Anti-hooking control method and system for container reach stacker

Abstract

The invention discloses an anti-hooking control method and system for a container reach stacker, and belongs to the technical field of hoisting equipment. The anti-hooking control method for the container reach stacker comprises the following steps: if the current height of a lifting appliance is smaller than a first threshold value and a container landing signal is received; if yes, the lifting appliance is controlled to be lifted in response to the lifting instruction, and pressure detection results of the pressure sensor in the first lifting state and the second lifting state are determined; determining stress change information of the lifting appliance lock head according to the pressure detection result, and judging whether a lower corner fitting of the container is hooked with a locking device of the platform trailer or not according to the stress change information; if yes, the lifting appliance is controlled to stop lifting, and alarm information is generated. Whether the lower corner fitting of the container is hooked with the locking device of the platform trailer or not can be accurately judged, and the operation safety of the container reach stacker is improved.

Description

Technical Field

[0001] This application relates to the technical field of lifting equipment, and particularly to an anti-hooking control method and system for a reach stacker. Background Art

[0002] A reach stacker, also known as a front loader, a container reach stacker or a reach stacker, is a mobile lifting equipment for loading and unloading containers.

[0003] For the convenience of transportation, containers are usually placed on flatbed trailers. The lower corner fittings of the containers cooperate with the locking devices (such as locks of model F-TR) of the flatbed trailers to be locked, so as to prevent the containers from shifting or tipping due to factors such as jolting, turning or acceleration. However, during the operation of unloading containers by a reach stacker, if the operation is improper, it is very easy for the corner fittings of the containers to fail to unlock, and the flatbed trailer may be lifted together, resulting in safety accidents.

[0004] Therefore, how to accurately judge whether the lower corner fittings of the container are hooked with the locking device of the flatbed trailer and improve the operation safety of the reach stacker is a technical problem that needs to be solved by those skilled in the art at present. Summary of the Invention

[0005] The purpose of this application is to provide an anti-hooking control method and system for a reach stacker, which can accurately judge whether the lower corner fittings of the container are hooked with the locking device of the flatbed trailer and improve the operation safety of the reach stacker.

[0006] To solve the above technical problems, this application provides an anti-hooking control method for a reach stacker. A plurality of spreader locks are arranged on the spreader of the reach stacker, and a pressure sensor is arranged in each spreader lock. The pressure sensor is used to detect the force condition of the spreader lock. The anti-hooking control method for the reach stacker includes:

[0007] Set the spreader height of the reach stacker at the current moment as the current spreader height;

[0008] If the current spreader height is less than a first threshold value, judge whether a signal of contacting the container is received; wherein, the signal of contacting the container is a signal generated when the spreader lock completes the locking of the container;

[0009] If so, in response to the lifting instruction, control the spreader to lift, and determine the pressure detection results of the pressure sensors in the first lifting state and the second lifting state respectively; wherein, the first lifting state is the state where the current spreader height is equal to the first preset height, the second lifting state is the state where the current spreader height is equal to the second preset height, the first preset height is the height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is the height at which the lower corner fitting of the container disengages from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fitting of the container cooperates with the locking device of the flatbed trailer to lock;

[0010] Determine the force change information of the spreader lock head according to the pressure detection results, and judge whether the lower corner fitting of the container is hooked to the locking device of the flatbed trailer according to the force change information;

[0011] If so, control the spreader to stop lifting and generate an alarm message.

[0012] Optionally, determining the force change information of the spreader lock head according to the pressure detection results includes:

[0013] Determine the first pressure value of each spreader lock head in the first lifting state, and calculate the first total force value of the spreader in the first lifting state according to the first pressure values of all the spreader lock heads;

[0014] Determine the second pressure value of each spreader lock head in the second lifting state, and calculate the second total force value of the spreader in the second lifting state according to the second pressure values of all the spreader lock heads;

[0015] Calculate the pressure difference of each spreader lock head in the first lifting state and the second lifting state respectively according to the first pressure value and the second pressure value, and set the maximum value among all the pressure differences as the maximum lock head pressure difference;

[0016] Calculate the total force difference of the spreader according to the first total force value and the second total force value;

[0017] Set the maximum lock head pressure difference and the total force difference of the spreader as the force change information.

[0018] Optionally, judging whether the lower corner fitting of the container is hooked to the locking device of the flatbed trailer according to the force change information includes:

[0019] Judge whether the maximum lock head pressure difference is greater than the second threshold value to obtain a first judgment result;

[0020] Judge whether the total force difference of the spreader is greater than the third threshold value to obtain a second judgment result;

[0021] If both the first judgment result and the second judgment result are yes, it is determined that there is a connection between the lower corner fitting of the container and the locking device of the flatbed trailer.

[0022] Optionally, calculating the first total force value of the spreader in the first lifting state according to the first pressure values of all the spreader locks includes:

[0023] Adding up the first pressure values of all the spreader locks to obtain the first total force value of the spreader in the first lifting state;

[0024] Correspondingly, calculating the second total force value of the spreader in the second lifting state according to the second pressure values of all the spreader locks includes:

[0025] Adding up the second pressure values of all the spreader locks to obtain the second total force value of the spreader in the second lifting state.

[0026] Optionally, controlling the spreader to lift in response to a lifting command includes:

[0027] Setting the spreader height when receiving the container signal as the initial spreader height;

[0028] If receiving the lifting command, setting the difference between the current spreader height and the initial spreader height as the spreader height change value;

[0029] If the spreader height change value is less than the fourth threshold, controlling the spreader to lift at a preset speed;

[0030] If the spreader height change value is greater than or equal to the fourth threshold, controlling the spreader to lift according to the opening of the handle.

[0031] Optionally, it further includes:

[0032] Setting the fourth threshold according to the height of the locking device of the flatbed trailer.

[0033] Optionally, before determining the pressure detection results of the pressure sensors in the first lifting state and the second lifting state respectively, it further includes:

[0034] Setting the spreader height when receiving the container signal as the initial spreader height;

[0035] Adding the initial spreader height and the first height change value to obtain the first preset height;

[0036] Adding the initial spreader height and the second height change value to obtain the second preset height; wherein, the first height change value is less than the second height change value.

[0037] Optionally, before setting the spreader height of the container reach stacker at the current moment to the current spreader height, it further includes:

[0038] Collecting the outreach distance and lifting angle of the container reach stacker;

[0039] Calculating the distance between the lower edge of the spreader lock and the ground according to the outreach distance, the lifting angle and the structural parameters; wherein, the structural parameters include the horizontal distance between hinge points, the vertical distance between hinge points, the first height and the second height, the horizontal distance between hinge points is the horizontal distance between the upper hinge point and the rear hinge point, the vertical distance between hinge points is the vertical distance between the upper hinge point and the rear hinge point, the first height is the distance between the upper hinge point and the lower edge of the spreader lock, and the second height is the distance between the rear hinge point and the ground; the upper hinge point is the hinge point between the telescopic arm and the spreader of the container reach stacker, and the rear hinge point is the hinge point between the boom and the vehicle body of the container reach stacker;

[0040] Setting the distance between the lower edge of the spreader lock and the ground to the spreader height of the container reach stacker at the current moment.

[0041] Optionally, it further includes:

[0042] Calculating the first threshold according to the height of the flatbed trailer, the track height and the container height.

[0043] This application also provides an anti-hooking control system for a container reach stacker. A plurality of spreader locks are arranged on the spreader of the container reach stacker, and a pressure sensor is arranged in each spreader lock. The pressure sensor is used to detect the force condition of the spreader lock. The anti-hooking control system of the container reach stacker includes:

[0044] A spreader height determination module, configured to set the spreader height of the container reach stacker at the current moment to the current spreader height;

[0045] The lifting control module is used to determine whether a container landing signal is received if the current spreader height is less than the first threshold; wherein, the container landing signal is a signal generated when the spreader lock locks the container; if so, it controls the spreader to lift in response to a lifting instruction, and determines the pressure detection results of the pressure sensors in the first lifting state and the second lifting state respectively; wherein, the first lifting state is the state where the current spreader height is equal to the first preset height, the second lifting state is the state where the current spreader height is equal to the second preset height, the first preset height is the height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is the height at which the lower corner fitting of the container disengages from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fitting of the container cooperates with the locking device of the flatbed trailer to lock.

[0046] The hook connection detection module is used to determine the force change information of the spreader lock according to the pressure detection results, and judge whether the lower corner fitting of the container is hooked to the locking device of the flatbed trailer according to the force change information; if so, it controls the spreader to stop lifting and generates an alarm message.

[0047] This application provides an anti-hook connection control method for a reach stacker. This method determines the current spreader height of the reach stacker and controls the spreader to lift when the current spreader height is less than the first threshold and the container landing signal is received. A plurality of spreader locks are provided on the spreader of the above-mentioned reach stacker, and pressure sensors are provided in the spreader locks. The spreader locks can lock the container to lift the container, and the pressure sensors can detect the pressure exerted by the container on each spreader lock during the lifting of the spreader. This application obtains the pressure detection results of the pressure sensors in the first lifting state (the lower surface of the container leaves the flatbed trailer) and the second lifting state (the lower corner fitting disengages from the locking device) respectively. During the lifting of the container, the force condition between the locking device and the lower corner fitting will vary significantly depending on whether there is a hook connection. This application can determine the force change of each spreader lock in the first lifting state and the second lifting state by analyzing the above pressure detection results, and then judge whether the lower corner fitting of the container is hooked to the locking device of the flatbed trailer based on the force change information, so as to take corresponding treatment measures when a hook connection is detected. Therefore, this application can accurately judge whether the lower corner fitting of the container is hooked to the locking device of the flatbed trailer, improving the operation safety of the reach stacker. This application also provides an anti-hook connection control system for a reach stacker, which has the above beneficial effects and will not be elaborated here. Description of the Drawings

[0048] To more clearly illustrate the embodiments of the present application, the accompanying drawings required for use in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0049] Figure 1 It is a flowchart of an anti-hooking control method for a reachstacker provided by an embodiment of the present application;

[0050] Figure 2 It is an axonometric view of a spreader provided by an embodiment of the present application;

[0051] Figure 3 It is a layout position diagram of pressure sensors of a spreader lock head provided by an embodiment of the present application;

[0052] Figure 4 It is a signal acquisition block diagram of a control system for a reachstacker provided by an embodiment of the present application;

[0053] Figure 5 It is a structural schematic diagram of a reachstacker provided by an embodiment of the present application;

[0054] Figure 6 It is a relative position diagram of the lower corner fitting of a container and the F-TR lock on a flat car in the state of sampling point 1 provided by an embodiment of the present application;

[0055] Figure 7 It is a relative position diagram of the lower corner fitting of a container and the F-TR lock on a flat car in the state of sampling point 2 provided by an embodiment of the present application;

[0056] Figure 8 It is a sectional view of the layout position of pressure sensors of a spreader lock head provided by an embodiment of the present application. Detailed implementation manners

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0058] Please refer to the following Figure 1 , Figure 1 It is a flowchart of an anti-hooking control method for a reachstacker provided by an embodiment of the present application.

[0059] The specific steps may include:

[0060] S101: Set the spreader height of the container reach stacker at the current moment as the current spreader height.

[0061] Among them, this embodiment can be applied to the vehicle controller of the container reach stacker. Multiple spreader locks are arranged on the spreader of the container reach stacker, and a pressure sensor is arranged in each spreader lock for detecting the force condition of the spreader lock.

[0062] The spreader lock is a device on the spreader of the container reach stacker for locking and unlocking the corner fittings of the container; the spreader lock can firmly fix the container on the spreader through cooperation with the corner fittings on the container, ensuring that the container will not fall off during the hoisting and transportation process.

[0063] Please refer to Figure 2 , Figure 2 , which is an axonometric view of the spreader provided by the embodiment of the present application. The lock rod assembly 201 and the spreader lock 202 of the spreader are shown in the figure; as a feasible implementation manner, 4 spreader locks can be arranged on the spreader. Please refer to Figure 3 , Figure 3 , which is a layout position diagram of the pressure sensors of the spreader lock provided by the embodiment of the present application. S1, S2, S3, and S4 in the figure represent the pressure sensors arranged in 4 spreader locks on the spreader.

[0064] A length and angle sensor can be arranged on the container reach stacker. According to the detection value of the length and angle sensor and the structural parameters of the container reach stacker, the spreader height of the container reach stacker at the current moment, that is, the current spreader height, can be calculated.

[0065] S102: If the current spreader height is less than the first threshold, determine whether a container landing signal is received; if so, proceed to S103; if not, end the process.

[0066] Among them, if the current spreader height is less than the first threshold, it indicates that the container reach stacker may perform an operation of lifting the container from the flatbed trailer (i.e., container discharging operation), and it can be determined whether a container landing signal is received.

[0067] The above container landing signal is the signal generated when the spreader lock completes the locking of the container; specifically, the container landing signal is used to confirm whether the spreader lock has correctly locked the corner fittings of the container. Only after the lock is correctly locked can the spreader safely lift the container; the container landing signal can be detected and sent by the sensors or mechanical devices on the spreader to ensure that the operator or the automated control system can accurately judge the locking state of the spreader.

[0068] If the current spreader height is less than the first threshold and the signal of container landing has been received, the operations of spreader lifting and hook connection detection in S103 - S105 can be entered; otherwise, enter the normal working state.

[0069] The above - mentioned first threshold is calculated based on the height of the flatbed trailer, the track height, and the container height. The track height is the height of the track where the flatbed trailer is located.

[0070] S103: Control the spreader to lift in response to the lifting instruction, and determine the pressure detection results of the pressure sensor in the first lifting state and the second lifting state respectively.

[0071] Before this step, there may also be an operation to judge whether the lifting instruction has been received. If the lifting instruction has been received, control the spreader to lift in response to the lifting instruction, and determine the pressure detection results of the pressure sensor in the first lifting state and the second lifting state respectively during the lifting process of the spreader.

[0072] The first lifting state is the state where the current spreader height is equal to the first preset height, the second lifting state is the state where the current spreader height is equal to the second preset height. The first preset height is the height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is the height at which the lower corner fitting of the container disengages from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fitting of the container cooperates with the locking device of the flatbed trailer for locking.

[0073] The above - mentioned first preset height is determined by the height of the flatbed trailer, the track height, and the container height. The second preset height is determined by the height of the flatbed trailer, the track height, the container height, and the height of the locking device of the flatbed trailer. The locking device of the flatbed trailer may include F - TR lock, integral fixed locking device, push - pull translation locking device, etc. Here, the locking device is not specifically limited. The locking device refers to the distance between the lowest point and the highest point of the locking device in the vertical direction. The container height refers to the height among the length, width, and height dimensions of the container. F - TR represents the model of the lock.

[0074] S104: Determine the force change information of the spreader lock head according to the pressure detection results, and judge whether the lower corner fitting of the container is hooked with the locking device of the flatbed trailer according to the force change information.

[0075] Among them, when there is no connection between the lower corner fittings of the container and the locking device of the flatbed trailer, when the spreader lock correctly locks the upper corner fittings of the container and lifts it, the force is mainly concentrated at the connection point between the spreader lock and the upper corner fittings. At this time, the force detected by the pressure sensor is uniform and stable, and the force detected by the pressure sensor in the above situation is predictable. When the lower corner fittings of the container are connected to the locking device of the flatbed trailer, due to the mechanical constraint caused by the connection, additional lateral forces or torsional forces will be generated during the lifting process, that is, the container will be subject to additional resistance during the lifting process.

[0076] During the lifting process, it can be judged whether the lower corner fittings of the container are connected to the locking device of the flatbed trailer according to the force change of the spreader lock. Specifically, in this embodiment, the force change information of the spreader lock can be determined according to the pressure detection results of the pressure sensor in the first lifting state and the second lifting state respectively, and then it can be judged whether the lower corner fittings of the container are connected to the locking device of the flatbed trailer according to the force change information.

[0077] S105: If the lower corner fittings of the container are connected to the locking device of the flatbed trailer, control the spreader to stop lifting and generate an alarm message.

[0078] Among them, if it is detected that the lower corner fittings of the container are connected to the locking device of the flatbed trailer, the spreader can be controlled to stop lifting and an alarm message can be generated to prevent safety accidents.

[0079] This embodiment determines the current spreader height of the reach stacker, and controls the spreader to lift when the current spreader height is less than the first threshold and a container landing signal is received. A plurality of spreader locks are provided on the spreader of the above reach stacker, and pressure sensors are provided in the spreader locks. The spreader locks can lock the container to lift the container, and the pressure sensors can detect the pressure exerted by the container on each spreader lock during the lifting process of the spreader. This embodiment obtains the pressure detection results of the pressure sensor in the first lifting state (the lower surface of the container leaves the flatbed trailer) and the second lifting state (the lower corner fittings are disengaged from the locking device) respectively. During the lifting process of the container, the force situation between the locking device and the lower corner fittings will vary significantly depending on whether there is a connection. This embodiment can determine the force changes of each spreader lock in the first lifting state and the second lifting state by analyzing the above pressure detection results, and then judge whether the lower corner fittings of the container are connected to the locking device of the flatbed trailer based on the force change information, so as to take corresponding treatment measures when a connection is detected. Therefore, this embodiment can accurately judge whether the lower corner fittings of the container are connected to the locking device of the flatbed trailer, and improve the operation safety of the reach stacker.

[0080] As for Figure 1For further introduction of the corresponding embodiments, during the process of determining the force change information based on the pressure detection results, the force change of a single spreader lock head can be determined, or the force change of the entire spreader can be determined. Specifically, the following steps are included:

[0081] Step A1: Determine the first pressure value of each spreader lock head in the first lifting state, and calculate the first total force value of the spreader in the first lifting state according to the first pressure values of all the spreader lock heads.

[0082] Specifically, in this step, the first pressure values of all the spreader lock heads can be added together to obtain the first total force value of the spreader in the first lifting state.

[0083] Step A2: Determine the second pressure value of each spreader lock head in the second lifting state, and calculate the second total force value of the spreader in the second lifting state according to the second pressure values of all the spreader lock heads.

[0084] Specifically, in this step, the second pressure values of all the spreader lock heads can also be added together to obtain the second total force value of the spreader in the second lifting state.

[0085] Step A3: Calculate the pressure difference of each spreader lock head in the first lifting state and the second lifting state respectively according to the first pressure value and the second pressure value, and set the maximum value among all the pressure differences as the maximum lock head pressure difference.

[0086] Specifically, in this step, the absolute value obtained by subtracting the first pressure value from the second pressure value of the same spreader lock head can be set as the pressure difference. Each spreader lock head has its corresponding pressure difference, and in this application, the maximum value among all the pressure differences is set as the maximum lock head pressure difference.

[0087] Step A4: Calculate the total spreader force difference according to the first total force value and the second total force value.

[0088] Specifically, in this step, the absolute value obtained by subtracting the first total force value from the second total force value can be set as the total spreader force difference.

[0089] Step A5: Set the maximum lock head pressure difference and the total spreader force difference as the force change information.

[0090] Specifically, the force change information includes the maximum pressure difference of the lock head and the total force difference of the spreader. In this embodiment, the following method can be used to determine whether the lower corner fitting of the container is hooked to the locking device of the flatbed trailer: Determine whether the maximum pressure difference of the lock head is greater than the second threshold to obtain a first judgment result; Determine whether the total force difference of the spreader is greater than the third threshold to obtain a second judgment result; If both the first judgment result and the second judgment result are yes, it is determined that the lower corner fitting of the container is hooked to the locking device of the flatbed trailer. If the first judgment result and the second judgment result are not both yes, it is determined that the lower corner fitting of the container is not hooked to the locking device of the flatbed trailer.

[0091] As for Figure 1 For a further introduction to the corresponding embodiment, the lifting speed can be controlled in stages during the lifting of the spreader, so as to lift at a low speed in the early stage of the spreader lifting, and then control the lifting speed of the spreader according to the opening of the handle. Specifically, the process of controlling the spreader to lift in response to the lifting instruction includes the following steps:

[0092] Step B1: Set the spreader height when the container landing signal is received as the initial spreader height.

[0093] Step B2: If the lifting instruction is received, set the difference between the current spreader height and the initial spreader height as the spreader height change value.

[0094] Step B3: If the spreader height change value is less than the fourth threshold, control the spreader to lift at a preset speed.

[0095] Step B4: If the spreader height change value is greater than or equal to the fourth threshold, control the spreader to lift according to the opening of the handle.

[0096] Specifically, the above fourth threshold is set according to the height of the locking device of the flatbed trailer. If the spreader height change value is greater than or equal to the fourth threshold, determine the target speed according to the opening of the handle, and control the spreader to lift according to the target speed.

[0097] As for Figure 1 For a further introduction to the corresponding embodiment, before determining the pressure detection results of the pressure sensor in the first lifting state and the second lifting state respectively, the spreader height when the container landing signal is received can also be set as the initial spreader height; Add the first height change value to the initial spreader height to obtain the first preset height; Add the second height change value to the initial spreader height to obtain the second preset height; Wherein, the first height change value is less than the second height change value, the first height change value and the second height change value are determined according to the structural parameters of the locking device of the flatbed trailer, and both the first height change value and the second height change value are greater than 0.

[0098] In the above manner, the difference between the current spreader height and the initial spreader height can be set as the current spreader height change value. If the current spreader height change value is equal to the first height change value, it is determined that the reach stacker is in the first lifting state; if the current spreader height change value is equal to the second height change value, it is determined that the reach stacker is in the second lifting state.

[0099] As a further introduction to the Figure 1 corresponding embodiment, before setting the spreader height of the reach stacker at the current moment as the current spreader height, the spreader height at the current moment can also be determined through the following operations:

[0100] Step C1: Collect the extension distance and lifting angle of the reach stacker.

[0101] The above extension distance and lifting angle are the extension distance and lifting angle of the telescopic boom of the reach stacker at the current moment relative to the reference state, and the above reference state is the state where the telescopic boom of the reach stacker is retracted to the shortest and the spreader is at the lowest point.

[0102] Step C2: Calculate the distance between the lower edge of the spreader lock head and the ground according to the extension distance, the lifting angle and the structural parameters.

[0103] Among them, the structural parameters include the horizontal distance between the hinge points, the vertical distance between the hinge points, the first height and the second height. The horizontal distance between the hinge points is the horizontal distance between the upper hinge point and the rear hinge point (i.e., the force fulcrum), the vertical distance between the hinge points is the vertical distance between the upper hinge point and the rear hinge point, the first height is the vertical distance between the upper hinge point and the lower edge of the spreader lock head, and the second height is the vertical distance between the rear hinge point and the ground. The upper hinge point is the hinge point between the telescopic boom and the spreader of the reach stacker, and the rear hinge point is the hinge point between the boom and the vehicle body of the reach stacker. The lower edge of the spreader lock head is the lowest point of the spreader lock head, and the boom of the reach stacker includes a telescopic boom and a basic boom.

[0104] Specifically, the above horizontal distance between the hinge points is the horizontal distance between the upper hinge point and the rear hinge point in the reference state, and the above vertical distance between the hinge points is the vertical distance between the upper hinge point and the rear hinge point in the reference state.

[0105] Step C3: Set the distance between the lower edge of the spreader lock head and the ground as the spreader height of the reach stacker at the current moment.

[0106] The following uses an embodiment in actual application to illustrate the process described in the above embodiment.

[0107] Since the F-TR lock of railway containers was put into operation, it has become the main lock type for special flat cars of railway containers. The unique eagle head structure design of the F-TR lock of railway containers ensures the safety of containers during transportation and solves the safety problem of relying on bundling and reinforcement to prevent empty containers from falling. However, at the same time, it brings greater safety risks to the loading and unloading operations after replacement. During the operation of lifting containers with a reach stacker, if the operation is improper, it is very easy for the corner fittings of the container to fail to unlock, and even the vehicle is lifted together, resulting in derailment accidents of the vehicle.

[0108] At present, most of the existing anti-hooking control systems for F-TR locks adopt a control strategy of comparing the weight value obtained by lifting the container point by point with the preset weight value of the container pre-entered into the system, and prohibiting the boom from lifting when the point-by-point weight value is greater than the preset weight value. However, for the above anti-hooking control technology of F-TR locks, the preset weight of the container needs to be known in advance, and when the box specifications or total weight change, the preset weight value needs to be frequently re-entered, which is inconvenient to operate.

[0109] This embodiment proposes an anti-hooking control scheme for the F-TR lock of a reach stacker for containers, which combines the calculation of the total weight and the pressure change of a single lock head. The controller is based on the total weight value of the container goods and the pressure values of each single lock head installed on the four lock heads of the spreader, and judges the state of the F-TR lock when lifting the container according to the changes of the total weight and the single lock head pressure within different lifting height change ranges, and comprehensively judges whether the F-TR lock is separated from the container according to the calculated results, and executes the corresponding safety control strategy.

[0110] Please refer to Figure 4 , Figure 4 which is a block diagram of signal acquisition of a control system for a reach stacker for containers provided by an embodiment of the present application. The figure shows a control handle J, a length and angle sensor ACQ, lock head pressure sensors S1-S4, an interactive instrument P, a vehicle controller VCU (Vehicle Control Unit), a boom lifting proportional valve Y1, a buzzer alarm H01, and a spreader controller SCU. The control handle can transmit the handle direction, handle opening, and vertical lifting enable signals to the vehicle controller, and the spreader controller SCU can transmit the container landing signal of the spreader to the vehicle controller. The administrator can set adjustable parameters 1 to n through the interactive instrument.

[0111] The vehicle controller records the lifting height of the spreader when the spreader lands on the container by comprehensively analyzing the values of the angle, length, and boom geometric parameters, and controls the boom lifting speed in segments according to the change of the boom lifting height after landing. The controller also calculates the total weight value of the container goods and the sub-weight values of each single lock head based on the pressure sensors installed on the four lock heads of the spreader, judges whether the F-TR lock is hooked when lifting the container according to the changes of the total weight and the sub-weight within different lifting height change ranges, and executes the corresponding safety control strategy to avoid the occurrence of greater accidents.

[0112] Information interaction is carried out between the bus instrument, the control handle, the ACQ sensor, the vehicle controller and the spreader controller through the CAN (Controller Area Network) bus; the administrator can input the following adjustable parameters through the instrument according to the trailer specifications: the maximum allowable total weight change value of the system , the maximum allowable uneven weight change value , the boom speed limit lifting height value , the F-TR lock function trigger height value and the opening value of the proportional valve for lifting in the speed limit section ; the accuracy and efficiency of system operation can be adjusted through the above five adjustable parameters.

[0113] The F-TR lock function trigger height value is the above-mentioned first threshold value, and the maximum allowable uneven weight change value is the above-mentioned second threshold value, and the maximum allowable total weight change value of the system is the above-mentioned third threshold value, and the boom speed limit lifting height value is the above-mentioned fourth threshold value, and the opening value of the proportional valve for lifting in the speed limit section is the opening corresponding to the preset speed.

[0114] This embodiment provides a method for preventing the F-TR lock from being hooked in a reach stacker, which specifically includes the following steps:

[0115] Step D1: The controller obtains the customer-set adjustable parameters through the instrument, including inputting the maximum allowable total weight change value of the system , the maximum allowable partial weight change value , the boom speed limit lifting height value , the F-TR lock function trigger height value and the opening value of the proportional valve for lifting in the speed limit section .

[0116] In a feasible implementation manner, the values of the above parameters are as follows: , , , , .

[0117] Step D2: The vehicle controller obtains the extended distance of the telescopic boom (m) and the angle value of the boom lifting ([[]] ) by collecting the data of the length and angle sensor ACQ;

[0118] Step D3: The vehicle controller calculates the real-time height value of the lower edge of the spreader lock head from the ground (mm):

[0119] ;

[0120] Wherein, the height from the upper hinge point D of the spreader to the lower edge of the spreader (mm), the height from the rear hinge point A to the ground (mm), the vertical distance from the rear hinge point A to the upper hinge point of the spreader (mm) and the horizontal distance from the rear hinge point A to the upper hinge point D of the spreader when the boom is retracted to the end (mm) are constant parameters; the angle of the boom lift ( ) is a variable parameter and is obtained by a length and angle sensor.

[0121] The height from the upper hinge point D of the spreader to the lower edge of the spreader is the above-mentioned first height, and the height from the rear hinge point A to the ground is the above-mentioned second height.

[0122] The vertical distance from the rear hinge point A to the upper hinge point of the spreader is the vertical distance between the hinge points, and the horizontal distance from the rear hinge point A to the upper hinge point D of the spreader is the horizontal distance between the hinge points.

[0123] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of a reach stacker provided by an embodiment of the present application. The figure shows: the height from the upper hinge point D of the spreader to the lower edge of the spreader , the vertical distance from the rear hinge point A to the upper hinge point of the spreader , the maximum extension distance L, the lift angle , the horizontal distance from the rear hinge point A to the upper hinge point D of the spreader , the height from the rear hinge point A to the ground , the real-time height value of the lower edge of the spreader lock head from the ground .

[0124] In a feasible implementation manner, the values of the above parameters are as follows:

[0125] , , , .

[0126] Step D4: The vehicle controller judges the current spreader height value . When , the system enters step D5; when , the system enters the normal working state.

[0127] Step D5: The vehicle controller determines the current container-carrying status of the spreader through the spreader controller. When the container-carrying signal is true (indicating that the spreader has been pressed on the container), the vehicle controller records the initial height value of the spreader at this time and enters step D6.

[0128] Step D6: The vehicle controller determines the state of the operating handle. If it is detected that the handle issues a lifting command, the vehicle controller VCU control system enters step D7.

[0129] Step D7: The vehicle controller obtains the opening degree of the handle when it is lifted according to the handle signal , calculate the real-time spreader height change value . .when When the vehicle controller VCU controls the boom lifting valve Y1, The small opening of the lifting proportional valve Y1 during lifting ensures the accuracy of weighing and avoids the hook caused by the lifting speed being too fast and not being able to make calculations and judgments in time. The specific calculation is as follows:

[0130] ;

[0131] In the formula, The current spreader height value With the initial height value The difference (i.e. the height change of the spreader), . This is the initial spreader height mentioned above.

[0132] Step D8: When the vehicle is in the sampling point 1 state, the lower surface of the container just leaves the upper surface of the special flat car. (like Figure 6 As shown), the vehicle controller collects the data of the four pressure sensors S1~S4 on the sling lock to obtain the weight values ​​of the four locks of the sling at this time. , , and , calculate the total weight of the container cargo collected at the current sampling point When the vehicle is at sampling point 2, the lower corner of the container just leaves the F-TR lock on the special flat car. (like Figure 7 As shown), the vehicle controller calculates the weight values ​​of the four locks of the sling at this time. , , and , calculate the total weight of the container cargo collected at the current sampling point . and The value is determined by the locking head structure characteristics on the special flatbed vehicle.

[0133] That is, the above-mentioned first height change value, That is, the above-mentioned second height change value, That is, the above-mentioned first total force value, That is, the above-mentioned second total force value. The state of sampling point 1 is the above-mentioned first lifting state (that is, the state where the lower surface of the container just leaves the upper surface of the flatbed trailer), and the state of sampling point 2 is the above-mentioned second lifting state (the state where the lower corner fitting of the container just disengages from the locking device of the flatbed trailer). Please refer to Figure 6 , Figure 6 is a relative position diagram of the lower corner fitting of the container and the F-TR lock on the flatbed vehicle in the state of sampling point 1 provided by the embodiment of the present application; please refer to Figure 7 , Figure 7 is a relative position diagram of the lower corner fitting of the container and the F-TR lock on the flatbed vehicle in the state of sampling point 2 provided by the embodiment of the present application, Figure 6 and Figure 7 show the lower corner fitting 601 of the container, the F-TR lock head 602, the structural parameter and the structural parameter .

[0134] In a feasible implementation manner, the values of the above parameters are as follows: = 30mm, = 100mm.

[0135] The total weight values of the container goods at the above two sampling points , are calculated as follows:

[0136] ;

[0137] .

[0138] Step D9: When and the change value of the weight of a single container lock head , it indicates that the F-TR lock is hooked. The vehicle controller controls the opening of the lifting proportional valve Y1 to 0, prohibits the spreader from continuing to lift, and controls the buzzer alarm H01 to alarm, and a pop-up box on the instrument prompts "The F-TR lock is hooked, lifting is prohibited". The maximum allowable total weight change value and the maximum allowable weight change value of the system are determined by the specifications of the F-TR special trailer weight specifications.

[0139] The change values of the weight pressure of the container lock heads at the two sampling points are calculated as follows:

[0140] 。

[0141] In a feasible implementation mode, in this example, the values of the above parameters are as follows: , , where t represents ton.

[0142] Please refer to Figure 8 , Figure 8 which is a sectional view of the layout position of the pressure sensor of the spreader lock head provided by the embodiment of the present application. In the figure, 1 represents the spreader lock head, 2 represents the lock sleeve, 3 represents the lower joint bearing, 4 represents the upper joint bearing, 5 represents the split flange, 6 represents the rotary lock flange cover, 7 represents the tie rod, 8 represents the lower backing plate, 9 represents the layout position of the pressure sensor, 10 represents the upper backing plate, and 11 represents the tie rod flange. In this embodiment, the pressure sensor is arranged on the four spreader lock heads of the spreader. The lock head pressure sensor 9 is installed between the split flange 5 and the tie rod flange 11. The upper backing plate 10 and the lower backing plate 8 designed on the upper and lower surfaces of the sensor can ensure that the pressure sensor is fully stressed when lifting the container.

[0143] Lifting height limit value of the boom is determined by the lock head height value of the F-TR lock flat car. When the height change value of the spreader is such that, the boom can only lift at a uniform low speed to ensure the accuracy of weighing and avoid snagging due to the lifting speed being too fast to calculate and judge in time.

[0144] F-TR lock function trigger height value is determined by comprehensively considering the height of the flatbed trailer , the height of the railway track and the height value of the 9-foot container (2.89 m). , in this application example, , when the spreader height value is greater than the value, it indicates that the vehicle is not in the F-TR lock container unloading condition, does not trigger the F-TR lock anti-snagging function, and does not affect the working efficiency of the non-flat car container unloading condition.

[0145] This embodiment solves the safety problems such as vehicle derailment caused by the failure of the F-TR lock head to open in time when the container front loader performs container lifting operations on a flat car equipped with an F-TR lock head, so as to improve the operation feeling and safety of the vehicle.

[0146] An F-TR lock anti-snagging control method provided by the embodiment of the present application includes the following steps:

[0147] Step E1: The vehicle controller obtains the direction and opening data of the control handle , the extension distance of the boom , the lifting angle of the boom , the maximum gross weight change value , the maximum allowable change value of the sub-weight , the hoisting speed limit height value of the boom , the height value at which the F-TR lock function is triggered and the opening value of the hoisting proportional valve in the speed limit section .

[0148] Step E2: The controller calculates the real-time height value of the spreader .

[0149] Step E3: Judge Is it less than ; if yes, go to Step E4; if no, end the process.

[0150] Step E4: The spreader controller feeds back whether the spreader landing signal is true (yes); if yes, go to Step E5; if no, end the process. When the landing signal is true, it means that the landing signal is received.

[0151] Step E5: The controller calculates the initial height value of the spreader .

[0152] Step E6: Judge whether the handle is in the hoisting state; if yes, go to Step E7; if no, end the process.

[0153] Step E7: The vehicle controller calculates the real-time height change value of the spreader according to the handle opening , and the obtained parameters .

[0154] Step E8: Judge Is it less than ; if yes, go to Step E9; if no, end the process.

[0155] Step E9: The vehicle controller controls the hoisting proportional valve to hoist at a low speed and evenly at a small opening according to .

[0156] Step E10: The controller calculates the total weight value and the sub-weight pressure change value of the two sampling points of the container according to the data of the lock head pressure sensor ( , and ).

[0157] Step E11: Judge whether and ; if yes, go to Step E12; if no, end the process.

[0158] Step E12: The vehicle controller controls the opening of the hoisting proportional valve to 0, the buzzer alarm sounds, and a text warning pops up on the instrument.

[0159] This embodiment proposes a container reachstacker F-TR lock anti-hooking control system and method that combines the calculation of the total weight and the change in the pressure of a single lock head. The controller is based on the total weight value of the container cargo and the pressure values of each single lock head installed on the four lock heads of the spreader, and judges the state of the F-TR lock when lifting the container according to the changes in the total weight and the single lock head pressure within different lifting height change ranges. According to the calculated results, it comprehensively judges whether the F-TR lock is detached from the container and executes corresponding safety control strategies.

[0160] In this embodiment, the F-TR lock function trigger height value is introduced , which is determined by comprehensively considering the flatbed trailer height , the railway track height and the 9-foot container height value (2.89 m). Only when the spreader height value , the system triggers the F-TR lock anti-hooking function. When the spreader height value is greater than value, it means that the vehicle is not in the F-TR lock container unloading working condition, and the F-TR lock anti-hooking function is not triggered. This control method can avoid triggering the anti-hooking function in non-flatbed vehicle container unloading working conditions, ensuring that the working efficiency of the vehicle when lifting more than two rows of containers is not affected.

[0161] In this embodiment, a combined F-TR lock hooking judgment method of the total weight of the goods and the change value of the pressure of a single lock head is introduced. Only when both of them exceed the range is it determined that the F-TR lock is hooked, which can prevent false alarms to the greatest extent while ensuring safety. Compared with the conventional multi-point lifting control method, in this embodiment, when the F-TR function is triggered, the lifting section can be automatically divided into a speed-limited section and a non-speed-limited section during container unloading. Unless the system determines that it is in the F-TR hooking working condition, the lifting action will not stop in the middle, reducing the impact caused by the frequent start and stop of the conventional point-by-point lifting control.

[0162] This embodiment combines the container landing condition of the spreader. When the spreader is in the container landing state obtained through the spreader controller, a new sampling calculation cycle will start, and the driver's judgment is not required throughout the process. Compared with the existing solutions on the market that require the driver to actively trigger the point-by-point lifting function, the complexity of the operation is greatly simplified. In this embodiment, the container weight does not need to be preset and input by the driver, but is automatically calculated by the controller, greatly improving the convenience of the operation.

[0163] An anti-hooking control system for a container reachstacker provided by an embodiment of the present application, wherein a plurality of spreader lock heads are arranged on the spreader of the container reachstacker, and a pressure sensor is arranged in each of the spreader lock heads. The pressure sensor is used to detect the force condition of the spreader lock head. The anti-hooking control system of the container reachstacker includes:

[0164] The spreader height determination module is used to set the spreader height of the reach stacker at the current moment as the current spreader height;

[0165] The lifting control module is used to determine whether a container landing signal is received if the current spreader height is less than the first threshold; wherein, the container landing signal is a signal generated when the spreader lock head locks the container; if so, it controls the spreader to lift in response to the lifting instruction and determines the pressure detection results of the pressure sensor in the first lifting state and the second lifting state respectively; wherein, the first lifting state is the state where the current spreader height is equal to the first preset height, the second lifting state is the state where the current spreader height is equal to the second preset height, the first preset height is the height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is the height at which the lower corner fitting of the container disengages from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fitting of the container cooperates with the locking device of the flatbed trailer to lock;

[0166] The connection detection module is used to determine the force change information of the spreader lock head according to the pressure detection result, and judge whether the lower corner fitting of the container is connected with the locking device of the flatbed trailer according to the force change information; if so, it controls the spreader to stop lifting and generates an alarm message.

[0167] This embodiment determines the current spreader height of the reach stacker and controls the spreader to lift when the current spreader height is less than the first threshold and the container landing signal is received. A plurality of spreader lock heads are arranged on the spreader of the reach stacker, and a pressure sensor is arranged in the spreader lock head. The spreader lock head can lock the container to lift the container, and the pressure sensor can detect the pressure exerted by the container on each spreader lock head during the lifting of the spreader. This embodiment obtains the pressure detection results of the pressure sensor in the first lifting state (the lower surface of the container leaves the flatbed trailer) and the second lifting state (the lower corner fitting disengages from the locking device) respectively. During the lifting of the container, the force situation between the locking device and the lower corner fitting will vary significantly depending on whether there is a connection. This embodiment can determine the force changes of each spreader lock head in the first lifting state and the second lifting state by analyzing the above pressure detection results, and then judge whether the lower corner fitting of the container is connected with the locking device of the flatbed trailer based on the force change information, so as to take corresponding treatment measures when a connection is detected. Therefore, this embodiment can accurately judge whether the lower corner fitting of the container is connected with the locking device of the flatbed trailer, improving the operation safety of the reach stacker.

[0168] Further, the process by which the connection detection module determines the force change information of the spreader lock head based on the pressure detection result includes: determining the first pressure value of each spreader lock head in the first lifting state, and calculating the first total force value of the spreader in the first lifting state according to the first pressure values of all the spreader lock heads; determining the second pressure value of each spreader lock head in the second lifting state, and calculating the second total force value of the spreader in the second lifting state according to the second pressure values of all the spreader lock heads; calculating the pressure difference of each spreader lock head in the first lifting state and the second lifting state respectively according to the first pressure value and the second pressure value, and setting the maximum value among all the pressure differences as the maximum lock head pressure difference; calculating the total spreader force difference according to the first total force value and the second total force value; setting the maximum lock head pressure difference and the total spreader force difference as the force change information.

[0169] Further, the process by which the connection detection module determines whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer according to the force change information includes: judging whether the maximum lock head pressure difference is greater than a second threshold value to obtain a first judgment result; judging whether the total spreader force difference is greater than a third threshold value to obtain a second judgment result; if both the first judgment result and the second judgment result are yes, it is determined that the lower corner fitting of the container is connected to the locking device of the flatbed trailer.

[0170] Further, the process by which the connection detection module calculates the first total force value of the spreader in the first lifting state according to the first pressure values of all the spreader lock heads includes: adding up the first pressure values of all the spreader lock heads to obtain the first total force value of the spreader in the first lifting state; correspondingly, calculating the second total force value of the spreader in the second lifting state according to the second pressure values of all the spreader lock heads, including: adding up the second pressure values of all the spreader lock heads to obtain the second total force value of the spreader in the second lifting state.

[0171] Further, the process by which the lifting control module controls the lifting of the spreader in response to a lifting instruction includes: setting the spreader height when the container landing signal is received as the initial spreader height; if the lifting instruction is received, setting the difference between the current spreader height and the initial spreader height as the spreader height change value; if the spreader height change value is less than a fourth threshold value, controlling the lifting of the spreader at a preset speed; if the spreader height change value is greater than or equal to the fourth threshold value, controlling the lifting of the spreader according to the opening of the handle.

[0172] Further, it further includes:

[0173] A threshold setting module, configured to set the fourth threshold value according to the height of the locking device of the flatbed trailer.

[0174] Further, it further includes:

[0175] A height value determination module, configured to set the spreader height when receiving the container landing signal as the initial spreader height before determining the pressure detection results of the pressure sensor in the first lifting state and the second lifting state respectively; further configured to add the initial spreader height to the first height change value to obtain the first preset height; further configured to add the initial spreader height to the second height change value to obtain the second preset height; wherein, the first height change value is less than the second height change value.

[0176] Further, the spreader height determination module is further configured to collect the outreach distance and the lifting angle of the reach stacker before setting the spreader height of the reach stacker at the current moment as the current spreader height; further configured to calculate the distance between the lower edge of the spreader lock head and the ground according to the outreach distance, the lifting angle and the structural parameters; wherein, the structural parameters include the horizontal distance between the hinge points, the vertical distance between the hinge points, the first height and the second height, the horizontal distance between the hinge points is the distance between the upper hinge point and the rear hinge point in the horizontal direction, the vertical distance between the hinge points is the distance between the upper hinge point and the rear hinge point in the vertical direction, the first height is the distance between the upper hinge point and the lower edge of the spreader lock head, the second height is the distance between the rear hinge point and the ground; the upper hinge point is the hinge point of the telescopic boom and the spreader of the reach stacker, the rear hinge point is the hinge point of the boom and the vehicle body of the reach stacker; further configured to set the distance between the lower edge of the spreader lock head and the ground as the spreader height of the reach stacker at the current moment.

[0177] Further, it further includes:

[0178] A threshold setting module, configured to calculate the first threshold according to the height of the flatbed trailer, the track height and the container height.

[0179] Since the embodiments of the system part correspond to the embodiments of the method part, for the embodiments of the system part, please refer to the description of the embodiments of the method part, which will not be elaborated here for the time being.

[0180] The present application also provides a storage medium, on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiments can be implemented. The storage medium may include: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disc that can store program codes.

[0181] The present application also provides an electronic device, which may include a memory and a processor. When the computer program stored in the memory is called by the processor, the steps provided in the above embodiments can be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0182] The various embodiments in the specification are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method part. It should be noted that for those of ordinary skill in the art in the technical field of the present application, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the present application.

[0183] It should also be noted that in this specification, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, the element defined by the statement "including an..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

Claims

1. A control method for preventing hook connection of a reach stacker, characterized in that, A plurality of spreader locks are provided on the spreader of the reach stacker. A pressure sensor is provided in each spreader lock. The pressure sensor is used to detect the force condition of the spreader lock. The anti-hooking control method of the reach stacker includes: Set the spreader height of the reach stacker at the current moment as the current spreader height; If the current spreader height is less than the first threshold, determine whether a container landing signal is received; wherein, the container landing signal is a signal generated when the spreader lock completes locking of the container; If so, control the spreader to lift in response to a lifting instruction, and determine the pressure detection results of the pressure sensors in the first lifting state and the second lifting state respectively; wherein, the first lifting state is the state where the current spreader height is equal to the first preset height, the second lifting state is the state where the current spreader height is equal to the second preset height, the first preset height is the height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is the height at which the lower corner fitting of the container disengages from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fitting of the container cooperates with the locking device of the flatbed trailer for locking; Determine the force change information of the spreader lock according to the pressure detection results, and judge whether the lower corner fitting of the container is hooked with the locking device of the flatbed trailer according to the force change information; If so, control the spreader to stop lifting and generate an alarm message.

2. The anti-hooking control method of the reach stacker according to claim 1, wherein Determining the force change information of the spreader lock according to the pressure detection results includes: Determine the first pressure value of each spreader lock in the first lifting state, and calculate the first total force value of the spreader in the first lifting state according to the first pressure values of all the spreader locks; Determine the second pressure value of each spreader lock in the second lifting state, and calculate the second total force value of the spreader in the second lifting state according to the second pressure values of all the spreader locks; Calculate the pressure difference of each spreader lock in the first lifting state and the second lifting state respectively according to the first pressure value and the second pressure value, and set the maximum value among all the pressure differences as the maximum pressure difference of the lock; Calculate the total force difference of the spreader according to the first total force value and the second total force value; Set the maximum pressure difference of the lock and the total force difference of the spreader as the force change information.

3. The anti-hooking control method of the reach stacker according to claim 2, wherein Judging whether the lower corner fitting of the container is hooked with the locking device of the flatbed trailer according to the force change information includes: Judge whether the maximum pressure difference of the lock is greater than the second threshold to obtain a first judgment result; Judge whether the total force difference of the spreader is greater than the third threshold to obtain a second judgment result; If both the first judgment result and the second judgment result are yes, it is determined that the lower corner fitting of the container is hooked with the locking device of the flatbed trailer.

4. The anti-hooking control method of the reach stacker according to claim 2, characterized in that, Calculating the first total force value of the spreader in the first lifting state according to the first pressure values of all the spreader locks includes: Add up the first pressure values of all the spreader locks to obtain the first total force value of the spreader in the first lifting state; Correspondingly, calculating the second total force value of the spreader in the second lifting state according to the second pressure values of all the spreader locks includes: Add up the second pressure values of all the spreader locks to obtain the second total force value of the spreader in the second lifting state.

5. The anti-hooking control method of the reach stacker according to claim 1, wherein Controlling the lifting of the spreader in response to a lifting instruction includes: Setting the spreader height when receiving the container landing signal as the initial spreader height; If receiving the lifting instruction, setting the difference between the current spreader height and the initial spreader height as the spreader height change value; If the spreader height change value is less than the fourth threshold, controlling the spreader to lift at a preset speed; If the spreader height change value is greater than or equal to the fourth threshold, controlling the spreader to lift according to the opening of the handle.

6. The anti-hooking control method of the reach stacker according to claim 5, wherein It further includes: Setting the fourth threshold according to the height of the locking device of the flatbed trailer.

7. The anti-hooking control method of the reach stacker according to claim 1, characterized in that Before determining the pressure detection results of the pressure sensors in the first lifting state and the second lifting state respectively, it further includes: Setting the spreader height when receiving the container landing signal as the initial spreader height; Adding the initial spreader height and the first height change value to obtain the first preset height; Adding the initial spreader height and the second height change value to obtain the second preset height; wherein, the first height change value is less than the second height change value.

8. The anti-hooking control method of the reach stacker according to claim 1, characterized in that Before setting the spreader height of the reach stacker at the current moment as the current spreader height, it further includes: Collecting the outreach distance and the lifting angle of the reach stacker; Calculating the distance between the lower edge of the spreader lock and the ground according to the outreach distance, the lifting angle and the structural parameters; wherein, the structural parameters include the horizontal distance between the hinge points, the vertical distance between the hinge points, the first height and the second height, the horizontal distance between the hinge points is the distance between the upper hinge point and the rear hinge point in the horizontal direction, the vertical distance between the hinge points is the distance between the upper hinge point and the rear hinge point in the vertical direction, the first height is the distance between the upper hinge point and the lower edge of the spreader lock, the second height is the distance between the rear hinge point and the ground; the upper hinge point is the hinge point between the telescopic arm and the spreader of the reach stacker, and the rear hinge point is the hinge point between the boom and the vehicle body of the reach stacker; Setting the distance between the lower edge of the spreader lock and the ground as the spreader height of the reach stacker at the current moment.

9. The anti-hooking control method of the reach stacker according to claim 1, characterized in that, It further includes: Calculating the first threshold according to the height of the flatbed trailer, the track height and the container height.

10. An anti-hooking control system for a reach stacker, characterized in that, A plurality of spreader locks are arranged on the spreader of the reach stacker, and a pressure sensor is arranged in each spreader lock, and the pressure sensor is used to detect the force condition of the spreader lock. The anti-hooking control system of the reach stacker includes: A spreader height determination module for setting the spreader height of the reach stacker at the current moment as the current spreader height; The lifting control module is configured to determine whether a container landing signal is received if the current height of the spreader is less than a first threshold; wherein, the container landing signal is a signal generated when the spreader lock head completes the locking of the container; if so, it controls the spreader to lift in response to a lifting instruction, and determines the pressure detection results of the pressure sensor in a first lifting state and a second lifting state respectively; wherein, the first lifting state is a state where the current height of the spreader is equal to a first preset height, the second lifting state is a state where the current height of the spreader is equal to a second preset height, the first preset height is the height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is the height at which the lower corner fitting of the container disengages from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fitting of the container cooperates with the locking device of the flatbed trailer to lock. The coupling detection module is configured to determine the force change information of the spreader lock head according to the pressure detection results, and judge whether the lower corner fitting of the container is coupled with the locking device of the flatbed trailer according to the force change information; if so, it controls the spreader to stop lifting and generates an alarm message.

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