An anti-slip control system and method for electric container handling equipment

Abstract

This application discloses an anti-slip control system and method for electric container handling equipment, applicable to the industrial loading and unloading field. The anti-slip control system and method provided in this application first acquires the vehicle's gear position information and the duration the vehicle remains in that gear. Based on the acquired gear position information and the duration of being in a particular gear, it determines whether these conditions meet preset criteria. If they do, the vehicle can be controlled to enter anti-slip control mode; otherwise, the vehicle continues in normal driving mode. This anti-slip control method and system prevents the driver from accidentally entering anti-slip control when shifting gears, ensuring operational efficiency and user experience. Furthermore, it avoids the use of current passenger car slip control logic, preventing vehicle vibration and swaying.

Description

Technical Field

[0001] This application relates to the field of industrial loading and unloading, and in particular to an anti-slip control system and method for an electric container handling equipment. Background Technology

[0002] Electric reach stackers and forklifts are container lifting machinery used in ports, railways, highways, and other locations. They are mainly used for stacking containers and horizontal transport within docks and container yards. Compared to forklifts, they offer advantages such as maneuverability, ease of operation, good stability, lower wheel pressure, higher stacking depth, and higher yard utilization. Electric reach stackers and forklifts require high stability, necessitating the addition of anti-slip features to ensure driver safety and comfort.

[0003] Currently, there are no specific anti-roll-off control strategies for large engineering vehicles such as electric reach stackers and forklifts. Most systems adopt the roll-off control logic used in passenger cars, adjusting a reverse driving torque through the Vehicle Control Unit (VCU) and Motor Control Unit (MCU) to prevent roll-off. However, when drivers directly shift gears on level ground, they can easily inadvertently engage the anti-roll-off control, affecting work efficiency and the user experience. Furthermore, due to the large size, high mast, and high center of gravity of electric reach stackers and forklifts, using the roll-off control logic from passenger cars can easily cause vehicle vibration and swaying. Summary of the Invention

[0004] The purpose of this application is to provide an anti-slip control system and method for electric container handling equipment. It introduces a gear engagement duration threshold parameter, and determines whether the vehicle has entered the anti-slip control mode by judging the vehicle gear information and the duration of the gear engagement, so as to avoid the problem of the driver accidentally entering the anti-slip control mode when directly switching gears.

[0005] To solve the above-mentioned technical problems, this application provides a method for preventing slippage control of electric container handling equipment, including:

[0006] Obtain the vehicle's gear information and the duration the vehicle remains in gear;

[0007] Determine whether the vehicle's gear information and the duration the vehicle remains in gear meet preset conditions.

[0008] If so, then the vehicle is confirmed to be in anti-slip control mode;

[0009] If not, then the vehicle is confirmed to be in driving mode.

[0010] Preferably, determining whether the vehicle's gear information and the duration the vehicle remains in gear meet preset conditions includes:

[0011] Determine whether the duration the vehicle remains in gear exceeds a threshold for the duration of gear engagement;

[0012] If not, then it is determined that the vehicle's gear information and the duration of the vehicle being in gear do not meet the preset conditions.

[0013] If so, the vehicle status is determined based on the motor speed and gear information;

[0014] Determine if the vehicle's status is the preset state;

[0015] If the vehicle's state is a preset state, then the vehicle's gear information and the duration of the vehicle being in gear are determined to meet the preset conditions.

[0016] If the vehicle's state is not the preset state, it is determined that the vehicle's gear information and the duration the vehicle remains in gear do not meet the preset conditions.

[0017] Preferably, the preset state is any one of the following: the middle position sliding forward, the middle position sliding backward, the front position sliding backward, and the back position sliding forward.

[0018] Preferably, the threshold for the engagement duration is the product of the adjustable coefficient and the ratio of the gantry lifting height.

[0019] Preferably, after determining that the vehicle is in anti-slip control mode, the method further includes:

[0020] Obtain the status of the vehicle's accelerator pedal and brake pedal;

[0021] If the accelerator pedal is pressed, the motor controller will drive the motor to work according to the normal stroke control program;

[0022] If the accelerator pedal is released, then determine whether the brake pedal meets the preset requirements.

[0023] Preferably, determining whether the brake pedal meets the preset requirements includes:

[0024] Check if the handbrake switch is engaged;

[0025] If so, then control the handbrake electric brake valve to stop the vehicle;

[0026] If not, then determine whether the foot brake pedal is depressed;

[0027] If the foot brake pedal is depressed, the foot brake electric brake valve will be controlled to stop the vehicle.

[0028] If the foot brake pedal is not depressed, the motor controller will drive the vehicle to the target speed according to the vehicle speed using a segmented PI control method.

[0029] Preferably, after controlling the motor controller to drive the vehicle at the target speed according to the vehicle speed using a segmented PI control method, the method further includes:

[0030] Determine whether the duration of the motor's fluctuation within the preset range is greater than the slope shaking time threshold.

[0031] If so, then determine that the vehicle is in a shaking state, and return to the step of determining whether the foot brake pedal is pressed;

[0032] If the vehicle remains at a low speed for a period of time longer than the vehicle speed stabilization time threshold, the vehicle will be controlled to exit the anti-rollover control mode.

[0033] If the vehicle speed remains in the low-speed range for a period of time less than or equal to the vehicle speed stabilization time threshold, then the process proceeds to the step of controlling the motor controller to drive the vehicle at the target speed according to the vehicle speed using a segmented PI control method.

[0034] To address the aforementioned technical problems, this application also provides an anti-slip control device for electric container handling equipment, comprising:

[0035] The acquisition module is used to acquire the vehicle's gear information and the duration for which the vehicle remains in gear.

[0036] The judgment module is used to determine whether the vehicle's gear information and the duration for which the vehicle is in gear meet preset conditions.

[0037] The first determining module, when the determining module determines that it is in the anti-slip control mode, is used to determine that the vehicle is in the anti-slip control mode.

[0038] The second determining module is used to determine that the vehicle is in driving mode if the determining module determines otherwise.

[0039] To address the aforementioned technical problems, this application also provides an electric reach stacker or forklift, including a memory for storing computer programs;

[0040] A processor is used to execute computer programs to implement the steps of the anti-slip control method for electric container handling equipment as described above.

[0041] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the anti-slip control method for the electric container handling equipment described above.

[0042] This application provides an anti-slip control system and method for an electric container handling equipment. First, it acquires the vehicle's gear position information and the duration the vehicle remains in that gear. Then, based on this information, it determines whether the gear position and duration meet preset conditions. If they do, the vehicle enters an anti-slip control mode; otherwise, it continues in normal driving mode. This anti-slip control method and system prevents the driver from accidentally entering anti-slip control when shifting gears, ensuring operational efficiency and user experience. Furthermore, it avoids the use of current passenger vehicle slip control logic, preventing vehicle vibration and swaying. Attached Figure Description

[0043] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A flowchart of the anti-slide control method provided in the embodiments of this application;

[0045] Figure 2 A structural diagram of the vehicle provided in the embodiments of this application;

[0046] Figure 3 A flowchart for preventing landslides is provided for another embodiment of this application;

[0047] Figure 4 A structural diagram of an anti-slippage control device provided in another embodiment of this application;

[0048] Figure 5 This is a structural diagram of an electric reach stacker or forklift provided in another embodiment of this application. Detailed Implementation

[0049] The technical solutions of 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. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0050] Electric reach stackers and forklifts are mainly used in container lifting machinery in ports, railways, and highways. They offer advantages such as high mobility, ease of operation, good stability, low wheel pressure, high stacking capacity, and high yard utilization. Electric reach stackers and forklifts have high safety requirements for operation, especially stability, necessitating the addition of anti-rollover functionality to ensure driver safety and comfort. Currently, the anti-rollover control of electric reach stackers and forklifts uses the same logic as passenger cars, simply adjusting the motor controller to generate a reverse driving torque through the vehicle controller. However, in actual vehicle conditions, the current anti-rollover control logic can easily lead to the driver accidentally engaging the anti-rollover control when directly shifting gears, affecting operational efficiency and the driver's experience.

[0051] The core of this application is to provide an anti-slip control system and method for electric container handling equipment. It introduces a gear engagement duration threshold parameter to determine whether the electric container handling equipment has entered the anti-slip control mode. Only when the conditions preset by the user are met can the electric container handling equipment be controlled to enter the anti-slip control mode. This solves the problem that drivers may accidentally enter the anti-slip control mode when switching gears directly on flat ground, thus ensuring work efficiency and operational safety.

[0052] It should be noted that the vehicle mentioned in this application can be an electric reach stacker, a forklift, or other electric container handling equipment. The anti-slip control system and method for electric container handling equipment proposed in this application can be applied not only to electric reach stackers or forklifts, but also to other electric container handling equipment. It is understood that the anti-slip control method for electric container handling equipment mentioned in this application is implemented by the vehicle controller 1 in the electric container handling equipment, or other types of control devices, without affecting the implementation of this technical method.

[0053] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] This application provides a method for preventing slippage control in electric container handling equipment. Figure 1 A flowchart of the anti-slide control method provided in the embodiments of this application; as follows: Figure 1 As shown, the method includes:

[0055] S10: Obtain the vehicle's gear information and the duration the vehicle remains in gear.

[0056] Figure 2 This is a structural diagram of the vehicle provided in the embodiments of this application; such as Figure 2As shown, in specific implementation, the driver first decides whether to activate the anti-rollover control function via the interactive instrument panel 3, which is equivalent to a one-button start / stop function. After the anti-rollover control function is activated, the vehicle controller 1 begins to collect the vehicle's gear information and the duration the vehicle remains in a certain gear. The vehicle's gear information mentioned in this embodiment includes neutral gear (N), forward gear (F), and reverse gear (R). The duration the vehicle remains in a gear is the time the vehicle maintains that gear; for example, the vehicle remains in neutral gear for 30 seconds.

[0057] The acquisition action in this embodiment can be completed by the vehicle controller 1 or other types of controllers. The acquisition of the vehicle's gear information and the duration of the vehicle being in a gear can be done in real time. That is, after the vehicle controller 1 or other types of controller acquires the vehicle's gear information and the duration of the vehicle being in a gear, it uploads it in real time. When the next uploaded vehicle gear information changes, the latest time of the vehicle being in the previous gear in the last uploaded information is used as the duration of the vehicle being in a certain gear. Alternatively, the acquisition of the vehicle's gear information and the duration of the vehicle being in a certain gear can be done periodically. That is, the vehicle controller 1 or other types of controller periodically acquires the vehicle's gear information and the duration of the vehicle being in a gear.

[0058] S11: Determine whether the vehicle's gear information and the duration of the vehicle being in gear meet the preset conditions; if yes, proceed to S12; otherwise, proceed to S13.

[0059] In this embodiment, after obtaining the vehicle's gear information and the duration the vehicle remains in a certain gear in step S10, it determines whether the vehicle's gear information and the duration the vehicle remains in a certain gear meet preset conditions. Pre-set conditions for activating the anti-rollover function include a gear engagement duration threshold. By comparing the obtained duration the vehicle remains in a certain gear with the introduced parameter variables, it is determined whether the vehicle can enter the anti-rollover control mode.

[0060] S12: Determine the vehicle is in anti-slip control mode.

[0061] In practice, once the vehicle's gear information and the duration of its engagement in that gear meet pre-set conditions, the electric reach stacker or forklift can be set to enter anti-slip control mode. Anti-slip control mode ensures the vehicle runs smoothly at a pre-set speed, preventing slippage during operation, thus avoiding impacts on work efficiency and guaranteeing operational safety.

[0062] S13: Confirm vehicle is in driving mode.

[0063] If the vehicle's gear information and the duration of its engagement in gear do not meet the preset conditions, the electric reach stacker or forklift can be set to maintain travel mode. It's understood that travel mode is the normal operating state of the electric reach stacker or forklift, i.e., the working state. When the vehicle's gear information and the duration of its engagement in gear do not meet the preset conditions, setting the electric reach stacker or forklift to travel mode means that it does not need to enter anti-slip control mode and can continue normal operation.

[0064] This application provides an anti-slip control method for an electric container handling equipment. First, it acquires the vehicle's gear position information and the duration the vehicle remains in that gear. Then, based on this information, it determines whether the gear position and duration meet preset conditions. If they do, the vehicle enters an anti-slip control mode; otherwise, it continues in normal driving mode. This anti-slip control method prevents the driver from accidentally entering anti-slip control when shifting gears, ensuring operational efficiency and user experience. Furthermore, it avoids the use of current passenger vehicle slip control logic, preventing vehicle vibration and swaying.

[0065] The above embodiments provide a detailed description of the anti-slip control method for electric container handling equipment. Based on the above embodiments, as a preferred embodiment, this embodiment introduces a gear engagement duration threshold parameter variable tq to determine whether the vehicle's gear information and the duration the vehicle remains in gear meet preset conditions. Specifically:

[0066] Determine whether the duration the vehicle remains in gear exceeds a threshold for the duration of gear engagement;

[0067] If not, then it is determined that the vehicle's gear information and the duration of the vehicle being in gear do not meet the preset conditions.

[0068] If so, the vehicle status is determined based on the motor speed and gear information;

[0069] Determine if the vehicle's status is the preset state;

[0070] If the vehicle's state is a preset state, then the vehicle's gear information and the duration of the vehicle being in gear are determined to meet the preset conditions.

[0071] If the vehicle's state is not the preset state, it is determined that the vehicle's gear information and the duration the vehicle remains in gear do not meet the preset conditions.

[0072] In specific implementation, after the vehicle controller 1 collects the gear position information and the duration of the vehicle being in a certain gear, it needs to determine whether the vehicle's gear position information and the duration of the vehicle being in a certain gear meet preset conditions to determine whether the electric reach stacker or forklift can enter the anti-slip control mode. This embodiment introduces a gear engagement duration threshold tq as a preset condition. First, it is determined whether the duration of the vehicle being in a certain gear is greater than the gear engagement duration threshold tq. If the duration of the vehicle being in a certain gear is not greater than the gear engagement duration threshold, it can be determined that the vehicle will not enter the anti-slip control mode at this time. If the duration of the vehicle being in a certain gear is greater than the gear engagement duration threshold tq, the motor speed is obtained and combined with the gear position information previously collected by the vehicle controller 1 to determine the vehicle's state, and then it is determined whether the vehicle's state is the preset state.

[0073] This embodiment determines whether the vehicle's state meets the preset state, thus preventing the driver from accidentally entering the anti-rollover control mode when switching gears directly on flat ground in actual vehicle conditions, which would affect work efficiency and operating experience.

[0074] The above embodiments provide a detailed description of introducing a gear engagement duration threshold tq as a condition for determining whether the vehicle enters the anti-rollover control mode. Based on the above embodiments, as a preferred embodiment, the preset state is any one of the following: mid-position forward roll, mid-position backward roll, forward backward roll, and rear forward roll. Determining whether the vehicle's state is the preset state means determining whether the vehicle's state is one of the following: mid-position forward roll, mid-position backward roll, forward backward roll, and rear forward roll. If so, it is determined that the vehicle meets the enabling condition for entering the anti-rollover control mode.

[0075] The neutral forward rollout state proposed in this embodiment refers to the vehicle's gear switch signal being in neutral gear N, the vehicle being in neutral gear N for a period of time greater than the gear engagement duration threshold tq, and the current motor speed r > 0 rpm; the neutral backward rollout state refers to the gear switch signal being in neutral gear N, the vehicle being in neutral gear N for a period of time greater than the gear engagement duration threshold tq, and the current motor speed r < 0 rpm; the forward backward rollout state refers to the vehicle being in forward gear F, the vehicle being in forward gear F for a period of time greater than the gear engagement duration threshold tq, and the current motor speed r < 0 rpm; the backward forward rollout state refers to the vehicle being in reverse gear R, the vehicle being in reverse gear R for a period of time greater than the gear engagement duration threshold tq, and the current motor speed r > 0 rpm.

[0076] Furthermore, this embodiment introduces a gear engagement duration threshold parameter variable tq as a way to determine whether the vehicle enters the anti-slip control mode. The gear engagement duration threshold is the product of an adjustable coefficient and the ratio of the gantry lifting height.

[0077] The determination of a vehicle's gear position is made by checking if the duration of its engagement in a particular gear exceeds a gear engagement duration threshold. For example, if a vehicle is in reverse gear (R), and the duration of its engagement in reverse gear (R) exceeds the gear engagement duration threshold tq, then the vehicle is definitely in reverse gear. For electric reach stackers or forklifts, the gantry height is introduced as a crucial condition for calculating the gear engagement duration threshold tq. Figure 2 As shown, the electric reach stacker or forklift also includes a gantry lifting height sensor H. The vehicle controller 1 collects the current gantry lifting height value h of the gantry lifting height sensor H and calculates the gear engagement time threshold according to the formula: tq=k*h / Hm.

[0078] Where h is the current lifting height of the gantry, Hm is the maximum lifting height of the gantry, and k is the adjustable coefficient.

[0079] It should be noted that the shift duration threshold tq proposed in this embodiment was obtained through multiple experiments. As a preferred implementation, the adjustable coefficient is set to 2.

[0080] This embodiment sets a calculation formula for the gear engagement duration threshold tq, rationally plans the calculation method of the introduced parameters, and obtains the most suitable gear engagement duration threshold tq through multiple pre-calculations, which can react the fastest without human operation and avoid the information gap problem caused by human reaction.

[0081] The above embodiments provide a detailed description of how to control the vehicle to enter the anti-slip control mode. However, due to the large size, high mast, and relatively high center of gravity of electric reach stackers or forklifts, changes in electric drive force can easily cause the vehicle to shake or sway. Based on the above embodiments, as a preferred embodiment, Figure 3 A flowchart for preventing landslides is provided as another embodiment of this application; such as Figure 3 As shown, steps S20-S23 indicate that the vehicle enters the anti-rollover control mode. After determining that the vehicle is in the anti-rollover control mode in step S23, the following steps are also included: steps S24-S26, determining the state of the accelerator pedal. If the accelerator pedal is depressed, the vehicle controller 1 controls the motor controller 2 to move according to the normal stroke control program. If the accelerator pedal is released, the vehicle controller 1 controls the motor controller 2 to execute the braking program.

[0082] Obtain the status of the vehicle's accelerator pedal and brake pedal;

[0083] If the accelerator pedal is pressed, the motor controller 2 will drive the motor to work according to the normal stroke control program;

[0084] If the accelerator pedal is released, then determine whether the brake pedal meets the preset requirements.

[0085] Further, as shown in steps S26-S30, a braking procedure needs to be executed, including determining whether the brake pedal meets preset requirements:

[0086] Check if the handbrake switch is engaged;

[0087] If so, then control the handbrake electric brake valve to stop the vehicle;

[0088] If not, then determine whether the foot brake pedal is depressed;

[0089] If the foot brake pedal is depressed, the foot brake electric brake valve will be controlled to stop the vehicle.

[0090] If the foot brake pedal is not depressed, the motor controller 2 will drive the vehicle to the target speed according to the vehicle speed using a segmented PI control method.

[0091] In specific implementation, such as Figure 2 As shown, the vehicle also includes: brake pedal Bk, handbrake switch S, foot brake electric brake valve Y1, and handbrake electric brake valve Y2. First, it is determined whether the handbrake switch S is engaged. If the handbrake switch S is engaged, the vehicle controller 1 controls the handbrake electric brake valve Y2 to stop the vehicle. If the handbrake switch S is not engaged, it is determined whether the foot brake pedal Bk is depressed. If the foot brake is depressed, the vehicle controller 1 controls the foot brake electric brake valve Y1 to stop the vehicle. If the foot brake pedal Bk is not depressed, the vehicle controller 1 controls the motor controller 2 to travel at the target vehicle speed v1 according to the feedback vehicle speed status using a segmented PI control method.

[0092] This embodiment combines anti-slip logic with braking logic. If problems such as vehicle shaking or excessive swaying occur, the brake valve will automatically apply the brakes, ensuring safety through double protection.

[0093] The above embodiments combine anti-rollback logic with braking logic, employing a double-insurance approach to ensure the safety of users and vehicles. Based on the above embodiments, as a preferred embodiment, after controlling the motor controller 2 to drive the vehicle at the target speed according to the vehicle speed using a segmented PI control method, the method further includes steps S30-S33.

[0094] Determine whether the duration of the motor's fluctuation within the preset range is greater than the slope shaking time threshold.

[0095] If so, then determine that the vehicle is in a shaking state, and return to the step of determining whether the foot brake pedal is pressed;

[0096] If the vehicle remains at a low speed for a period of time longer than the vehicle speed stabilization time threshold, the vehicle will be controlled to exit the anti-rollover control mode.

[0097] If the vehicle speed remains in the low-speed range for a period of time less than or equal to the vehicle speed stabilization time threshold, then the process proceeds to the step of controlling the motor controller 2 to drive the vehicle at the target speed according to the vehicle speed using a segmented PI control method.

[0098] In practice, after checking the vehicle's braking, it is also necessary to determine whether the vehicle is in a state of severe shaking. If so, it is necessary to check whether the foot brake pedal is pressed. If not, it is necessary to check whether the motor is in a low-speed stable state. If the motor is in a low-speed stable state, the vehicle is controlled to exit the anti-rollover control mode. If the motor is not in a low-speed stable state, the vehicle controller 1 controls the motor controller 2 to drive at the target vehicle speed v1 according to the feedback vehicle speed status and the segmented PI control method.

[0099] It should be noted that the severe vibration state of the vehicle mentioned in this embodiment refers to a situation where the time for which the motor receives torque fluctuations is too large, exceeding the slope vibration time threshold tm. Fluctuations exceeding 10% of the motor's rated torque are considered excessively large, causing the vehicle to be in an unstable state and potentially leading to shaking. Furthermore, the slope vibration time threshold tm is calculated using the formula: tm = k * h / Hm. Here, h is the current lifting height of the gantry, Hm is the maximum lifting height of the gantry, and k is an adjustable coefficient. In a preferred embodiment, the adjustable coefficient k is set to 2.

[0100] It should be noted that the low-speed stable state of the motor mentioned in this embodiment refers to the vehicle speed being in the low-speed range for a period exceeding the vehicle speed stabilization time threshold tw. When the motor speed r < 50 rpm, the vehicle is considered to be in the low-speed range. Furthermore, there is a calculation formula for the introduced parameter, the vehicle speed stabilization time threshold tw: tw = k * h / Hm. Where h is the current lifting height of the gantry, Hm is the maximum lifting height of the gantry, and k is an adjustable coefficient. In a preferred embodiment, the adjustable coefficient k is set to 3.

[0101] It is understood that the target vehicle speed v1, the slope shaking time threshold tm, the vehicle speed stabilization time threshold tw, and the gear engagement duration threshold tq mentioned in this application can all be adjusted by the administrator through the interactive instrument 3 according to the actual working conditions, so as to improve the adaptability of the whole system.

[0102] In this embodiment, the target vehicle speed v1 refers to the maximum speed at which the vehicle is allowed to roll down the slope. As a preferred embodiment, the target vehicle speed v1 is set to 1 km / h.

[0103] This embodiment introduces a slope slippage vibration time threshold tm and a vehicle speed stabilization time threshold tw. Furthermore, for electric reach stackers or forklifts, the gantry height value is introduced as an important condition for tm and tw. This not only avoids the problem of increasingly large vehicle vibration and swaying caused by the large change in the center of gravity when the gantry of the electric reach stacker or forklift tilts forward, but also reduces the probability of motor overheating caused by the vehicle being in anti-slippage control mode for a long time.

[0104] In the above embodiments, the anti-slip control method for electric container handling equipment has been described in detail. This application also provides embodiments corresponding to the anti-slip control device for electric container handling equipment. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional modules, and the other is based on the hardware.

[0105] From the perspective of functional modules, this application also provides an anti-slip control device for electric container handling equipment. Figure 4 A structural diagram of an anti-slippage control device provided in another embodiment of this application; as shown Figure 4 As shown, the device includes:

[0106] The acquisition module 10 is used to acquire the vehicle's gear information and the duration for which the vehicle remains in gear.

[0107] The judgment module 11 is used to judge whether the vehicle's gear information and the duration of the vehicle being in gear meet preset conditions.

[0108] The first determining module 12 is used to determine that the vehicle is in anti-slip control mode when the determining module determines that it is in the correct mode.

[0109] The second determining module 13 is used to determine that the vehicle is in driving mode if the determining module determines that it is not.

[0110] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0111] The anti-slip-off device for electric container handling equipment provided in this application first acquires the vehicle's gear position information and the duration the vehicle remains in a specific gear through the acquisition module 10. Then, the judgment module 11 determines whether the acquired gear position information and the duration of the vehicle being in a particular gear meet preset conditions. If they do, the first determination module 12 determines that the vehicle has entered the anti-slip-off control mode; otherwise, the second determination module 13 determines that the vehicle remains in driving mode. This prevents the driver from accidentally entering anti-slip-off control when shifting gears, ensuring operational efficiency and user experience. Furthermore, it avoids using the current passenger car slip-off control logic, preventing vehicle vibration and shaking.

[0112] Figure 5 This is a structural diagram of an electric reach stacker or forklift provided in another embodiment of this application; such as Figure 5 As shown, the electric reach stacker or forklift includes: a memory 20 for storing computer programs;

[0113] The processor 21 is used to execute a computer program to implement the steps of the anti-slip control method for the electric container handling equipment mentioned in the above embodiments.

[0114] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which is used to handle computational operations related to machine learning.

[0115] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the anti-slip control method for the electric container handling equipment disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the data involved in the anti-slip control method for the electric container handling equipment.

[0116] In some embodiments, the electric reach stacker or forklift may also include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0117] Those skilled in the art will understand that Figure 5 The structures shown do not constitute a limitation on electric reach stackers or forklifts and may include more or fewer components than illustrated.

[0118] The electric reach stacker or forklift provided in this application includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method:

[0119] First, the vehicle's gear position information and the duration of that position are acquired. Based on this information, it's determined whether these conditions meet pre-set criteria. If they do, the vehicle enters anti-rollover control mode; otherwise, it continues in normal driving mode. This anti-rollover control method prevents the driver from accidentally entering anti-rollover control when shifting gears, ensuring operational efficiency and user experience. Furthermore, it avoids the use of current passenger vehicle rollover control logic, preventing vehicle vibration and shaking.

[0120] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0121] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0122] The foregoing provides a detailed description of an anti-slip control system and method for an electric container handling equipment. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0123] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control method for preventing a container handling vehicle from rolling down a slope, characterized in that, The method comprises: obtaining gear information of a vehicle and a duration that the vehicle is in the gear; determining whether the gear information of the vehicle and the duration that the vehicle is in the gear satisfy a preset condition, the preset condition at least comprising that the duration that the vehicle is in the gear is greater than a gear duration threshold value, the gear duration threshold value being a ratio of a product of an adjustable coefficient and a gantry lifting height value and a maximum height value that the gantry can lift; if yes, determining that the vehicle is in a slope slip prevention control mode; if no, determining that the vehicle is in a walking mode; the determination of whether the gear information of the vehicle and the duration that the vehicle is in the gear satisfy the preset condition comprises: determining whether the duration that the vehicle is in the gear is greater than the gear duration threshold value; if no, determining that the gear information of the vehicle and the duration that the vehicle is in the gear do not satisfy the preset condition; if yes, determining a state of the vehicle according to a motor speed and the gear information; determining whether the state of the vehicle is a preset state, the preset state being any one of a mid-position forward slip state, a mid-position backward slip state, a forward-position backward slip state and a backward-position forward slip state; if the state of the vehicle is the preset state, determining that the gear information of the vehicle and the duration that the vehicle is in the gear satisfy the preset condition; if the state of the vehicle is not the preset state, determining that the gear information of the vehicle and the duration that the vehicle is in the gear do not satisfy the preset condition.

2. The anti-roll control method of a power-driven container handling apparatus according to claim 1, characterized by, after the determination that the vehicle is in the slope slip prevention control mode, the method further comprises: obtaining an acceleration pedal state and a brake pedal state of the vehicle; if the acceleration pedal is stepped on, controlling a motor controller to drive a motor to work according to a conventional travel control program; if the acceleration pedal is in a released state, determining whether the brake pedal satisfies a preset requirement.

3. The anti-roll control method of a motor-driven container handling apparatus according to claim 2, characterized by, the determination of whether the brake pedal satisfies the preset requirement comprises: determining whether a hand brake switch is pulled up; if yes, controlling a hand brake electric brake valve to stop the vehicle; if no, determining whether a foot brake pedal is stepped on; if the foot brake pedal is stepped on, controlling a foot brake electric brake valve to stop the vehicle; if the foot brake pedal is not stepped on, controlling the motor controller to drive the vehicle to travel at a target vehicle speed according to a segmented PI control mode according to a vehicle speed of the vehicle.

4. The anti-roll control method of a motor-driven container handling apparatus according to claim 3, characterized by, after the control of the motor controller to drive the vehicle to travel at the target vehicle speed according to the segmented PI control mode according to the vehicle speed of the vehicle, the method further comprises: determining whether a duration that a fluctuation of the motor is in a preset interval is greater than a slope slip shaking time threshold value; if yes, determining that the vehicle is in a shaking state, and returning to the step of determining whether the foot brake pedal is stepped on; if a duration that the vehicle speed of the vehicle is in a low-speed segment is greater than a vehicle speed stabilization time threshold value, controlling the vehicle to exit the slope slip prevention control mode; if the duration that the vehicle speed of the vehicle is in the low-speed segment is less than or equal to the vehicle speed stabilization time threshold value, entering the step of controlling the motor controller to drive the vehicle to travel at the target vehicle speed according to the segmented PI control mode according to the vehicle speed of the vehicle.

5. Anti-roll control device for an electric container handling device, characterized in that The method comprises: An acquisition module is configured to acquire gear information of a vehicle and a duration for which the vehicle is in a gear; A determination module is configured to determine whether the gear information of the vehicle and the duration for which the vehicle is in the gear satisfy a preset condition, the preset condition at least including that the duration for which the vehicle is in the gear is greater than a gear duration threshold value, the gear duration threshold value being a ratio of a product of an adjustable coefficient and a gantry lifting height value and a maximum height value that the gantry can lift; A first determination module is configured to determine that the vehicle is in a slope slip prevention control mode when the determination module determines that the gear information of the vehicle and the duration for which the vehicle is in the gear satisfy the preset condition; A second determination module is configured to determine that the vehicle is in a walking mode when the determination module determines that the gear information of the vehicle and the duration for which the vehicle is in the gear do not satisfy the preset condition. The determination module is specifically configured to: determine whether the duration for which the vehicle is in the gear is greater than the gear duration threshold value; if not, determine that the gear information of the vehicle and the duration for which the vehicle is in the gear do not satisfy the preset condition; and if yes, determine a state of the vehicle according to a motor speed and the gear information; determine whether the state of the vehicle is a preset state, the preset state being any one of a mid-position front slip state, a mid-position rear slip state, a front-position rear slip state, and a rear-position front slip state; if the state of the vehicle is the preset state, determine that the gear information of the vehicle and the duration for which the vehicle is in the gear satisfy the preset condition; and if the state of the vehicle is not the preset state, determine that the gear information of the vehicle and the duration for which the vehicle is in the gear do not satisfy the preset condition.

6. An electrically powered reach stacker or lift truck characterised in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the slope slip prevention control method of the electric container handling equipment according to any one of claims 1 to 4. The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the slope slip prevention control method of the electric container handling equipment according to any one of claims 1 to 4.

7. A computer readable storage medium characterized in that, ​

Images