A bouldering wall electric push rod synchronous inclination angle adjusting control system based on a TS5 internet of things human-machine interface

Abstract

The application discloses a kind of based on TS5 Internet of Things man-machine interface rock climbing wall electric push rod synchronous angle adjustment control system, including TS5 Internet of Things man-machine interface assembly, Modbus-RTU bus communication link, multiple groups servo electric push rod assembly, rock climbing wall steel frame rock wall main part and cloud remote management and control platform.TS5 Internet of Things man-machine interface as Modbus host, through RS485 bus one master-slave control multiple rock climbing drive push rod synchronous extension, drive rock wall overturn angle adjustment;Rely on TS5 original plug-in 4G / WiFi module to realize local touch screen angle adjustment and remote cloud management and control double mode;Push rod built-in travel sensor and load acquisition module, data bus returns real-time conversion and shows inclination value;Utilize TS5 audio output interface with bus real-time monitoring, realize push rod overload, synchronous deviation overrun acoustic and light alarm and cloud push.The application solves the defect that traditional rock climbing wall multiple push rod is synchronous, wiring is complicated, cannot be remotely operated and maintained, has no overload early warning, control precision is high, operation is convenient, safety protection is perfect.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for rock climbing training equipment, and in particular to a synchronous tilt angle adjustment control system for electric push rods of climbing walls based on the TS5 IoT human-machine interface, which is suitable for adjustable climbing walls in commercial climbing gyms, physical training bases and other places. Background Technology

[0002] Rock climbing, as an extreme sport that combines fitness, entertainment, and competition, has gained widespread popularity globally in recent years. As the core training equipment for rock climbing, the adjustable angle of the climbing wall directly affects the diversity of training results and the athlete's experience. By adjusting the wall's inclination angle, different climbing difficulties, from vertical to suspended walls, can be simulated, meeting the diverse training needs of beginners to professional athletes.

[0003] Currently, adjustable climbing walls widely used in commercial climbing gyms and physical training bases have the following main technical defects in terms of tilt adjustment: First, traditional methods for modifying the tilt angle of climbing walls have serious drawbacks. Conventional adjustable climbing walls typically use hydraulic cylinders or single-control contactors to drive push rods for tilt adjustment. For large climbing walls requiring four or more push rods, each push rod uses a separate cylinder with individual wiring, lacking an effective synchronization mechanism, leading to large synchronization errors. When the wall tilts, the inconsistent extension and retraction of the push rods causes the wall surface to twist and deform, resulting in uneven stress on various points. This not only affects the climbing experience but may also cause stress concentration in the steel frame structure, posing a safety hazard. Furthermore, hydraulic cylinder solutions suffer from oil leakage, requiring frequent maintenance, and the hydraulic system cannot accurately lock the tilt angle after a power outage, necessitating an additional hydraulic locking device, increasing system complexity and cost.

[0004] Secondly, local control methods have significant limitations. Traditional climbing wall control boxes only offer on-site button start / stop functions. Operators can only visually assess whether the wall's inclination angle is correct, making it impossible to precisely set the inclination value or perform segmented fine-tuning. Furthermore, traditional control boxes lack data storage capabilities, failing to record critical operational data such as usage frequency, inclination adjustment history, and push rod load changes. More importantly, traditional control boxes lack IoT functionality, preventing venue maintenance personnel from remotely monitoring the wall's real-time usage status and fault information. When inclination parameters need modification or fault diagnosis is required, on-site disassembly and debugging are mandatory, resulting in low maintenance efficiency and slow response times.

[0005] Third, existing HMI products are not specifically adapted to the multi-climber bus architecture of climbing walls. Ordinary touchscreen products on the market lack native 4G / WiFi wireless communication expansion capabilities, do not support VNC remote desktop functionality, and lack remote program pass-through functionality, making it impossible to achieve a multi-climber Modbus bus master-slave synchronous control architecture. Although Xinje's TS5 series IoT-enabled HMI comes with multiple RS485 serial ports, IoT expansion slots, and audio alarm interfaces, these hardware resources have not yet been systematically designed and applied in the field of climbing wall tilt adjustment control, lacking a dedicated solution for synchronous control scenarios with four or more climbers.

[0006] Fourth, the rock climbing wall safety early warning function is severely lacking. Existing rock climbing wall tilt adjustment systems lack real-time alarm functions for abnormal operating conditions such as uneven load distribution on multiple push rods or push rod overload and jamming. Operators cannot be promptly notified of abnormal push rod operating conditions. Long-term uneven load distribution can easily cause deformation of the climbing panel, damage to the steel frame structure, and even lead to safety accidents such as push rod breakage and rock wall collapse. The existing system lacks a real-time acquisition and fault warning structure for push rod load and stroke data, making it impossible to achieve online monitoring and proactive protection of the push rod's operating status.

[0007] To address the shortcomings of the existing technologies, there is an urgent need to develop a climbing wall tilt adjustment control system that can achieve high-precision synchronous control of multiple push rods, has IoT remote management and control functions, and integrates a safety early warning mechanism. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide a synchronous tilt angle adjustment control system for electric push rods of climbing walls based on the TS5 IoT human-machine interface. This system solves the technical defects of existing climbing wall tilt angle adjustment systems, such as low synchronization accuracy of multiple push rods, cumbersome wiring, inability to remotely maintain the system, and lack of overload warning.

[0009] The above-mentioned objective of this invention is achieved through the following technical solutions: A synchronous tilt angle adjustment control system for electric actuators on climbing walls based on a TS5 IoT human-machine interface includes: The TS5 IoT human-machine interface assembly uses the Xinje TS5 series IoT human-machine interface, and its hardware configuration includes an ARM Cortex-A7 processor, at least two RS485 serial ports, an RJ45 100M Ethernet port, a USB-A interface, a pluggable expansion card slot, and an independent audio output alarm interface. The Modbus-RTU bus communication link is led out from the RS485 terminal of the TS5 IoT human-machine interface, and all the servo electric actuators of the climbing wall are connected in parallel in a daisy-chain topology. The TS5 IoT human-machine interface acts as the Modbus host to uniformly issue control commands. Multiple servo electric actuator assemblies, each consisting of a servo motor, an aluminum alloy profile cylinder, U-shaped fisheye hinged ends, an in-cylinder ball screw structure, a built-in stroke magnetic grating sensor, a load current acquisition module, and a driver with integrated RS485 communication terminals; the lower ends of the multiple servo electric actuators are hinged to the steel frame of the equipment base, and the upper ends are hinged to the crossbeam on the back of the rock climbing wall; The main body of the climbing wall steel frame includes a steel truss frame and a climbing panel. A transverse load-bearing beam is set on the back of the climbing wall. The transverse load-bearing beam is hinged to the upper end of the multiple sets of servo electric push rods. The multiple sets of servo electric push rods extend and retract synchronously to drive the climbing wall to tilt and flip. The cloud-based remote management platform connects the TS5 IoT human-machine interface to the cloud server via a 4G full-network module or WiFi wireless module installed in a pluggable expansion card slot using the MQTT or TCP / IP protocol. Remote terminals can then perform remote monitoring and remote parameter downloads through the cloud server.

[0010] Preferably, the TS5 IoT HMI acts as a Modbus master, sending tilt angle stroke parameters, lifting speed parameters, and overload threshold parameters to each servo electric linear actuator via the RS485 serial port using the Modbus-RTU communication protocol; each servo electric linear actuator acts as a Modbus slave, receiving and executing the control commands, and simultaneously transmitting the real-time stroke data and real-time load data of each actuator back to the TS5 IoT HMI via the Modbus-RTU bus communication link.

[0011] Preferably, the TS5 IoT human-machine interface has a built-in tilt angle conversion module. The tilt angle conversion module calculates the current rock wall tilt angle value based on the real-time stroke data of each servo electric actuator and the geometric parameters of the rock wall, and displays the tilt angle value on the touch screen of the TS5 IoT human-machine interface in real time. The TS5 IoT human-machine interface also periodically uploads the stroke data, load data and tilt angle value of each actuator to the cloud server for storage.

[0012] Preferably, the touchscreen of the TS5 IoT human-machine interface is provided with a tilt angle setting interface, which includes a numerical input box and multiple preset tilt angle gear shortcut buttons. After the user inputs the target tilt angle value through the touchscreen or clicks the preset tilt angle gear shortcut buttons, the TS5 IoT human-machine interface calculates the target stroke of each servo electric actuator based on the target tilt angle value, and synchronously sends extension and retraction commands to each servo electric actuator driver through the Modbus-RTU bus communication link to achieve multi-cylinder synchronous action.

[0013] Preferably, the plurality of preset tilt angle shortcut buttons include a 5° button, a 15° button, a 30° button, and a 45° button; after the user clicks any of the preset tilt angle shortcut buttons, the TS5 IoT human-machine interface retrieves the corresponding tilt angle recipe parameters, which include at least the target stroke value, running speed value, and allowable deviation threshold value of each push rod.

[0014] Preferably, the RJ45 100Mbps Ethernet port of the TS5 IoT HMI is used to connect to the venue's local area network, allowing the local debugging computer to access the TS5 IoT HMI via the local area network for batch input of tilt angle formulas and configuration of system parameters; the USB-A interface is used to connect a USB flash drive to import multiple sets of training tilt angle programs, export daily rock wall operation data, and export load record data of each putter.

[0015] Preferably, the 4G full-network module or WiFi wireless module installed in the pluggable expansion card slot supports the VNC remote desktop protocol. A remote computer or remote mobile phone can remotely mirror the screen of the TS5 IoT human-machine interface through a VNC client and remotely control the touch screen in real time to achieve one-click switching of rock wall inclination angle from a different location. The 4G full-network module or WiFi wireless module also supports remote program pass-through function, allowing remote maintenance personnel to remotely download and modify push rod synchronous control parameters via Ethernet, 4G network or WiFi network.

[0016] Preferably, the independent audio output alarm interface of the TS5 IoT HMI is externally connected to a fault alarm speaker; the TS5 IoT HMI has a built-in fault judgment module, which calculates the load difference between each servo electric actuator based on the real-time load data transmitted back by each actuator via the Modbus-RTU bus. When the load value of any actuator exceeds a preset overload threshold, or the load difference between any two actuators exceeds a preset deviation threshold, or the stroke change rate of any actuator exceeds a preset jamming threshold, the fault judgment module determines that a fault has occurred. The TS5 IoT HMI drives the independent audio output alarm interface to output an alarm signal, triggering the external fault alarm speaker to emit an audible and visual alarm. At the same time, fault information is generated and pushed to the cloud server via the 4G full network module or WiFi wireless module, and the cloud server pushes the fault notification to the remote terminal.

[0017] Preferably, the fault judgment module further calculates the stroke synchronization deviation between each push rod based on the real-time stroke data transmitted back by each servo electric push rod via the Modbus-RTU bus. When the stroke deviation between any two push rods exceeds the preset synchronization deviation threshold, the fault judgment module determines that a synchronization deviation fault has occurred. The TS5 IoT human-machine interface immediately sends a stop command to each servo electric push rod driver via the Modbus-RTU bus to pause the movement of all push rods and drive the independent audio output alarm interface to output an alarm signal.

[0018] Preferably, the number of the multiple sets of servo electric actuators is four, and the four sets of servo electric actuators are evenly arranged along the width direction of the climbing wall; the lower ends of the four sets of servo electric actuators are respectively hinged to the steel frame of the equipment base through U-shaped fisheye joints, and the upper ends of the four sets of servo electric actuators are respectively hinged to different positions of the transverse load-bearing beam on the back of the rock wall through U-shaped fisheye joints; the TS5 IoT human-machine interface synchronously sends control commands to the drivers of the four sets of servo electric actuators in a broadcast or polling manner through the Modbus-RTU bus communication link, so as to realize the synchronous extension and retraction of the four cylinders, driving the rock wall to rotate around the bottom pivot within the range of 0° to 60°.

[0019] In summary, compared with the prior art, the present invention includes at least one of the following beneficial technical effects: First, this invention uses the TS5 IoT HMI as the Modbus host, directly driving multiple servo electric actuators through its built-in RS485 serial port, eliminating the need for an additional PLC controller. This architecture fully utilizes the existing dual RS485 serial port hardware resources of the TS5 HMI, simplifying the wiring structure of the climbing wall's electrical control system and reducing system cost and failure rate. A single bus connects four climbing actuators, achieving high-precision synchronous extension and retraction of multiple cylinders, ensuring no twisting or deformation during rock wall rotation and uniform force distribution at all stress points.

[0020] Secondly, this invention leverages the pluggable 4G / WiFi hardware module of the TS5 IoT human-machine interface to construct a dual-mode control architecture of "local touchscreen angle adjustment + remote cloud management." On-site operators can adjust the rock wall's inclination angle with a single touchscreen, while headquarters management personnel can remotely view the real-time status of the rock wall, remotely modify inclination parameters, and remotely troubleshoot faults via mobile phone or computer. This architecture significantly improves the operation and maintenance efficiency and management convenience of the climbing wall.

[0021] Third, this invention utilizes the built-in stroke magnetic grating sensor and load current acquisition module in each push rod to achieve real-time acquisition and bus transmission of push rod stroke and load data. The TS5 IoT human-machine interface calculates and displays the current rock face inclination angle in real time based on the transmitted data, realizing inclination angle visualization. Simultaneously, all operational data is synchronously stored on a cloud server, allowing for the traceability of all rock face adjustments and providing data support for equipment maintenance and training data analysis.

[0022] Fourth, this invention utilizes the built-in audio output interface of the TS5 IoT human-machine interface, in conjunction with the Modbus bus, to monitor the load and stroke data of each push rod in real time. When a single cylinder load exceeds the limit, multi-cylinder synchronization deviation exceeds the limit, or a push rod jams, the system immediately triggers a local horn alarm and pushes fault information to the cloud. This safety warning structure effectively protects the climbing panel and steel frame structure, avoiding safety accidents caused by push rod malfunctions. Attached Figure Description

[0023] Figure 1 This is a block diagram of the overall architecture of the climbing wall electric actuator synchronous tilt angle adjustment control system based on the TS5 IoT human-machine interface of this invention.

[0024] Figure 2 This is a schematic diagram of the hardware interface configuration of the TS5 IoT human-machine interface in this invention.

[0025] Figure 3 This is a schematic diagram of the Modbus-RTU bus communication link topology in this invention.

[0026] Figure 4 This is a block diagram illustrating the control principle of the servo electric actuator assembly in this invention.

[0027] Figure 5 This is a schematic diagram of the tilt angle setting interface of the TS5 IoT human-machine interface in this invention.

[0028] Figure 6 This is a schematic diagram of the tilt recipe management interface of the TS5 IoT human-machine interface in this invention.

[0029] Figure 7 This is a schematic diagram of the real-time monitoring interface for push rod operation data of the TS5 IoT human-machine interface in this invention.

[0030] Figure 8 This is a schematic diagram of the fault alarm interface of the TS5 IoT human-machine interface in this invention.

[0031] Figure 9 This is a schematic diagram of the functional modules of the cloud-based remote management platform in this invention.

[0032] Figure 10 This is a flowchart of the control system in this invention.

[0033] Figure reference numerals: 100, TS5 IoT HMI assembly; 101, Processor unit; 102, Touch screen; 103, COM1 serial port; 104, COM2 serial port; 105, RJ45 100Mbps Ethernet port; 106, USB-A interface; 107, Pluggable expansion card slot; 108, Independent audio output alarm interface; 109, DC24V power interface; 200, Modbus-RTU bus communication link; 201, Bus cable; 202, Terminating resistor; 300, Multiple servo electric linear actuator assembly; 301, First servo electric linear actuator driver; 302, Second servo electric linear actuator driver; 303, Third servo electric linear actuator driver; 304, Fourth servo electric linear actuator driver. 310. Push rod driver; 320. Servo motor; 330. Ball screw transmission mechanism; 340. Push rod telescopic assembly; 350. Stroke magnetic grating sensor; 360. Load current acquisition module; 362. Servo electric push rod driver; 363. Microprocessor; 364. Power drive module; 370. Lower U-shaped fisheye connector; 380. Upper U-shaped fisheye connector; 400. Climbing wall steel frame rock wall body; 500. Cloud-based remote control platform; 510. Equipment access and management module; 520. Data receiving and storage module; 530. Remote monitoring and visualization module; 540. Remote control module; 550. Alarm and notification module; 560. Remote maintenance and diagnostic module; 570. Data analysis and reporting module. Detailed Implementation

[0034] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] Example 1: System Overall Architecture like Figure 1As shown, the climbing wall electric actuator synchronous tilt angle adjustment control system based on TS5 IoT human-machine interface provided by the present invention consists of five main modules: TS5 IoT human-machine interface assembly 100, Modbus-RTU bus communication link 200, multiple servo electric actuator assemblies 300, climbing wall steel frame rock wall body 400, and cloud remote control platform 500.

[0036] The TS5 IoT HMI assembly 100 serves as the core of the entire control system, undertaking multiple functions including human-machine interaction, data processing, command issuance, and remote communication. The TS5 IoT HMI utilizes Xinje's TS5 series IoT HMI products, with specific models including the 7-inch TS5-700-E or the 10.1-inch TS5-1000-E. The TS5 IoT HMI is equipped with an ARM Cortex-A7 processor with a 1.0GHz clock speed, 128MB of memory, and a DC 24V power supply. The hardware configuration includes two serial ports (COM1 and COM2) supporting RS232 / RS485 / RS422 communication, an RJ45 100Mbps Ethernet port, a USB-A interface, a built-in pluggable expansion card slot, and an independent audio output alarm interface. This hardware configuration provides ample interface resources and computing power for the synchronous control of multiple push rods on the climbing wall.

[0037] The Modbus-RTU bus communication link 200 is led out from the RS485 terminal of the TS5 IoT HMI assembly 100, and connects all the servo electric actuators of the climbing wall in parallel using a daisy-chain topology. The TS5 IoT HMI acts as the Modbus master, sending tilt angle travel parameters, lifting speed parameters, and overload threshold parameters to each slave device via the RS485 serial port using the Modbus-RTU communication protocol. Each servo electric actuator acts as a Modbus slave, receiving and executing control commands from the master. Simultaneously, each slave transmits real-time travel data and real-time load data of the actuator back to the master via the bus. This architecture achieves true master-slave synchronous control.

[0038] The number of 300 servo electric actuator assemblies is determined based on the width of the climbing wall and the load requirements; in this embodiment, four assemblies are preferred. Each servo electric actuator assembly includes a servo motor, an aluminum alloy profile cylinder, U-shaped fisheye hinged ends, an in-cylinder ball screw structure, a built-in stroke magnetic grating sensor, a load current acquisition module, and a driver with an integrated RS485 communication terminal. The servo motor provides driving torque, converting the motor's rotational motion into the linear reciprocating motion of the actuator through the ball screw structure. The stroke magnetic grating sensor is used to detect the extension length of the actuator in real time, and the load current acquisition module indirectly reflects the load size of the actuator by monitoring the drive current of the servo motor. The driver integrates an RS485 communication terminal to achieve physical connection and protocol communication with the bus.

[0039] The climbing wall steel frame structure 400 includes a steel truss frame and a solid wood climbing panel fixed to the front of the frame. A transverse load-bearing beam is installed at the back of the climbing wall, and the upper ends of the beam are hinged to four sets of servo-electric actuators via U-shaped fisheye joints. The lower ends of the four sets of servo-electric actuators are hinged to the equipment base steel frame via U-shaped fisheye joints. When the four sets of servo-electric actuators extend synchronously, they push the climbing wall forward around its bottom pivot axis, increasing the wall's tilt angle; when the four sets of servo-electric actuators retract synchronously, they pull the climbing wall backward to reset, decreasing the tilt angle. The synchronous extension and retraction of the four sets of actuators enables the entire climbing panel to achieve stepless tilt rotation within the range of 0° to 60°.

[0040] The cloud-based remote management platform 500 is deployed on a public or private cloud server. The TS5 IoT HMI assembly 100 connects to the cloud server via a 4G full-network module or WiFi wireless module installed in a pluggable expansion slot, using the MQTT or TCP / IP protocol. The cloud server provides services such as data storage, device management, alarm push notifications, and remote access. Remote computers or mobile terminals can access the cloud platform via the internet to achieve remote monitoring, remote parameter modification, and remote troubleshooting.

[0041] like Figure 2 As shown, the hardware interface configuration of the TS5 IoT human-machine interface includes the following components.

[0042] Processor unit 101 uses a dual-core ARM Cortex-A7 processor with a clock speed of 1.0GHz to 1.2GHz and is equipped with 128MB to 256MB of memory. It is responsible for running the operating system, human-machine interface software, communication protocol stack, and application logic programs. The high clock speed and large memory configuration ensure the smoothness and responsiveness of the system in a multi-tasking environment.

[0043] The touchscreen display 102 is a 7-inch or 10.1-inch TFT-LCD color display, supporting 16.77 million colors, with a resolution of 800×480 (7-inch) or 1024×600 (10.1-inch). The touchscreen display supports capacitive multi-touch, allowing operators to perform various operations such as tilt setting, parameter configuration, and data viewing via finger touch.

[0044] Both COM1 serial port 103 and COM2 serial port 104 are multi-functional serial ports, supporting switching between RS232, RS485, and RS422 communication modes respectively. In this specific application, COM2 serial port 104 is configured in RS485 communication mode, serving as the Modbus master communication port to connect the bus cables to each push rod driver. COM1 serial port 103 can be configured in RS232 communication mode for connecting local debugging equipment or expanding other serial port devices.

[0045] The RJ45 100Mbps Ethernet port 105 is used to connect to the venue's local area network (LAN). Through the LAN, the local debugging computer can access the TS5 IoT HMI to perform operations such as batch input of tilt angle recipes, system parameter configuration, and firmware upgrades. The Ethernet port can also serve as one of the network channels for VNC remote desktop and remote program pass-through.

[0046] The USB-A interface 106 supports the USB 2.0 communication protocol and can connect to external USB devices such as flash drives, mice, keyboards, and barcode scanners. In climbing wall applications, the USB-A interface is mainly used to connect flash drives to import multiple training tilt programs, export daily climbing wall operation data, and export load records for each putter.

[0047] The pluggable expansion card slot 107 is integrated inside the TS5 IoT HMI housing, employing a standard Mini PCIe interface or a dedicated interface design. It supports optional installation of a 4G full-network compatible wireless communication module or a WiFi wireless communication module. The 4G full-network compatible module supports the 4G LTE networks of China's three major operators, enabling the device to access the internet in any location with 4G signal coverage. The WiFi module supports both 2.4GHz and 5GHz dual-band frequencies, suitable for scenarios where existing WiFi network coverage exists within the venue. The pluggable design allows users to flexibly choose the communication method according to their actual needs and facilitates future upgrades and replacements.

[0048] The independent audio output alarm interface 108 is a standard 3.5mm audio interface, supporting mono or stereo audio signal output. This interface can be connected to an external active fault alarm speaker or audible and visual alarm. When the system detects faults such as overload of the push rod, excessive synchronization deviation, or push rod jamming, the TS5 IoT HMI outputs an alarm audio signal through this interface, driving the external alarm device to issue an audible and visual alarm, reminding on-site personnel to handle the situation promptly.

[0049] The DC24V power interface 109 is used to connect a DC24V power supply to provide operating power for the TS5 IoT HMI. DC24V power supply is the standard power supply voltage in the industrial control field, which facilitates sharing the power system with other devices such as linear actuators.

[0050] like Figure 3 As shown, the Modbus-RTU bus communication link adopts a master-slave bus topology.

[0051] The TS5 IoT HMI 100 acts as a Modbus host, with its COM2 serial port configured for RS485 communication. A twisted-pair shielded bus cable 201 is led out from the A(+) and B(-) pins of the RS485 terminal. The bus cable 201 is laid along the climbing wall, sequentially connecting the first servo electric actuator 301, the second servo electric actuator 302, the third servo electric actuator 303, and the fourth servo electric actuator 304 in a daisy-chain topology. The RS485 communication terminals of each actuator are connected in parallel on the bus. The farthest terminating resistor 202 on the bus is used to eliminate signal reflections and ensure bus communication quality.

[0052] Under the Modbus-RTU communication protocol, the TS5 IoT HMI 100 acts as the sole master device, possessing control over the bus. All servo electric linear actuators act as slave devices, each with a unique slave address (e.g., 1#, 2#, 3#, 4#). The master device identifies and addresses each slave device using its slave address.

[0053] When the master unit sends control commands to the slave units, it can use two methods: broadcast and polling. In broadcast mode, the master unit sends a command to address 0, and all slave units simultaneously receive and execute the command, suitable for scenarios requiring synchronized action of all actuators. In polling mode, the master unit sends commands to each slave unit sequentially, and each slave unit responds sequentially, suitable for scenarios requiring individual querying of actuator status or individual adjustment of actuator parameters. In the tilt adjustment control of this invention, the synchronous extension / retraction command is issued via broadcast to ensure that all four actuators begin operation simultaneously; while data acquisition uses polling to sequentially read the stroke and load data of each actuator.

[0054] The baud rate for bus communication can be configured to 9600bps, 19200bps, 38400bps, or 115200bps. In this embodiment, 115200bps is preferred to ensure high-speed data transmission. The data format is 8 data bits, 1 stop bit, no parity (8N1), or even parity (8E1), which can be selected according to the electromagnetic environment at the site.

[0055] The above-described bus topology greatly simplifies the wiring of the entire climbing wall electrical control system. In traditional solutions, each of the four actuators needs to be individually wired to the control cabinet, requiring multiple cables for each actuator, including power, control, and feedback lines, resulting in complex wiring and a high failure rate. In this invention, however, all communication connections for the four actuators can be completed using only a single twisted-pair shielded bus cable connected in series. Power can be drawn from the nearest available source for each actuator, significantly reducing the number of cables and the amount of wiring work.

[0056] like Figure 4 As shown, each servo electric linear actuator assembly 300 includes a servo motor 310, a ball screw transmission mechanism 320, a linear actuator telescopic assembly 330, a stroke magnetic grating sensor 340, a load current acquisition module 350, a servo electric linear actuator driver 360, and U-shaped fisheye connectors 370 and 380.

[0057] Servo motor 310 is either an AC servo motor or a DC brushless servo motor. Its rated power is determined based on the load requirements of the climbing wall, typically ranging from 400W to 1000W. Servo motor 310 has a built-in encoder, enabling closed-loop speed and position control to ensure the accuracy and smoothness of the push rod's extension and retraction.

[0058] The ball screw drive mechanism 320 includes a screw and a screw nut. The output shaft of the servo motor 310 is connected to the screw via a coupling or synchronous belt, transmitting the motor's rotational motion to the screw. The screw nut is fixedly connected to the push rod telescopic assembly 330. When the screw rotates, the screw nut moves linearly along the screw axis, causing the push rod telescopic assembly 330 to extend or retract. Ball screw drives offer advantages such as high transmission efficiency, high positioning accuracy, and low backlash, making them suitable for the high-precision positioning requirements of climbing wall tilt adjustment.

[0059] The push rod telescopic assembly 330 features an aluminum alloy profile cylinder structure, which is lightweight, high-strength, and corrosion-resistant. U-shaped fisheye joints 370 and 380 are respectively installed at both ends of the push rod telescopic assembly 330. These U-shaped fisheye joints are spherical bearing structures, allowing for free swinging within a certain angle range. The lower U-shaped fisheye joint 370 is hinged to the steel frame of the equipment base, while the upper U-shaped fisheye joint 380 is hinged to the transverse load-bearing beam on the back of the rock wall. The U-shaped fisheye joints provide a movable connection between the push rod and the fixed structure, enabling the push rod to adapt to angle changes caused by the rock wall's rotation during telescopic movement, avoiding additional bending moments and stress concentrations.

[0060] The 340 travel magnetic grating sensor is a magnetic grating linear displacement sensor, consisting of a magnetic scale and a magnetic reading head. The magnetic scale is fixedly installed along the axis of the push rod telescopic assembly, and the magnetic reading head is fixed to the telescopic part of the push rod. When the push rod extends or retracts, the magnetic reading head moves relative to the magnetic scale, and the real-time extension length of the push rod is obtained by detecting changes in the magnetic field. Magnetic grating sensors have advantages such as high resolution (up to 0.01mm), strong anti-pollution ability, and long service life, making them suitable for the dusty environment of climbing walls.

[0061] The load current acquisition module 350 is connected in series in the power supply circuit of the servo motor 310, and detects the operating current of the servo motor in real time through a current transformer or a Hall current sensor. The drive current of the servo motor is proportional to the output torque, and the output torque is proportional to the load force of the push rod. Therefore, by monitoring the motor current, the real-time load of the push rod can be indirectly reflected. When the push rod is overloaded or stuck, the motor current will rise abnormally, and the system will determine the fault based on this.

[0062] The servo electric linear actuator 360 integrates an RS485 communication terminal, a microprocessor 362, and a power drive module 363. The RS485 communication terminal connects to a Modbus bus cable to exchange data with the host computer. The microprocessor 362 parses the Modbus commands sent by the host computer and converts them into motor control signals. The power drive module 363 drives the servo motor 310 to operate according to the control signals. Simultaneously, the microprocessor 362 acquires the travel signal from the travel magnetic grating sensor 340 and the current signal from the load current acquisition module 350, encapsulates them into a Modbus response message, and transmits it back to the host computer via the RS485 communication terminal.

[0063] like Figure 5 As shown, the TS5 IoT human-machine interface features a tilt angle setting interface on its touchscreen display. This interface is the primary interface for operators to interact with the system, used to set the target tilt angle, initiate tilt angle adjustment, and view the adjustment status.

[0064] The top of the tilt setting interface is the title bar, which displays the current interface name "Climbing Wall Tilt Control System" as well as the current date and time.

[0065] The left side of the center of the interface is the tilt angle input area, including a value input box, a unit display in degrees (°), and a numeric keypad access button. After clicking the value input box, the system will display a numeric keypad, allowing the operator to input any target tilt angle value within the range of 0 to 60 degrees. Clicking the confirmation button after inputting the value will accept the target tilt angle value from the system.

[0066] The right side of the center of the interface features shortcut buttons for preset incline settings, including buttons for 5°, 15°, 30°, and 45°. These four settings are the most commonly used incline settings in rock climbing training: 5° is suitable for children and beginners, 15° for intermediate climbers, 30° for advanced climbers, and 45° for professional athletes' suspension training. After clicking any setting button, the system automatically retrieves the corresponding incline formula parameters, eliminating the need for manual input and enabling one-click angle adjustment.

[0067] The control button area is located at the bottom center of the interface, including the "Start Adjustment" button, the "Stop" button, and the "Emergency Stop" button. After the operator sets the target tilt angle, clicking the "Start Adjustment" button will initiate the tilt adjustment process. During adjustment, the operator can click the "Stop" button to pause the current adjustment, or click the "Emergency Stop" button to immediately terminate all lever actions and lock the system.

[0068] The right side of the interface is the status display area, including the current inclination angle display, target inclination angle display, adjustment progress bar, and status indicator lights for each push rod. The current inclination angle display shows the actual rock wall inclination angle calculated in real time by the TS5 IoT HMI based on the stroke data of each push rod. The target inclination angle display shows the currently set target inclination angle. The adjustment progress bar visually displays the current percentage of adjustment completion. The status indicator lights for each of the four push rods are green for normal operation, yellow for operation, and red for malfunction.

[0069] like Figure 6 As shown, the TS5 IoT human-machine interface features a tilt angle recipe management interface on its touchscreen display. This interface manages multiple preset tilt angle adjustment recipes, allowing operators to quickly access different tilt angle configuration parameters for various training scenarios.

[0070] The top of the tilt angle recipe management interface is the title bar, which displays "tilt angle recipe management".

[0071] The main interface area is the recipe list area, which lists all stored tilt recipes in tabular form. Each recipe entry includes recipe number, recipe name, target tilt angle value, target stroke value for each putter, running speed value, allowable deviation threshold, and creation / modification date. For example, "Recipe 001 - Children's Training" corresponds to a target tilt angle of 5°, a target stroke of 50mm for each putter, a running speed of 5mm / s, and an allowable deviation threshold of 2mm; "Recipe 002 - Intermediate Training" corresponds to a target tilt angle of 15°, a target stroke of 150mm for each putter, a running speed of 8mm / s, and an allowable deviation threshold of 2mm; "Recipe 003 - Advanced Training" corresponds to a target tilt angle of 30°, a target stroke of 300mm for each putter, a running speed of 10mm / s, and an allowable deviation threshold of 1.5mm; "Recipe 004 - Professional Training" corresponds to a target tilt angle of 45°, a target stroke of 450mm for each putter, a running speed of 12mm / s, and an allowable deviation threshold of 1mm.

[0072] The right side of the recipe list area features operation buttons, including "Add Recipe," "Edit Recipe," "Delete Recipe," "Import Recipe," and "Export Recipe." Clicking the "Add Recipe" button opens a recipe editing dialog box where the operator can enter new recipe parameters. Clicking the "Edit Recipe" button allows modification of various parameters for the selected recipe. Clicking the "Delete Recipe" button deletes the selected recipe. Clicking the "Import Recipe" button reads recipe data files from a USB flash drive connected via USB, importing multiple recipes in batches. Clicking the "Export Recipe" button exports all current recipe data to a USB flash drive for easy backup and migration.

[0073] At the bottom of the interface is the "Apply Recipe" button. After selecting a recipe from the recipe list, the operator clicks the "Apply Recipe" button. The system will then load all parameters of that recipe as the current control parameters and return to the tilt setting interface. The operator can then click "Start Adjustment" to perform tilt adjustment according to the selected recipe.

[0074] like Figure 7 As shown, the TS5 IoT human-machine interface features a real-time monitoring interface for the actuator operation data on its touchscreen display. This interface displays the real-time operating status and key data of the four actuators, facilitating monitoring of system operation by operators and maintenance personnel.

[0075] The top of the putter operation data real-time monitoring interface is the title bar, which displays "Pusher Operation Data Real-time Monitoring".

[0076] The main interface is divided into four identical areas for putter data cards, corresponding to putter data cards #1, #2, #3, and #4 respectively. Each putter data card displays the following information for that putter: The push rod is numbered and displayed in a prominent font as “1#”, “2#”, “3#” or “4#”; The running status indicator lights use green dots to indicate normal operation, yellow dots to indicate running, red dots to indicate a fault, and gray dots to indicate not ready. Real-time stroke value, displayed in millimeters, showing the current extension length of the push rod, with an accuracy of 0.1mm; Real-time load value, displayed as a percentage or Newtons, shows the current load of the actuator; 100% indicates the rated load. The operating speed value is displayed in millimeters per second, showing the current extension and retraction speed of the push rod. Temperature value, displayed in degrees Celsius, showing the current temperature of the push rod driver or motor; The stroke change trend graph shows the change trend of the push rod stroke in the last 60 seconds in the form of a small line graph. The load change trend graph displays the trend of the push rod load over the past 60 seconds in the form of a small line graph.

[0077] The right side of the interface displays the overall system status, including system runtime, current rock face inclination (calculated by TS5 based on the stroke data of the four actuators), maximum synchronization deviation of the four actuators (the maximum difference between the current strokes of the four actuators), maximum load deviation of the four actuators (the maximum difference between the current loads of the four actuators), and an "Export Data" button. Clicking the "Export Data" button will package and export the current operating data of all actuators to a USB drive for offline analysis and archiving.

[0078] At the bottom of the interface is the data sampling period setting area. Operators can select the data sampling period via a drop-down menu, with options of 1 second, 5 seconds, 10 seconds, 30 seconds, and 60 seconds. The shorter the sampling period, the faster the data updates, but the greater the consumption of system resources and network bandwidth.

[0079] like Figure 8 As shown, the TS5 IoT human-machine interface features a fault alarm screen on its touch display. This screen displays system fault information in real time, alerting operators to handle issues promptly.

[0080] The top of the fault alarm interface is the title bar, which displays "Fault Alarm Center".

[0081] The main part of the interface is the fault list area, which displays all the fault records that have occurred in reverse chronological order. Each fault record includes fault number, occurrence time, fault type, fault description, fault level, processing status, and operation buttons.

[0082] Fault types include, but are not limited to: Overload fault: Triggered when the load value of any push rod exceeds the preset overload threshold (such as 120% of the rated load); Synchronization deviation fault: Triggered when the travel deviation between any two push rods exceeds the preset synchronization deviation threshold (e.g., 5mm); Jamming fault: Triggered when the stroke change rate of any push rod is lower than the preset jamming threshold (e.g., 0.5 mm / s) while the servo motor is still driving; Communication failure: Triggered when Modbus communication between the TS5 IoT HMI and a certain push rod driver times out or data verification error occurs; Overtravel fault: Triggered when the travel of any push rod exceeds the upper or lower limit of the physical travel; Temperature over-limit fault: Triggered when the temperature of the push rod driver or motor exceeds the safe threshold.

[0083] Fault levels are divided into four categories: "Emergency," "Severe," "General," and "Alert," indicated by red, orange, yellow, and blue, respectively. Emergency faults require immediate shutdown and handling; severe faults require prompt handling; general and alert faults serve only as reminders and do not affect continued equipment operation.

[0084] Each fault record includes two operation buttons: "Confirm" and "Details". Clicking the "Confirm" button indicates that the operator has been notified of the fault information, and the fault record status is updated to "Confirmed". Clicking the "Details" button will bring up a fault details dialog box, displaying detailed diagnostic information, possible causes, and recommended handling measures for the fault.

[0085] The bottom of the interface contains operation buttons, including "Clear Confirmed Faults," "Export Fault Records," and "Fault Push Settings." Clicking the "Clear Confirmed Faults" button deletes all confirmed fault records. Clicking the "Export Fault Records" button exports all fault records to a USB drive. Clicking the "Fault Push Settings" button opens a push settings dialog box, allowing operators to configure parameters such as enabling cloud push, selecting recipient mobile phone numbers, and choosing recipient email addresses.

[0086] like Figure 9 As shown, the cloud-based remote control platform 500 is deployed on a cloud server and interacts with the TS5 IoT human-machine interface assembly 100 on-site via the Internet. The cloud-based remote control platform 500 includes the following functional modules.

[0087] The device access and management module 510 is responsible for the registration, authentication, online status management, and device information management of all climbing wall devices connected to the cloud platform. Each climbing wall device needs to be registered upon initial connection, and a unique device ID and access key are assigned. After the device is online, module 510 monitors the online / offline status of the device in real time and generates an offline alarm when the device is offline. The device information management function records basic information for each device, such as installation location, model specifications, commissioning date, and maintenance records.

[0088] The data receiving and storage module 520 is responsible for receiving the push rod stroke data, load data, tilt angle values, and fault records uploaded periodically by the TS5 IoT human-machine interface, and storing them in a cloud database. Data storage uses a time-series database, supporting high-frequency data writing and efficient data querying. The data retention period can be configured according to user needs, generally retaining historical data from the most recent year.

[0089] The remote monitoring and visualization module 530 provides a web-based remote monitoring interface and a mobile app interface. The remote monitoring interface displays the real-time operating status of each climbing wall device in a dashboard format, including key parameters such as the current inclination angle, push rod travel and load, and system operating status. The visualization module supports centralized monitoring of multiple devices, allowing venue management personnel to view the operating status of all climbing walls within the venue on a single interface.

[0090] The remote control module 540 allows authorized users to remotely modify the inclination setting of the climbing wall via a web interface or mobile app. After the remote user selects the target device, enters the target inclination value, or selects a preset position, the remote control module 540 sends control commands to the TS5 IoT HMI on-site via the MQTT protocol. The TS5 IoT HMI then executes the specific lever control action. Remote control operations require secondary confirmation and authorization verification to ensure operational security.

[0091] The alarm and notification module 550 is responsible for receiving fault information reported by the TS5 IoT human-machine interface and pushing fault notifications to relevant personnel's mobile phones, email addresses, or WeChat accounts according to preset push rules. Push rules include fault level filtering (e.g., only pushing urgent and critical faults), push time windows (e.g., only pushing during working hours), and group management of push recipients. The alarm and notification module 550 also records the push history of all alarm events for easy retrospective tracking.

[0092] The Remote Maintenance and Diagnostic Module 560 supports remote maintenance personnel in remotely transmitting programs and accessing the TS5 IoT HMI in the field via the internet. The remote program transmission function allows maintenance personnel to remotely download and modify pushrod synchronization control parameters without being physically present on-site, significantly reducing fault response time. The remote desktop function allows maintenance personnel to remotely view the TS5 IoT HMI screen and operate the touchscreen as if they were on-site, performing fault diagnosis and parameter adjustments.

[0093] The data analysis and reporting module 570 performs statistical analysis on historical operational data stored in the cloud, generating various reports. Analysis includes equipment runtime statistics, tilt adjustment frequency statistics, load distribution analysis for each actuator, and analysis of fault frequency and type. Reports can be automatically generated on a daily, weekly, monthly, or yearly basis and can be exported to PDF or Excel format. The data analysis results provide data support for preventative equipment maintenance and training effectiveness evaluation.

[0094] Example 2: Control System Workflow like Figure 10 As shown, the complete workflow of the control system of the present invention includes the following steps.

[0095] Step S01: System Power-On Initialization. The TS5 IoT HMI, each actuator driver, and the cloud platform are powered on and started sequentially. The TS5 IoT HMI loads the operating system and application programs, and initializes each communication interface (RS485 serial port, Ethernet port, USB interface, 4G / WiFi module). Each actuator driver completes its self-test and enters standby mode, waiting for host commands. The TS5 IoT HMI attempts to connect to the cloud server via the 4G / WiFi module, establishing an MQTT / TCP / IP communication link.

[0096] Step S02: Bus Device Scanning and Status Query. The TS5 IoT HMI, acting as the Modbus master, sequentially sends device query commands to each preset slave address via the RS485 bus to confirm the online status and slave address of each push rod driver. For online devices, the master reads basic information such as their current travel value, load value, and driver status word. If a slave device does not respond, the master records the communication failure and generates a fault alarm.

[0097] Step S03: Wait for user operation commands. After completing initialization and equipment scanning, the system enters standby mode, waiting for the user to input operation commands via the touchscreen. User operation commands include: setting the target tilt angle (manually entering a value or clicking a preset gear button), recalling the tilt angle recipe, viewing real-time operating data, and exporting historical data.

[0098] Step S04: Receive target tilt angle setting. After the user inputs the target tilt angle value through the tilt angle setting interface or clicks the preset gear shortcut button, the TS5 IoT HMI receives and stores the target tilt angle value. If the user clicks the preset gear button, the system automatically retrieves the tilt angle recipe parameters corresponding to that gear, including the target stroke value, running speed value, and allowable deviation threshold for each push rod.

[0099] Step S05: Calculate the target travel distance for each pusher. The tilt angle conversion module built into the TS5 IoT HMI calculates the target travel distance for each pusher based on the target tilt angle and the geometric parameters of the climbing wall (including the pusher hinge point position, bottom pivot position, and wall dimensions) using kinematic conversion formulas. Since the four pushers have different hinge positions on the back of the climbing wall, there may be slight differences in the target travel distance of each pusher at the same target tilt angle. The tilt angle conversion module incorporates this difference into the calculation results to ensure that all points reach the target position synchronously during the climbing wall flipping process.

[0100] Step S06: Issue Synchronization Control Commands. The TS5 IoT HMI synchronously issues control commands to the four actuators via Modbus-RTU bus in a broadcast manner. The control commands include the target stroke value, running speed value, and start command for each actuator. After receiving and parsing the commands simultaneously, the four actuators simultaneously start the servo motors to drive the actuators to extend and retract according to the specified speed and target stroke.

[0101] Step S07: Real-time Data Acquisition and Closed-Loop Adjustment. During the actuator movement, the stroke magnetic grating sensor and load current acquisition module of each actuator monitor the stroke and load data in real time, and transmit this data back to the TS5 IoT HMI via RS485 bus through the driver. The TS5 IoT HMI calculates the current rock wall inclination angle based on the real-time transmitted stroke data and displays it on the touchscreen. Simultaneously, the TS5 IoT HMI compares the actual stroke of each actuator with the target stroke. If the stroke deviation of a certain actuator exceeds a preset threshold, the system sends a speed fine-tuning command to the actuator driver via the bus, achieving closed-loop adjustment and ensuring that all four actuators reach the target position synchronously.

[0102] Step S08: Locking at the Target Position. When all push rods have reached their respective target strokes and the stroke deviation is within the allowable range, the TS5 IoT HMI sends a stop command to each driver via the bus. Each driver stops the servo motor, and the self-locking characteristic of the ball screw keeps the push rod in its current position, achieving precise locking of the tilt angle. The TS5 IoT HMI displays a "Adjustment Complete" message on the touchscreen and stores the adjustment record (including adjustment time, target tilt angle, actual stroke of each push rod, adjustment time, etc.) locally and uploads it to the cloud server.

[0103] Step S09: Real-time Fault Monitoring and Protection. During the push rod's movement and in standby mode, the TS5 IoT HMI continuously monitors the real-time load and stroke data of each push rod via the bus. The fault judgment module analyzes the data in real time according to preset fault judgment rules to determine whether the following faults have occurred: (1) Overload fault: The load value of any push rod exceeds the preset overload threshold (such as 120% of the rated load). (2) Synchronization deviation fault: The stroke deviation between any two push rods exceeds the preset synchronization deviation threshold (e.g., 5mm); (3) Jamming fault: The stroke change rate of any push rod is lower than the preset jamming threshold (e.g., 0.5 mm / s) but the drive command is still in the running state; (4) Communication failure: Modbus communication with a certain push rod driver timed out or data verification error.

[0104] When any of the above faults occurs, the TS5 IoT HMI immediately performs fault protection actions: it sends an emergency stop command to all push rod drivers via the bus to suspend the movement of all push rods; it drives the independent audio output alarm interface to output an alarm signal, triggering the external fault alarm speaker to emit an audible and visual alarm; it displays the fault information on the fault alarm interface on the touch screen; and it pushes the fault information to the cloud server via the 4G / WiFi module, from which the cloud server pushes fault notifications to preset remote terminals (mobile phones, email).

[0105] Step S10: Data Upload and Remote Monitoring. Throughout system operation, the TS5 IoT HMI packages the stroke data, load data, tilt angle values, and system status data of each pusher according to a preset upload cycle (e.g., once every 60 seconds) and uploads them to the cloud server via the 4G / WiFi module using the MQTT protocol. Remote users can log in to the cloud-based remote management platform via a web browser or mobile app to view the real-time operating status, historical data, and fault records of each climbing wall device. Remote maintenance personnel can remotely modify and optimize the control parameters of the TS5 IoT HMI through the remote program pass-through function of the cloud platform.

[0106] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A synchronous tilt angle adjustment control system for an electric actuator on a climbing wall based on a TS5 IoT human-machine interface, characterized in that, include: The TS5 IoT human-machine interface assembly (100) uses the Xinje TS5 series IoT human-machine interface, and its hardware configuration includes an ARM Cortex-A7 processor, at least two RS485 serial ports, an RJ45 100M Ethernet port, a USB-A interface (106), a pluggable expansion card slot (107), and an independent audio output alarm interface (108). The Modbus-RTU bus communication link (200) is led out by the RS485 terminal of the TS5 IoT human-machine interface via a bus cable (201), and is connected in parallel to all the servo electric push rod drivers (360) of the climbing wall in a daisy-chain topology. The TS5 IoT human-machine interface acts as the Modbus host to uniformly issue control commands. Multiple servo electric actuator assemblies (300) are provided. Each servo electric actuator assembly includes a servo motor (310), an aluminum alloy profile cylinder, U-shaped fisheye hinged ends at both ends, an in-cylinder ball screw structure, a built-in stroke magnetic grating sensor (340), a load current acquisition module (350), and a driver with an integrated RS485 communication terminal. The lower ends of the multiple servo electric actuators are hinged to the steel frame of the equipment base, and the upper ends are hinged to the crossbeam on the back of the rock climbing wall. The main body of the climbing wall steel frame (400) includes a steel truss frame and a climbing panel. A transverse load-bearing beam is provided on the back of the climbing wall. The transverse load-bearing beam is hinged to the upper end of the multiple sets of servo electric push rods. The multiple sets of servo electric push rods synchronously extend and retract to drive the climbing wall to tilt and flip. The cloud-based remote control platform (500) is connected to the cloud server via a 4G full network module or WiFi wireless module installed in the pluggable expansion card slot (107) using the MQTT or TCP / IP protocol. The remote terminal can achieve remote monitoring and remote parameter download through the cloud server.

2. The synchronous tilt angle adjustment control system for an electric push rod of a climbing wall based on a TS5 IoT human-machine interface as described in claim 1, characterized in that, The TS5 IoT HMI acts as a Modbus master, sending tilt angle stroke parameters, lifting speed parameters, and overload threshold parameters to each servo electric actuator (360) via the RS485 serial port using the Modbus-RTU communication protocol. Each servo electric actuator (360) acts as a Modbus slave, receiving and executing the control commands, and simultaneously transmitting the real-time stroke data and real-time load data of each actuator back to the TS5 IoT HMI via the Modbus-RTU bus communication link (200).

3. The synchronous tilt angle adjustment control system for an electric push rod of a climbing wall based on a TS5 IoT human-machine interface as described in claim 2, characterized in that, The TS5 IoT human-machine interface has a built-in tilt angle conversion module. The tilt angle conversion module calculates the current tilt angle of the rock wall based on the real-time stroke data of each servo electric actuator and the geometric parameters of the rock wall, and displays the tilt angle value on the touch screen of the TS5 IoT human-machine interface in real time. The TS5 IoT human-machine interface also periodically uploads the stroke data, load data and tilt angle value of each actuator to the cloud server for storage.

4. The synchronous tilt angle adjustment control system for an electric push rod of a climbing wall based on a TS5 IoT human-machine interface as described in claim 1, characterized in that, The TS5 IoT human-machine interface has a tilt angle setting interface on its touch screen. The tilt angle setting interface includes a numerical input box and multiple preset tilt angle shortcut buttons. After the user inputs the target tilt angle value through the touch screen or clicks the preset tilt angle shortcut buttons, the TS5 IoT human-machine interface calculates the target stroke of each servo electric actuator based on the target tilt angle value, and synchronously sends extension and retraction commands to each servo electric actuator driver (360) through the Modbus-RTU bus communication link (200) to realize multi-cylinder synchronous action.

5. A synchronous tilt angle adjustment control system for an electric push rod of a climbing wall based on a TS5 IoT human-machine interface as described in claim 4, characterized in that, The multiple preset tilt angle shortcut buttons include a 5° button, a 15° button, a 30° button, and a 45° button. After the user clicks any of the preset tilt angle shortcut buttons, the TS5 IoT human-machine interface retrieves the corresponding tilt angle recipe parameters. The tilt angle recipe parameters include at least the target stroke value, running speed value, and allowable deviation threshold value for each push rod.

6. The synchronous tilt angle adjustment control system for an electric push rod of a climbing wall based on a TS5 IoT human-machine interface according to claim 1, characterized in that, The RJ45 100Mbps Ethernet port of the TS5 IoT HMI is used to connect to the venue's local area network, allowing the local debugging computer to access the TS5 IoT HMI via the local area network to perform batch input of tilt angle formulas and system parameter configuration; the USB-A interface (106) is used to connect a USB flash drive to import multiple sets of training tilt angle programs, export daily rock wall operation data, and export load record data of each putter.

7. A synchronous tilt angle adjustment control system for an electric push rod of a climbing wall based on a TS5 IoT human-machine interface as described in claim 1, characterized in that, The 4G full network module or WiFi wireless module installed in the pluggable expansion card slot (107) supports the VNC remote desktop protocol. A remote computer or remote mobile phone can remotely mirror the screen of the TS5 IoT human-machine interface through the VNC client and control the touch screen in real time at the remote end to realize one-click switching of rock wall inclination angle in different locations. The 4G full network module or WiFi wireless module also supports remote program pass-through function, which allows remote maintenance personnel to remotely download and modify push rod synchronous control parameters through Ethernet, 4G network or WiFi network.

8. A synchronous tilt angle adjustment control system for an electric push rod of a climbing wall based on a TS5 IoT human-machine interface according to claim 2, characterized in that, The independent audio output alarm interface (108) of the TS5 IoT human-machine interface is externally connected to a fault alarm speaker; the TS5 IoT human-machine interface has a built-in fault judgment module. The fault judgment module calculates the load difference between each push rod based on the real-time load data transmitted back by each servo electric push rod through the Modbus-RTU bus. When the load value of any push rod exceeds the preset overload threshold, or the load difference between any two push rods exceeds the preset deviation threshold, or the stroke change rate of any push rod exceeds the preset jamming threshold, the fault judgment module determines that a fault has occurred. The TS5 IoT human-machine interface drives the independent audio output alarm interface (108) to output an alarm signal, triggering the external fault alarm speaker to emit an audible and visual alarm. At the same time, fault information is generated and pushed to the cloud server through the 4G full network module or WiFi wireless module. The cloud server then pushes the fault notification to the remote terminal.

9. A synchronous tilt angle adjustment control system for an electric push rod of a climbing wall based on a TS5 IoT human-machine interface as described in claim 8, characterized in that, The fault judgment module also calculates the stroke synchronization deviation between each push rod based on the real-time stroke data transmitted back by each servo electric push rod via the Modbus-RTU bus. When the stroke deviation between any two push rods exceeds the preset synchronization deviation threshold, the fault judgment module determines that a synchronization deviation fault has occurred. The TS5 IoT human-machine interface immediately sends a stop command to each servo electric push rod driver (360) via the Modbus-RTU bus to pause the action of all push rods and drive the independent audio output alarm interface (108) to output an alarm signal.

10. A synchronous tilt angle adjustment control system for an electric push rod of a climbing wall based on a TS5 IoT human-machine interface according to claim 1, characterized in that, The number of servo electric actuators is four, and the four sets of servo electric actuators are evenly arranged along the width of the climbing wall; the lower ends of the four sets of servo electric actuators are respectively hinged to the steel frame of the equipment base through U-shaped fisheye joints, and the upper ends of the four sets of servo electric actuators are respectively hinged to different positions of the transverse load-bearing beam on the back of the rock wall through U-shaped fisheye joints; the TS5 IoT human-machine interface sends control commands to the drivers of the four sets of servo electric actuators synchronously through the Modbus-RTU bus communication link (200) in a broadcast or polling manner, so as to realize the synchronous extension and retraction of the four cylinders, and drive the rock wall to rotate around the bottom pivot within the range of 0° to 60°.

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