Container spreader lifting safety detection method and system

Abstract

The application provides a container lifting appliance lifting safety detection method and system, the method comprising: when the container lifting appliance is in the container, the controller controls multiple sets of detection sensors to respectively emit laser to the top of the container to obtain multiple sets of first distance values; the controller judges whether there is an outlier in the multiple sets of first distance values, and if there is an outlier, the controller issues a double-container alarm; the controller respectively determines the first difference between two adjacent sets of first distance values, and judges the container surface type according to whether the multiple sets of first difference are the same, the container surface type comprising a groove plate type and a flat plate type; the controller averages the multiple sets of first distance values to obtain a second distance value, and compares the container surface type and the second distance value with the container model in the database to determine the model of the hoisted container. The application realizes double-container detection and container type identification, and ensures lifting safety.

Description

Technical Field

[0001] This invention relates to the field of loading and unloading equipment technology, and specifically to a method and system for safety detection of container spreader lifting. Background Technology

[0002] Container spreaders are key equipment for loading and unloading containers on quay cranes. During container loading and unloading, due to factors such as the height of the quay crane, insufficient lighting at the work site, and driver fatigue, misjudgments and incorrect lifting frequently occur, posing significant risks of property damage and personal injury.

[0003] To ensure safe operation of container spreaders, existing container spreaders commonly employ a dual-container detection system (TTDS). This system uses a detection system composed of 4 to 7 photoelectric switches to detect the containers under the spreader. The system can detect the gap between two standard 20-foot containers and provide anti-fall protection. However, due to the short detection distance of the photoelectric switches (maximum 2000 mm) and the limitations of their switching signals, it cannot distinguish the type of container under the spreader. Furthermore, the system cannot identify special types of containers, leading to false alarms and impacting the operational efficiency of quay cranes. Summary of the Invention

[0004] In view of this, the present invention provides a method and system for safety detection of container spreader lifting, which can ensure the safety of container spreader lifting and improve lifting efficiency.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A container spreader lifting safety inspection method according to an embodiment of the present invention is applied to a container spreader lifting safety inspection system, the system comprising:

[0007] Container spreaders are used to lift containers.

[0008] A lidar system, installed on a container spreader, consists of multiple sets of detection sensors arranged in a fan shape to detect the distance between objects.

[0009] The controller is electrically connected to both the container spreader and the lidar.

[0010] The methods include:

[0011] When the container spreader is lowering the container, the controller controls multiple sets of detection sensors to emit lasers to the top of the container to obtain multiple sets of first distance values. The first distance value is the distance between the top of the container and the container spreader when the container spreader is lowering the container.

[0012] The controller determines whether there are outliers among multiple sets of first distance values. If an outlier is found, the controller issues a dual-box alarm.

[0013] The controller determines the first difference between two adjacent sets of first distance values, and determines the container surface type based on whether multiple sets of first differences are the same. The container surface type includes trough type and flat type.

[0014] The controller averages multiple sets of first distance values ​​to obtain a second distance value, and compares the container surface type and the second distance value with the container model in the database to determine the model of the container being lifted.

[0015] In one embodiment of the present invention, the controller controls multiple sets of detection sensors to emit lasers toward the top of the container to obtain multiple sets of first distance values, and further includes:

[0016] The sensor detects the laser echo;

[0017] The controller performs angle conversion on the distance of the laser return based on the laser emission angle to obtain multiple sets of initial distance values.

[0018] In one embodiment of the present invention, if an outlier exists, the controller issues a dual-box alarm, including:

[0019] The controller determines that the container spreader is lifting two sets of containers and issues a dual-container alarm.

[0020] In one embodiment of the present invention, it further includes:

[0021] If no outliers are found, the controller determines that the container spreader is lifting a set of containers and controls the container spreader to lock.

[0022] In one embodiment of the present invention, determining the container surface type based on whether multiple sets of first differences are the same includes:

[0023] When multiple sets of first differences are different, the controller determines that the surface type of the container lifted by the container spreader is a trough type.

[0024] In one embodiment of the present invention, determining the container surface type based on whether multiple sets of first differences are the same further includes:

[0025] When multiple sets of first differences are the same, the controller determines that the surface type of the container lifted by the container spreader is flat.

[0026] In one embodiment of the present invention, it further includes:

[0027] After the container spreader is locked, the controller controls multiple sets of detection sensors to continuously emit lasers to the top of the container in order to obtain multiple sets of third distance values. The third distance values ​​are the distance between the top of the container and the container spreader after the container spreader is locked.

[0028] The controller continuously confirms the second difference between each set of third distance values ​​and the first distance value, and determines whether the second difference between each set is continuously increasing. When the second difference is continuously increasing, the controller confirms that the container has fallen and issues a container fall alarm.

[0029] In one embodiment of the present invention, the controller controls multiple sets of detection sensors to continuously emit lasers toward the top of the container to obtain multiple sets of third distance values, including:

[0030] The sensor detects the laser echo;

[0031] The controller performs angle conversion on the distance of the laser return based on the laser emission angle in order to continuously acquire multiple sets of third distance values.

[0032] The present invention also provides a container spreader lifting safety detection system, comprising:

[0033] Container spreaders are used to lift containers.

[0034] A lidar system, installed on a container spreader, consists of multiple sets of detection sensors arranged in a fan shape to detect the distance between objects.

[0035] The controller is electrically connected to the container spreader and the lidar, and is used to control multiple sets of detection sensors to emit lasers to the top of the container to obtain multiple sets of first distance values. The first distance value is the distance between the top of the container and the container spreader when the container is being lowered. The controller is also used to determine whether there are outliers among the multiple sets of first distance values. If there are outliers, the controller will issue a double container alarm.

[0036] The controller is also used to determine the first difference between two adjacent sets of first distance values, and to determine the container surface type based on whether multiple sets of first differences are the same. The container surface type includes trough type and flat type. It is also used to calculate the average of multiple sets of first distance values ​​to obtain a second distance value, and to compare the container surface type and the second distance value with the container model in the database to determine the model of the container being lifted.

[0037] In one embodiment of the present invention, the controller is further configured to control multiple sets of detection sensors to continuously emit lasers to the top of the container after the container spreader is locked, so as to obtain multiple sets of third distance values, wherein the third distance value is the distance between the top of the container and the container spreader after the container spreader is locked; and to continuously confirm the second difference between each set of third distance values ​​and the first distance value, and determine whether each set of second differences is continuously increasing. When the second difference is continuously increasing, the controller confirms that the container has fallen and issues a falling alarm.

[0038] The above-described technical solution of the present invention has at least one of the following beneficial effects:

[0039] The container spreader lifting safety detection method and system according to embodiments of the present invention achieves dual-container detection by using lidar to detect the distance from the container spreader to the top of the container and the bottom of the gap between two sets of containers. In addition, by performing numerical analysis and feature extraction on the distance values ​​from the sensors to the top of the container, the system achieves the function of identifying the container type under the container spreader, effectively improving the efficiency of container lifting operations. Attached Figure Description

[0040] Figure 1 This is a flowchart of a container spreader lifting safety inspection method according to an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the dual-box detection structure in the container spreader lifting safety detection method of this invention;

[0042] Figure 3 A schematic diagram of the laser-emitting structure of the lidar in the container spreader lifting safety detection method of this invention;

[0043] Figure 4 A schematic diagram of the structure for model detection of a benchtop container in the container spreader lifting safety inspection method of this invention;

[0044] Figure 5 A schematic diagram of the structure for model detection of a platform-type container in the container spreader lifting safety inspection method of this invention;

[0045] Figure 6 A schematic diagram of the anti-fall detection structure in the container spreader lifting safety detection method of this invention.

[0046] Reference numerals: 100, container spreader; 110, container; 111, tray; 120, rack-mounted container; 130, platform-mounted container; 200, lidar. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0048] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up," "down," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0049] The following is a detailed description, with reference to the accompanying drawings, of a container spreader lifting safety detection method and system according to an embodiment of the present invention.

[0050] refer to Figure 1 , Figure 1 This is a flowchart illustrating a container spreader lifting safety inspection method according to an example of the present invention. Figure 1 As shown, the method includes S100-S400.

[0051] S100 When the container spreader is lowering the container, the controller controls multiple sets of detection sensors to emit lasers to the top of the container to obtain multiple sets of first distance values. The first distance value is the distance between the top of the container and the container spreader when the container spreader is lowering the container.

[0052] According to the container spreader lifting safety detection method of the present invention, multiple sets of lasers can be emitted by a laser sensor to detect the distance between the top of the container and the spreader when the container is being lowered.

[0053] S200: The controller determines whether there are outliers among multiple sets of first distance values. If an outlier is found, the controller issues a dual-box alarm.

[0054] When there are two sets of containers below the container, at least one set of lasers will shine through the gap between the containers, making the measured distance much greater than the measured distance of the other sets of lasers. When the controller determines that the measured distance of one set of lasers is much greater than the measured distance of the other sets of lasers, the dual container detection function can be realized, and then a dual container alarm will be issued, which improves the safety of lifting.

[0055] S300 and the controller calculate the difference between two adjacent sets of first distance values ​​to obtain multiple sets of first difference values, and determine the container surface type based on whether the multiple sets of first difference values ​​are the same. The container surface type includes trough type and flat type.

[0056] According to the container spreader lifting safety detection method of the present invention, a first difference value is obtained by subtracting two adjacent sets of first distance values, and the container surface type can be determined based on whether multiple sets of first differences are the same.

[0057] S400: The controller averages multiple sets of first distance values ​​to obtain a second distance value, and compares the container surface type and the second distance value with the container model in the database to determine the model of the container being lifted.

[0058] The container spreader lifting safety detection method according to an embodiment of the present invention obtains a second distance value and compares the container model with the second distance value to determine the model of the container to be lifted, thereby effectively improving safety and lifting efficiency.

[0059] The structure of the container spreader lifting safety detection system according to an embodiment of the present invention will be described below.

[0060] refer to Figure 2 , Figure 2 This is a schematic diagram of the dual-container detection structure of the container spreader lifting safety detection system according to an embodiment of the present invention. Figure 2 As shown, the container spreader lifting safety detection system includes: a container spreader 100, a lidar sensor 200, and a controller (not shown). The container spreader 100 is used to lift container 110. The lidar sensor 200 is mounted on the container spreader 100 and includes multiple sets of detection sensors arranged in a fan shape for detecting distances, such as the distance from the container spreader 100 to the top of container 110. The controller is electrically connected to both the container spreader 100 and the lidar sensor 200.

[0061] During inspection, the controller moves the container spreader 100 above the container 110 to place it on top. It also controls the lidar 200 to emit multiple sets of lasers to detect the distance between the top of the container 110 and the container spreader 100. When the controller determines that one set of laser measurements is significantly greater than the distances measured by the other sets, it can perform dual-container detection, thereby issuing a dual-container alarm and improving lifting safety.

[0062] The following detailed description, with reference to the accompanying drawings, illustrates each step of the container spreader lifting safety inspection method according to an embodiment of the present invention. The method of this embodiment is applied to applications such as... Figure 2 The container spreader lifting safety detection system shown is shown.

[0063] In step S100, when the container spreader is lowering the container, the controller controls multiple sets of detection sensors to emit lasers to the top of the container to obtain multiple sets of first distance values. The first distance values ​​are the distance between the top of the container and the container spreader when the container is lowered. In some embodiments, step S100 may also include two steps, S110-S120.

[0064] S110-S120 will be described below with reference to the accompanying drawings.

[0065] S110, the detection sensor receives the laser echo.

[0066] In one embodiment of the present invention, after the controller controls multiple sets of detection sensors to emit lasers to the top of the container, the top of the container can reflect a portion of the laser, so that the detection sensors can receive the laser echo.

[0067] S120: The controller performs angle conversion on the distance of the laser return based on the laser emission angle to obtain multiple sets of first distance values.

[0068] refer to Figure 3 , Figure 3 A schematic diagram of the structure of the lidar 200 emitting laser in the container spreader 100 lifting safety detection method of this invention. (See attached diagram.) Figure 3 As shown, in one embodiment of the present invention, the lidar 200 may include 11 sets of detection sensors. The central detection sensor is perpendicular to the ground, and the other 10 sets of detection sensors are arranged in a fan shape with an 8° interval between them. After the controller controls the multiple sets of detection sensors to emit lasers to the top of the container 110, the controller performs angle conversion on the distance of the laser return based on the laser emission angle to obtain a first distance value, that is, the distance between the top of the container 110 and the container spreader 100. Thus, the distance between the top of the container 110 and the container spreader 100 can be obtained for dual-container detection and container drop detection.

[0069] In S200, the controller determines whether there are outliers among multiple sets of first distance values. If an outlier is found, the controller issues a dual-container alarm. If an outlier is found, the controller determines that the container spreader is lifting two sets of containers and issues a dual-container alarm.

[0070] like Figure 2 and Figure 3 As shown, in one embodiment of the present invention, taking a distance of 4000 mm (4 m) from the detection sensor to the detection plane (deck or ground) as an example, the diameter of its detection beam is 550 mm. When the container spreader 100 is fully attached to the container, the distance H from the lower plane of its structure to the top of the container 110 is 400 mm, and the diameter of the detection laser projected onto the top of the container 110 is 55 mm. The distance D between the corner fittings of the two 20-foot containers 110 in the standard position is 76 mm. Therefore, the detection laser can be emitted from the gap between the two 20-foot containers 110 and irradiate the detection plane. At this time, at least one set of laser detection distances is much larger than the distances of other sets of laser detection distances, that is, at least one set of laser detection distances is 4000 mm, while the distances of other sets of laser detection distances are 400 mm. In other words, there are outliers in the laser detection distances. When the controller determines that there are outliers in multiple sets of first distance values, the controller determines that the container spreader 100 has lifted two sets of containers 110 and issues a double-container alarm. This effectively avoids the need for container spreaders to lift two 20-foot containers at a speed of 100, thus significantly improving safety.

[0071] In one embodiment of the present invention, the method further includes: if no outliers are found, the controller determines that the container spreader 100 is lifting a group of containers 110 and controls the container spreader 100 to lock. That is, all the detection lasers are illuminating the same plane, i.e., the top of the same container, so the controller can determine that the container spreader 100 is lifting a group of containers 110. If no outliers are found, the controller can control the container spreader 100 to lock to continue lifting the containers 110.

[0072] In S300, the controller calculates the difference between two adjacent sets of first distance values ​​to obtain multiple sets of first difference values, and determines the container surface type based on whether the multiple sets of first difference values ​​are the same. The container surface type includes trough type and flat type.

[0073] refer to Figure 2 , Figure 4 and Figure 5 ,in, Figure 4 This is a schematic diagram of the structure for model detection of a benchtop container in the container spreader 100 lifting safety inspection method of this invention. Figure 5 This is a schematic diagram illustrating the structure for model detection of a platform-type container in the container spreader lifting safety inspection method of this invention. Figure 2 As shown, the surface of the trough-type container 110 has a wavy trough 111. The trough 111 has spaced-apart grooved walls and protruding walls. When the 11 laser beams from the lidar 200 illuminate the top of the container 110, the laser beams intermittently illuminate the grooved walls and protruding walls. The first distance value detected by the laser beam illuminating the protruding wall is greater than the first distance value detected by the laser beam illuminating the grooved wall. However, when the container surface is flat, the top of the container 110 is relatively flat, and the first distance values ​​detected by the 11 laser beams from the lidar 200 are equal.

[0074] For example, it can be combined Figure 2 And refer to Figure 4 and Figure 5 When inspecting the platform-type container 130, because the upper surface of the platform-type container 130 is flat, the first distance values ​​detected by the multiple laser beams of the lidar 200 are equal, and the differences between the multiple sets of first distance values ​​are equal. Therefore, the controller determines that the surface type of the container is flat. However, when inspecting the rack-type container 120, because the upper surface of the rack-type container 120 is formed into a grooved plate 111 with deep groove walls or a frame structure, the first distance values ​​detected by the multiple laser beams of the lidar 200 are unequal, and the differences between the multiple sets of first distance values ​​are also unequal. Therefore, the controller determines that the surface type of the container is grooved plate. Thus, the surface type of the container can be determined based on whether the multiple sets of first differences are the same. In one embodiment of the present invention, when the multiple sets of first differences are unequal, that is, when the multiple sets of first distance values ​​fluctuate, the controller determines that the surface type of the container 110 lifted by the container spreader 100 is grooved plate.

[0075] In one embodiment of the present invention, determining the container surface type based on whether multiple sets of first differences are the same further includes: when multiple sets of first differences are the same, the controller determines that the surface type of the container 110 lifted by the container spreader 100 is flat. That is to say, there is no fluctuation in the multiple sets of first distance values.

[0076] In the S400, the controller averages multiple sets of first distance values ​​to obtain a second distance value, and compares the container surface type and the second distance value with the container model in the database to determine the model of the container being lifted.

[0077] In one embodiment of the present invention, reference is made to... Figure 2 , Figure 4 and Figure 5After determining the container surface type, the controller can average multiple sets of first distance values ​​to obtain a second distance value. Specifically, the distance between the top of different container models 110 and the container spreader 100 is not the same. Multiple sets of first distance values ​​for different container models 110 can be measured in advance, averaged, and stored in a database to obtain the second distance value for each model 110. During lifting, the second distance value is obtained by averaging multiple sets of first distance values ​​and combining it with the container surface type. This value is then compared with the container model in the database to determine the model of the container 110 to be lifted. This achieves the function of identifying the container model under the container spreader 100, effectively improving the operational efficiency of lifting the container 110.

[0078] In the S500, after the container spreader is locked, the controller controls multiple sets of detection sensors to continuously emit lasers towards the top of the container to obtain multiple sets of third distance values. These third distance values ​​represent the distance between the top of the container and the spreader after locking. In other words, after the detection sensors receive the laser echo, the controller performs angle calculations on the distance returned by the laser based on the laser emission angle to continuously obtain multiple sets of third distance values.

[0079] refer to Figure 6 , Figure 6 A schematic diagram of the anti-fall detection structure in the container spreader 100 lifting safety detection method of this invention. (See attached diagram.) Figure 6 As shown, the controller directs multiple sets of detection sensors to emit lasers to the top of container 110. The controller then calculates the distance the laser returns based on its emission angle to obtain a third distance value: the distance between the top of container 110 and the container spreader 100. This distance can be used for container drop detection.

[0080] In the S600, the controller continuously calculates the difference between multiple sets of third distance values ​​and first distance values ​​to obtain a second difference value, and determines whether the second difference value continues to increase. When the difference value continues to increase, the controller issues a box-falling alarm.

[0081] In one embodiment of the present invention, when the container spreader 100 is normally lifting the container 110, the third distance value is equal to the first distance value. However, when the container 110 falls, the third distance value increases sharply, causing the second difference between the third distance value and the first distance value to also increase sharply. When the second difference continues to increase, the controller determines that the container 110 lifted by the container spreader 100 has fallen and issues a fall alarm. This achieves the anti-fall function and further improves safety.

[0082] In one embodiment of the present invention, the method further includes: when the second difference remains unchanged, the controller determines that the container 110 lifted by the container spreader 100 has not fallen. That is, if the second difference remains unchanged, the controller can control the container spreader 100 to continue lifting the container 110.

[0083] The present invention also provides a container spreader lifting safety detection system, comprising: a container spreader 100 for lifting a container 110;

[0084] The lidar 200 is installed on the container spreader 100. The lidar 200 includes multiple sets of detection sensors arranged in a fan shape to detect the distance between objects.

[0085] The controller is electrically connected to the container spreader 100 and the lidar 200 respectively. It is used to control multiple sets of detection sensors to emit lasers to the top of the container 110 to obtain multiple sets of first distance values. The first distance value is the distance between the top of the container 110 and the container spreader 100 when the container is being lowered. The controller is also used to determine whether there are outliers among the multiple sets of first distance values. If there are outliers, the controller will issue a dual-container alarm.

[0086] The controller is also used to determine the first difference between two adjacent sets of first distance values, and to determine the container surface type based on whether multiple sets of first differences are the same. The container surface type includes trough type and flat type. The controller is also used to calculate the average of multiple sets of first distance values ​​to obtain a second distance value, and to compare the container surface type and the second distance value with the container 110 model in the database to determine the model of the container 110 being hoisted.

[0087] In one embodiment of the present invention, the controller is further configured to control multiple sets of detection sensors to continuously emit lasers to the top of the container 110 after the container spreader 100 is locked, so as to obtain multiple sets of third distance values, wherein the third distance value is the distance between the top of the container 110 and the container spreader 100 after the container spreader 100 is locked; and to continuously confirm the second difference between each set of third distance values ​​and the first distance value, and determine whether each set of second differences is continuously increasing. When the second difference is continuously increasing, the controller confirms that the container 110 has fallen and issues a falling alarm.

[0088] The container spreader 100 lifting safety detection method and system of the present invention achieves dual-container detection by using a lidar 200 to detect the distance from the container spreader 100 to the top of the container 110 and the bottom of the gap between two sets of containers 110. Simultaneously, by comparing the distance values ​​from the sensors to the top of the container 110 before and after the container spreader 100 is lowered, a container fall prevention function is achieved, improving safety performance. Furthermore, by performing numerical analysis and feature extraction on the distance values ​​from the sensors to the top of the container 110, the function of identifying the container type under the container spreader 100 is realized, effectively improving the operational efficiency of lifting the container 110.

[0089] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for safety inspection of container spreader lifting, characterized in that, A container spreader lifting safety detection system, the system comprising: Container spreaders are used to lift containers. A lidar is installed on the container spreader. The lidar includes multiple sets of detection sensors arranged in a fan shape to detect the distance between objects. The controller is electrically connected to both the container spreader and the lidar. The method includes: When the container spreader is lowering the container, the controller controls multiple sets of detection sensors to emit lasers to the top of the container to obtain multiple sets of first distance values. The first distance values ​​are the distance between the top of the container and the container spreader when the container spreader is lowering the container. The controller determines whether there is an outlier among the multiple sets of the first distance values. If an outlier is found, the controller issues a dual-box alarm. The controller determines the first difference between two adjacent sets of the first distance values, and determines the container surface type based on whether multiple sets of the first difference are the same. The container surface type includes trough type and flat type. The controller averages multiple sets of the first distance values ​​to obtain a second distance value, and compares the container surface type and the second distance value with the container model in the database to determine the model of the container being hoisted. After the container spreader is locked, the controller controls multiple sets of detection sensors to continuously emit lasers to the top of the container to obtain multiple sets of third distance values. The third distance values ​​are the distance between the top of the container and the container spreader after the container spreader is locked. The controller continuously confirms the second difference between each group of the third distance value and the first distance value, and determines whether the second difference between each group is continuously increasing. When the second difference is continuously increasing, the controller confirms that the container has fallen and issues a container fall alarm.

2. The container spreader lifting safety inspection method according to claim 1, characterized in that, The controller controls multiple sets of detection sensors to emit lasers to the top of the container to obtain multiple sets of first distance values, and also includes: The detection sensor receives laser echoes; The controller performs angle conversion on the distance of the laser return based on the laser emission angle to obtain multiple sets of the first distance values.

3. The container spreader lifting safety inspection method according to claim 2, characterized in that, If outliers are found, the controller issues a dual-box alarm, including: The controller determines that the container spreader is lifting two sets of containers and issues a dual-container alarm.

4. The container spreader lifting safety inspection method according to claim 3, characterized in that, Also includes: If no outliers are found, the controller determines that the container spreader is lifting a group of containers and controls the container spreader to lock.

5. The container spreader lifting safety inspection method according to claim 4, characterized in that, The step of determining the container surface type based on whether multiple sets of the first difference are the same includes: When multiple sets of the first difference are different, the controller determines that the surface type of the container lifted by the container spreader is a trough type.

6. The container spreader lifting safety inspection method according to claim 5, characterized in that, The step of determining the container surface type based on whether multiple sets of the first difference are the same also includes: When multiple sets of the first difference are the same, the controller determines that the surface type of the container lifted by the container spreader is flat.

7. The container spreader lifting safety inspection method according to claim 1, characterized in that, The controller controls multiple sets of detection sensors to continuously emit lasers towards the top of the container to obtain multiple sets of third distance values, including: The detection sensor receives laser echoes; The controller performs angle conversion on the distance of the laser return based on the laser emission angle, so as to continuously obtain multiple sets of the third distance values.

8. A container spreader lifting safety detection system, characterized in that, include: Container spreaders are used to lift containers. A lidar is installed on the container spreader. The lidar includes multiple sets of detection sensors arranged in a fan shape to detect the distance between objects. The controller is electrically connected to the container spreader and the lidar, and is used to control multiple sets of detection sensors to emit lasers to the top of the container to obtain multiple sets of first distance values. The first distance values ​​are the distance between the top of the container and the container spreader when the container is being lowered. The controller is also used to determine whether there are outliers among the multiple sets of first distance values. If there are outliers, the controller will issue a dual-container alarm. The controller is also configured to determine the first difference between two adjacent sets of the first distance values, and to determine the container surface type based on whether multiple sets of the first difference are the same. The container surface type includes trough type and flat type. The controller is also configured to calculate the average of multiple sets of the first distance values ​​to obtain a second distance value, and to compare the container surface type and the second distance value with the container model in the database to determine the model of the container being hoisted. The controller is also configured to, after the container spreader is locked, control multiple sets of detection sensors to continuously emit lasers to the top of the container to obtain multiple sets of third distance values, wherein the third distance values ​​are the distance between the top of the container and the container spreader after the container spreader is locked; and to continuously confirm the second difference between each set of the third distance values ​​and the first distance values, and determine whether each set of the second difference values ​​is continuously increasing. When the second difference value is continuously increasing, the controller confirms that the container has fallen and issues a falling alarm.

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