tilt angle-alarm threshold correction coefficient mapping table, and the alarm threshold gain coefficient is output. The preset forward and backward tilt angle alarm reference threshold and the alarm threshold gain coefficient are combined to obtain the target forward and backward tilt angle alarm threshold. If the forward and backward tilt angles are within the angle critical range, the preset forward and backward tilt angle alarm baseline threshold will be maintained. The angle critical range refers to the open range formed by the lower critical limit and the upper critical limit of the angle. If the forward and backward tilt angle is greater than or equal to the critical upper limit of the angle, the current forward and backward tilt angle is input into the forward and backward tilt angle-alarm threshold correction coefficient mapping table, and the alarm threshold reduction coefficient is output. The preset forward and backward tilt angle alarm reference threshold and the alarm threshold reduction coefficient are combined to obtain the target forward and backward tilt angle alarm threshold.

[0031] In this embodiment, the left-right tilt angle and front-back tilt angle of the transmitter are first collected in real time according to a preset sampling period. Through precise data collection at fixed intervals, the spatial tilt attitude of the transmitter is dynamically and continuously perceived, providing real-time and effective data support for the dynamic adjustment of the tilt angle alarm threshold. At the same time, based on the preset left-right tilt angle alarm reference threshold and front-back tilt angle alarm reference threshold, a left-right tilt angle-alarm threshold correction coefficient mapping table and a front-back tilt angle-alarm threshold correction coefficient mapping table are established respectively. By constructing a specific correlation mapping relationship between angle and correction coefficient, a standardized and precise coefficient basis is provided for the differentiated adjustment of the left-right and front-back alarm thresholds, avoiding the blindness and subjectivity of threshold adjustment. For dynamic adjustment of alarm thresholds for left and right tilt angles, the open interval of the angle reference formed by the lower and upper limits of the angle reference is used as the judgment basis to determine the interval of the real-time acquired left and right tilt angles: if the real-time acquired left and right tilt angles are less than or equal to the lower limit of the angle reference, the left and right tilt angles are input into a pre-established left and right tilt angle-alarm threshold correction coefficient mapping table. The mapping table accurately outputs the corresponding alarm threshold gain coefficient. The preset left and right tilt angle alarm reference threshold is combined with the alarm threshold gain coefficient to obtain the target left and right tilt angle alarm threshold adapted to the current low tilt angle state. By adjusting the gain coefficient, the alarm threshold is increased, effectively reducing the probability of false alarms caused by environmental interference and acquisition errors when the transmitter is tilted at a small angle, and improving the accuracy of alarm judgment at low tilt angles; if the real-time acquired left and right tilt angles are less than or equal to the lower limit of the angle reference, the left and right tilt angles are input into a pre-established left and right tilt angle-alarm threshold correction coefficient mapping table. The corresponding alarm threshold gain coefficient is then accurately output. Within the angle reference range, the preset left and right tilt angle alarm reference threshold is directly maintained. While ensuring the effectiveness of alarm judgment under normal tilt conditions, this avoids the consumption of system computing resources caused by meaningless threshold adjustment and improves the overall efficiency of threshold adjustment. If the real-time collected left and right tilt angle is greater than or equal to the upper limit of the angle reference, the left and right tilt angle is input into the left and right tilt angle-alarm threshold correction coefficient mapping table. The mapping table accurately outputs the corresponding alarm threshold reduction coefficient. The preset left and right tilt angle alarm reference threshold is combined with the alarm threshold reduction coefficient to obtain the target left and right tilt angle alarm threshold adapted to the current high tilt state. By adjusting the reduction coefficient, the alarm threshold is reduced, improving the sensitivity of alarm judgment when the transmitter is tilted at a large angle. This ensures that dangerous postures under high tilt angles are captured and warned in time, avoiding the problem of missed alarms.For dynamic adjustment of the alarm threshold for the forward / backward tilt angle, a differentiated adjustment logic consistent with that for the left / right direction is adopted. The critical open interval formed by the lower and upper critical angle limits is used as the criterion for determining the real-time acquired forward / backward tilt angle: if the real-time acquired forward / backward tilt angle is less than or equal to the lower critical angle limit, this forward / backward tilt angle is input into a pre-established forward / backward tilt angle-alarm threshold correction coefficient mapping table. The mapping table accurately outputs the corresponding alarm threshold gain coefficient. The preset forward / backward tilt angle alarm baseline threshold is combined with this alarm threshold gain coefficient to obtain the target forward / backward tilt angle alarm threshold adapted to the current low-angle tilt state. The alarm threshold is increased through gain adjustment, effectively reducing the probability of false alarms at low tilt angles and ensuring the accuracy of alarm judgment at low forward / backward tilt angles; if the real-time acquired forward / backward tilt angle is less than or equal to the lower critical angle limit, this threshold is used to determine the alarm threshold. When the tilt angle is within the critical range, the preset front-to-back tilt angle alarm threshold is maintained. This satisfies the alarm judgment requirements for normal tilt posture while reducing meaningless system operations and optimizing system resource usage for threshold adjustment. If the real-time acquired front-to-back tilt angle is greater than or equal to the upper limit of the angle threshold, this front-to-back tilt angle is input into the front-to-back tilt angle-alarm threshold correction coefficient mapping table. The mapping table accurately outputs the corresponding alarm threshold reduction coefficient. The preset front-to-back tilt angle alarm threshold is combined with this alarm threshold reduction coefficient to obtain the target front-to-back tilt angle alarm threshold adapted to the current high-angle tilt state. By reducing the alarm threshold, the alarm judgment sensitivity is improved when the front-to-back tilt is high, ensuring that dangerous tilt postures in the front-to-back direction of the transmitter are identified and warned in a timely manner, thus ensuring the safety of equipment operation.

[0032] It should be understood that, such as Figure 2 The diagram shows a flowchart of adjusting the alarm delay time in the anomaly detection method based on an industrial remote controller provided in this application embodiment. The specific process is as follows: First, input the current left-right and forward-backward tilt angle alarm thresholds, obtain the corresponding threshold adjustment ratio factors through a mapping table, and take the maximum value of the two as the comprehensive threshold ratio factor; then determine whether the comprehensive value is less than the ratio factor reference value. If it is less, maintain the preset alarm delay reference time; if it is greater than or equal to, obtain the upward adjustment coefficient according to the delay time-ratio factor mapping relationship, multiply the reference time by the upward adjustment coefficient, and calculate the target alarm delay time; finally, output the adjusted alarm delay time.

[0033] It should be further explained that the specific steps for determining whether to adjust the alarm delay time are as follows: Establish an alarm threshold-threshold adjustment ratio factor mapping table. Input the current left and right tilt angle alarm threshold and the front and back tilt angle alarm threshold into the alarm threshold-threshold adjustment ratio factor mapping table. Output the left and right threshold adjustment ratio factor and the front and back threshold adjustment ratio factor. Record the maximum value of the left and right threshold adjustment ratio factor and the front and back threshold adjustment ratio factor as the comprehensive threshold ratio factor. Based on the comprehensive threshold scaling factor and a preset delay time-scaling factor mapping relationship, the alarm delay time is dynamically adjusted, specifically as follows: If the comprehensive threshold scaling factor is less than the scaling factor benchmark value, the preset alarm delay benchmark time will be maintained. If the comprehensive threshold scaling factor is greater than or equal to the scaling factor benchmark value, the current comprehensive threshold scaling factor is input into the preset delay time-scaling relationship, and the delay time adjustment coefficient is output. The delay time adjustment coefficient is then combined with the preset alarm delay benchmark time to obtain the target alarm delay time.

[0034] In this embodiment, an alarm threshold-threshold adjustment scaling factor mapping table is first constructed. This mapping table establishes a precise correlation between different alarm thresholds and their corresponding threshold adjustment scaling factors in advance. This provides a standardized and traceable mapping basis for the subsequent conversion of left-right and front-back tilt angle alarm thresholds into scaling factors. It effectively avoids the subjectivity and randomness in determining the scaling factor, ensures the consistency and accuracy of the scaling factor output, and lays a reliable data foundation for the dynamic adjustment of alarm delay time. After the mapping table is constructed, the currently determined left and right tilt angle alarm thresholds (including the dynamically adjusted target threshold or the maintained baseline threshold) and front and back tilt angle alarm thresholds (including the dynamically adjusted target threshold or the maintained baseline threshold) are used as input parameters and entered into the alarm threshold-threshold adjustment ratio factor mapping table. Through the matching operation of the mapping table, the left and right tilt angle threshold adjustment ratio factors corresponding to the left and right tilt angle alarm thresholds and the front and back tilt angle threshold adjustment ratio factors corresponding to the front and back tilt angle alarm thresholds are accurately output respectively. Then, the maximum value of the above two directional threshold adjustment ratio factors is extracted and recorded as the comprehensive threshold ratio factor. This maximum value extraction operation can focus on the most critical threshold adjustment dimension in the left and right and front and back tilt directions, ensuring that the comprehensive threshold ratio factor can fully reflect the adjustment requirements of the transmitter's overall tilt attitude on the alarm delay time and avoid the one-sided adjustment problem caused by a single directional ratio factor.Based on the comprehensive threshold scaling factor obtained above, and combined with the preset delay time-scaling factor mapping relationship, a dynamic adjustment process for the alarm delay time is executed. This dynamic adjustment mechanism can achieve real-time adaptation of the alarm delay time to the transmitter tilt state, breaking the limitation that fixed delay time cannot adapt to complex tilt scenarios, and improving the flexibility and rationality of alarm response. A preset scaling factor benchmark value is set as the judgment threshold for delay time adjustment, and the comprehensive threshold scaling factor is compared with this benchmark value. If the comprehensive threshold scaling factor is less than the scaling factor benchmark value, it indicates that the current tilt state of the transmitter in the left-right and front-back directions has a low demand for alarm delay time adjustment. At this time, the preset alarm delay benchmark time is directly maintained. Under the premise of ensuring timely alarm response, meaningless delay time adjustment is avoided, which wastes system computing resources, simplifies the adjustment process, and improves system operating efficiency. If the comprehensive threshold scaling factor is less than the scaling factor benchmark value, it indicates that the current tilt state of the transmitter in the left-right and front-back directions has a low demand for alarm delay time adjustment. At this time, the preset alarm delay benchmark time is directly maintained. Under the premise of ensuring timely alarm response, meaningless delay time adjustment is avoided, which wastes system computing resources, simplifies the adjustment process, and improves system operating efficiency. If the value is greater than or equal to the scaling factor benchmark value, it indicates that the current transmitter tilt state requires an increase in the alarm delay time (e.g., in high tilt angle scenarios, the delay time needs to be appropriately extended to avoid false alarms, or to adapt to the time window of subsequent emergency response operations). At this time, the comprehensive threshold scaling factor is input into the preset delay time-scaling factor mapping relationship. The mapping relationship accurately outputs the corresponding delay time adjustment coefficient. Then, the delay time adjustment coefficient is combined with the preset alarm delay benchmark time (multiplication operation) to obtain the target alarm delay time that adapts to the current overall tilt state of the transmitter. By adjusting the delay time in a targeted manner, false alarms caused by instantaneous interference in high-risk tilt scenarios can be effectively avoided, and sufficient response time can be reserved for subsequent emergency response operations, ensuring the accuracy of alarm judgment and the effectiveness of emergency response, and further improving the reliability and stability of the entire tilt alarm control system.

[0035] like Figure 3The diagram shown is a structural schematic of an anomaly detection system based on an industrial remote controller provided in this application embodiment. It includes: an environment adaptation and signal transmission module, a posture safety detection and threshold adjustment module, and an anomaly response execution module. The environment adaptation and signal transmission module is used to collect environmental parameters of the environment in which the industrial remote controller is located in real time, classify environmental levels based on these parameters, and determine whether to dynamically adjust the anomaly detection threshold and sampling frequency according to the environmental level. If so, the control signal transmission and reception stage is performed after dynamic adjustment; otherwise, the control signal transmission and reception stage is performed directly. The posture safety detection and threshold adjustment module is used to, during the control signal transmission and reception stage, […]. The communication link is bidirectionally encrypted and authenticated. Based on the real-time monitoring signal strength, it determines whether the control signal is abnormally interrupted. If so, it cuts off the current communication link, triggers a communication security anomaly alarm, automatically switches to the backup communication channel and enters a security lock state, and then enters the anti-tilt phase. If not, it enters the anti-tilt phase. The anomaly response execution module is used in the anti-tilt phase to determine whether to dynamically adjust the tilt angle alarm thresholds in the left-right and front-back directions based on the real-time detection of the transmitter's tilt angles. If so, it determines whether to adjust the alarm delay time after adjusting the tilt angle alarm thresholds. If not, it directly determines whether to adjust the alarm delay time.

[0036] In this embodiment, the system is implemented collaboratively by an environment adaptation and signal transmission module, a posture safety detection and threshold adjustment module, and an anomaly response execution module. The environment adaptation and signal transmission module first initiates a real-time environmental parameter acquisition process. Through its built-in sensing unit, it accurately collects key environmental parameters such as temperature, humidity, and electromagnetic interference intensity of the industrial remote controller's operating environment. Based on a preset environmental level classification standard, it performs quantitative analysis and level determination on the collected environmental parameters. This technology enables dynamic perception of complex industrial environments, providing reliable data support for subsequent adaptive adjustments to thresholds and sampling frequencies, effectively avoiding insufficient detection accuracy or... The module addresses signal transmission instability issues. Subsequently, based on the determined environmental level, it assesses whether dynamic adjustment of the anomaly detection threshold and signal sampling frequency is necessary. If adjustment is required, a preset adaptive adjustment algorithm dynamically optimizes the anomaly detection threshold and sampling frequency. After adjustment, the module proceeds to the control signal transmission and reception stage. This dynamic adjustment mechanism ensures optimal detection sensitivity and signal transmission efficiency for the remote control under different environmental levels, guaranteeing the stability and reliability of the control signal. If no adjustment is required, the module directly proceeds to the control signal transmission and reception stage, simplifying the execution process while ensuring efficient implementation of core control functions. The attitude safety detection and threshold adjustment module starts working synchronously during the control signal transmission and reception stages. First, it performs bidirectional encryption and authentication on the communication link. By combining symmetric encryption algorithms with identity verification protocols, it effectively resists external malicious interception, tampering, and spoofing attacks, ensuring the security and uniqueness of the communication link and preventing equipment malfunctions or security risks due to link intrusion. Simultaneously, the module monitors the transmission strength of the control signal in real time and determines whether an abnormal interruption has occurred based on a preset signal strength threshold. If an abnormal signal interruption is detected, it immediately disconnects the communication link, simultaneously triggering a communication security anomaly alarm signal to alert operators for timely action. It also automatically switches to a backup communication channel and enters a security lock state. This series of operations enables rapid emergency response after a communication anomaly, preventing the equipment from being out of control during signal interruption. Then, it proceeds to the anti-tilt detection stage. If the signal transmission is determined to be normal, it directly enters the anti-tilt detection stage, ensuring the continuity of anti-tilt safety control.In the anti-tilt detection stage, the abnormal response execution module uses tilt sensors to collect real-time tilt angle data of the transmitter in the left-right and front-back directions. Based on the collected real-time tilt angle information, it determines whether the tilt angle alarm thresholds in the left-right and front-back directions need to be dynamically adjusted. If adjustment is required, the corresponding tilt angle alarm thresholds are precisely calibrated according to preset threshold adjustment logic. This dynamic adjustment technology allows the transmitter to adapt to different operating scenarios and work requirements, improving the targeting and accuracy of tilt alarms. After adjusting the tilt angle alarm thresholds (or determining that no adjustment is needed), it further determines whether the alarm delay time needs to be adjusted. By flexibly adapting the alarm delay time, false alarms caused by instantaneous tilt can be effectively avoided, while ensuring that genuine tilt safety hazards can trigger alarms in a timely manner, thus guaranteeing the safety and stability of industrial operations.

[0037] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)). Where there is no conflict, the solutions in the above embodiments can be combined.

[0038] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0039] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0040] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0041] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0042] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope and intent of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and variations.

Claims

1. An anomaly detection method based on an industrial remote controller, characterized in that, Includes the following steps: Step 201: Collect environmental parameters of the environment where the industrial remote controller is located in real time, classify the environmental level based on the environmental parameters, and determine whether to dynamically adjust the abnormal detection threshold and sampling frequency according to the environmental level. If yes, then proceed with the control signal sending and receiving stage after dynamic adjustment; otherwise, proceed with the control signal sending and receiving stage directly. Step 202: In the control signal sending and receiving stage, the communication link is bidirectionally encrypted and authenticated. The control signal is judged to be abnormally interrupted based on the real-time monitoring signal strength. If so, the current communication link is cut off, a communication security abnormality alarm is triggered, and the system automatically switches to the backup communication channel and enters the security lock state before entering the anti-tilt stage. If not, the system enters the anti-tilt stage. Step 203: In the anti-tilt process, based on the real-time detection of the transmitter's tilt angle in the left-right and front-back directions, determine whether to dynamically adjust the tilt angle alarm thresholds in the left-right and front-back directions. If yes, then after adjusting the tilt angle alarm thresholds, determine whether to adjust the alarm delay time. If no, then directly determine whether to adjust the alarm delay time.

2. The anomaly detection method and system based on an industrial remote controller as described in claim 1, characterized in that: The environmental parameters include dust concentration, humidity, and gas concentration; The specific steps for classifying environmental levels based on environmental parameters are as follows: Dust concentration values ​​are acquired using dust concentration sensors, compared with a baseline dust concentration range, and the dust environment level is determined based on the comparison results. Specifically: If the dust concentration value is less than or equal to the lower limit of the dust concentration benchmark, it is judged as a Class I dust environment level; If the dust concentration value is within the dust concentration benchmark range, it is determined to be a level 2 dust environment. The dust concentration benchmark range refers to the open interval formed by the lower limit of the dust concentration benchmark and the upper limit of the dust concentration benchmark. If the dust concentration value is greater than or equal to the upper limit of the dust concentration benchmark, it is determined to be a level three dust environment.

3. The anomaly detection method and system based on an industrial remote controller as described in claim 2, characterized in that: The method of classifying environmental levels based on environmental parameters also includes: Humidity values ​​are acquired using a humidity sensor, compared to a humidity baseline range, and the humidity environmental level is determined based on the comparison results. Specifically: If the humidity value is less than or equal to the lower limit of the humidity reference, it is determined to be a level 1 humidity level; If the humidity value is within the humidity reference range, it is determined to be a level 2 humidity level. The humidity reference range refers to the open interval formed by the lower limit and the upper limit of the humidity reference. If the humidity value is greater than or equal to the upper limit of the humidity baseline, it is determined to be a level three humidity level; Corrosive gas concentration values ​​are obtained using a corrosive gas concentration sensor. These values ​​are then compared to a baseline range for corrosive gas concentrations. Based on the comparison results, the corrosive environment level is determined. Specifically: If the concentration of corrosive gas is less than or equal to the lower limit of the corrosive gas concentration benchmark, it is determined to be a Class I corrosive gas concentration level.

4. The anomaly detection method and system based on an industrial remote controller as described in claim 2, characterized in that: The method of classifying environmental levels based on environmental parameters also includes: If the concentration of corrosive gas is within the reference range of corrosive gas concentration, it is determined to be a level two corrosive gas concentration. The reference range of corrosive gas concentration refers to the open interval formed by the lower limit and the upper limit of the reference range of corrosive gas concentration. If the concentration of corrosive gas is greater than or equal to the upper limit of the corrosive gas concentration benchmark, it is determined to be a level three corrosive gas concentration. S100: If any one of the dust environment level, humidity environment level, or corrosion environment level reaches level three, the current comprehensive environmental level is determined to be hazardous. S101. If the hazardous level is not reached, but at least two of the dust environment level, humidity environment level and corrosion environment level reach level three, the current comprehensive environmental level is determined to be severe. S102. If the environmental severity level is not reached, but at least one of the dust environment level, humidity environment level, and corrosion environment level reaches level three, then the current comprehensive environmental level is determined to be severe. S103. If none of S100-S102 are satisfied, then the current comprehensive environmental level is determined to be normal.

5. The anomaly detection method and system based on an industrial remote controller as described in claim 1, characterized in that: The specific steps for determining whether to dynamically adjust the anomaly detection threshold and sampling frequency are as follows: Establish an environmental level-operating parameter adjustment coefficient mapping table, wherein the operating parameters include anomaly detection threshold and sampling frequency threshold; When the current overall environmental level is determined to be normal, the abnormal detection baseline threshold and the sampling frequency baseline threshold are maintained. When the current comprehensive environment level is determined to be severe, the current comprehensive environment level is input into the environment level-working parameter adjustment coefficient mapping table, and the detection threshold first-level gain coefficient and frequency threshold first-level gain coefficient are output. The anomaly detection benchmark threshold and the detection threshold first-level gain coefficient are combined to obtain the target anomaly detection threshold. The sampling frequency benchmark threshold and the frequency threshold first-level gain coefficient are combined to obtain the target sampling frequency threshold. When the current comprehensive environmental level is determined to be severe, the current comprehensive environmental level is input into the environmental level-working parameter adjustment coefficient mapping table, and the secondary gain coefficient of the detection threshold and the secondary gain coefficient of the frequency threshold are output. The anomaly detection benchmark threshold and the secondary gain coefficient of the detection threshold are combined to obtain the target anomaly detection threshold. The sampling frequency benchmark threshold and the secondary gain coefficient of the frequency threshold are combined to obtain the target sampling frequency threshold. The secondary gain coefficient of the detection threshold is greater than the primary gain coefficient of the detection threshold, and the secondary gain coefficient of the frequency threshold is greater than the primary gain coefficient of the frequency threshold.

6. The anomaly detection method and system based on an industrial remote controller as described in claim 5, characterized in that: The determination of whether to dynamically adjust the anomaly detection threshold and sampling frequency also includes: When the current comprehensive environmental level is determined to be dangerous, the current comprehensive environmental level is input into the environmental level-operating parameter adjustment coefficient mapping table, and the detection threshold gain upper limit coefficient and frequency threshold upper limit gain coefficient are output. The anomaly detection benchmark threshold and the detection threshold upper limit gain coefficient are combined to obtain the target anomaly detection threshold, which is used to reduce the probability of signal misjudgment caused by environmental interference. The sampling frequency benchmark threshold and the frequency threshold upper limit gain coefficient are combined to obtain the target sampling frequency threshold, which is used to improve the capture and response speed of abnormal signals.

7. The anomaly detection method and system based on an industrial remote controller as described in claim 1, characterized in that: The specific steps for determining whether to dynamically adjust the tilt angle alarm threshold in the left-right and front-back directions are as follows: Based on the preset sampling period, the tilt angle of the transmitter in the left and right directions and the tilt angle in the front and back directions are collected in real time. Combined with the preset alarm reference threshold for the tilt angle in the left and right directions and the preset alarm reference threshold for the tilt angle in the front and back directions, a mapping table of left and right tilt angle-alarm threshold correction coefficient and a mapping table of front and back tilt angle-alarm threshold correction coefficient are established. If the left and right tilt angles are less than or equal to the lower limit of the angle reference, the current left and right tilt angles are input into the left and right tilt angle-alarm threshold correction coefficient mapping table, and the alarm threshold gain coefficient is output. The preset left and right tilt angle alarm reference threshold and the alarm threshold gain coefficient are combined to obtain the target left and right tilt angle alarm threshold. If the left and right tilt angles are within the angle reference range, the preset left and right tilt angle alarm reference threshold is maintained. The angle reference range refers to the open interval formed by the lower limit of the angle reference and the upper limit of the angle reference. If the left and right tilt angles are greater than or equal to the upper limit of the angle reference, the current left and right tilt angles are input into the left and right tilt angle-alarm threshold correction coefficient mapping table, and the alarm threshold reduction coefficient is output. The preset left and right tilt angle alarm reference threshold and the alarm threshold reduction coefficient are combined to obtain the target left and right tilt angle alarm threshold.

8. The anomaly detection method and system based on an industrial remote controller as described in claim 7, characterized in that: The method for determining whether to dynamically adjust the tilt angle alarm thresholds in the left-right and front-back directions also includes: If the forward and backward tilt angle is less than or equal to the lower limit of the angle, the current forward and backward tilt angle is input into the forward and backward tilt angle-alarm threshold correction coefficient mapping table, and the alarm threshold gain coefficient is output. The preset forward and backward tilt angle alarm reference threshold and the alarm threshold gain coefficient are combined to obtain the target forward and backward tilt angle alarm threshold. If the forward and backward tilt angles are within the critical angle range, the preset forward and backward tilt angle alarm reference threshold is maintained. The critical angle range refers to the open interval formed by the lower critical angle limit and the upper critical angle limit. If the forward and backward tilt angle is greater than or equal to the critical upper limit of the angle, the current forward and backward tilt angle is input into the forward and backward tilt angle-alarm threshold correction coefficient mapping table, and the alarm threshold reduction coefficient is output. The preset forward and backward tilt angle alarm reference threshold and the alarm threshold reduction coefficient are combined to obtain the target forward and backward tilt angle alarm threshold.

9. The anomaly detection method and system based on an industrial remote controller as described in claim 1, characterized in that: The specific steps for determining whether to adjust the alarm delay time are as follows: Establish an alarm threshold-threshold adjustment ratio factor mapping table. Input the current left and right tilt angle alarm threshold and the front and back tilt angle alarm threshold into the alarm threshold-threshold adjustment ratio factor mapping table. Output the left and right threshold adjustment ratio factor and the front and back threshold adjustment ratio factor. Record the maximum value of the left and right threshold adjustment ratio factor and the front and back threshold adjustment ratio factor as the comprehensive threshold ratio factor. Based on the comprehensive threshold scaling factor and a preset delay time-scaling factor mapping relationship, the alarm delay time is dynamically adjusted, specifically as follows: If the comprehensive threshold scaling factor is less than the scaling factor benchmark value, the preset alarm delay benchmark time will be maintained. If the comprehensive threshold scaling factor is greater than or equal to the scaling factor benchmark value, the current comprehensive threshold scaling factor is input into the preset delay time-scaling relationship, and the delay time adjustment coefficient is output. The delay time adjustment coefficient is then combined with the preset alarm delay benchmark time to obtain the target alarm delay time.

10. A system applying the anomaly detection method based on an industrial remote controller as described in any one of claims 1-9, characterized in that, include: The modules are: Environment Adaptation and Signal Transmission Module, Attitude Safety Detection and Threshold Adjustment Module, and Anomaly Response Execution Module. The environment adaptation and signal transmission module is used to collect environmental parameters of the environment in which the industrial remote controller is located in real time, classify the environment level based on the environmental parameters, and determine whether to dynamically adjust the abnormal detection threshold and sampling frequency according to the environment level. If yes, the control signal sending and receiving stage is carried out after dynamic adjustment; otherwise, the control signal sending and receiving stage is carried out directly. The attitude safety detection and threshold adjustment module is used to perform bidirectional encryption and authentication of the communication link in the control signal sending and receiving stage. It judges whether the control signal is abnormally interrupted based on the real-time monitoring signal strength. If so, it cuts off the current communication link, triggers a communication security abnormality alarm, and automatically switches to the backup communication channel and enters the security lock state before entering the anti-tilt stage. If not, it enters the anti-tilt stage. The abnormal response execution module is used to determine whether to dynamically adjust the tilt angle alarm thresholds in the left-right and front-back directions based on the real-time detection of the transmitter's tilt angle in the left-right and front-back directions during the anti-tilt process. If yes, it determines whether to adjust the alarm delay time after adjusting the tilt angle alarm thresholds; otherwise, it directly determines whether to adjust the alarm delay time.

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