Container front crane driving speed limit comprehensive control method and crane

Abstract

The application discloses a container front crane driving speed limit comprehensive control method and a crane. On the basis of cooperating with the speed limit control of an engine and a gearbox, a plurality of multi-dimensional reference signals for auxiliary speed limit control, such as a sling load, a large arm position, a hoisting box weight and the like, are provided by a sling controller, a large arm length angle sensor and a pressure sensor. Through the participation of the above-mentioned multi-element auxiliary signals, auxiliary speed limit can be carried out by detecting the load condition and the sling position, the safe height and the safe extension of the sling movement are indicated, and through the intuitive guidance prompt information, the driver can timely execute the correction operation, the visual obstruction or the large arm action overrun is avoided, and therefore the safety of the container crane driving and operation is improved. Further, in combination with the signal for detecting the container weight provided by the application, different levels of speed limit values can be set as required, the fine speed limit function is realized, the safety is ensured, and the crane operation efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of container front cranes, and more particularly to a comprehensive control method for limiting the travel speed of a container front crane and the crane itself. Background Technology

[0002] A container front-end crane, also known in the industry as a front-end lift, is a type of mobile crane used for loading and unloading containers. It belongs to the category of lifting equipment and can also be considered a type of mobile machinery. The working device of a front-end crane mainly consists of a telescopic and tilting boom and a spreader mounted on the front end of the boom. The boom can lift, lower, extend, and retract, while the spreader can lift and stack containers of different standard sizes. In the past, according to front-end crane standards, a warning device for high-speed travel with containers was installed in the cab. That is, when the spreader is carrying a container and the front-end crane is traveling at a speed greater than 10 km / h, a warning audible and visual alarm signal will be emitted.

[0003] Currently, in order to further improve the driving and equipment safety of reach stackers, and in conjunction with the vehicle control network, a proposal has been made to actively limit the vehicle speed. This involves calculating the maximum engine speed corresponding to each gear in the transmission based on the required speed limit, parameters such as the gear ratios of each gear, drive axle ratios, transmission efficiency, and tire radius. Then, by controlling the transmission gears and the maximum engine speeds corresponding to each gear, the vehicle speed can be limited.

[0004] Specifically, the maximum engine speed N can be calculated using the formula V = 0.377R*N / Ig*Iq, which utilizes the speed limit V for each gear. Here, V represents the speed limit in km / h, R represents the drive wheel radius in m, N represents the maximum engine speed in r / min, Ig represents the gearbox ratio, and Iq represents the drive axle ratio.

[0005] In practical applications of speed limiting control for reach stackers using the above methods, it was found that the operator's visibility is significantly limited when the reach stacker is under load, making it impossible to achieve the requirement of precise speed limiting using only the above methods. Therefore, it is necessary to further optimize the speed limiting function of reach stackers. Summary of the Invention

[0006] In view of the above, the present invention aims to provide a comprehensive control method for the travel speed limit of a container front crane and a crane, so as to solve the aforementioned technical problems.

[0007] The technical solution adopted in this invention is as follows:

[0008] In a first aspect, the present invention provides a comprehensive control method for limiting the travel speed of a container front crane, including: step S1, reading the twistlock status signal sent by the spreader controller; if the twistlock status signal indicates that the spreader is in a locked state, then step S2 is executed; otherwise, step S5 is executed.

[0009] Step S2: Collect the measurement signal from the boom length angle sensor and calculate the spreader height and reach distance; collect the detection signal from the pressure sensor used to characterize the container weight and calculate the weight value of the currently lifted container; if both the spreader height and reach distance are within the preset safe travel range for the container, proceed to step S3; otherwise, proceed to step S4.

[0010] Step S3: Dynamically limit the predetermined maximum speed according to the weight value based on the first dynamic speed limit range value;

[0011] Step S4: Dynamically limit the maximum vehicle speed according to the weight value based on the second dynamic speed limit range value, and trigger the display to output the spreader operation prompt. The spreader operation prompt is used to guide the loaded spreader to move to the preset safe driving range of the craner.

[0012] Step S5: Collect the measurement signal from the boom length angle sensor and calculate the spreader height and forward reach. If both the spreader height and forward reach are within the preset safe driving range without a sling, then limit the vehicle speed according to the predetermined first speed threshold; otherwise, proceed to step S6.

[0013] Step S6: Limit the vehicle speed to a predetermined second speed threshold that is less than the first speed threshold, and trigger the display to output a lifting device operation prompt. The lifting device operation prompt is used to guide the unloaded lifting device to move to a preset safe driving range without a lifting container.

[0014] In at least one possible implementation, the triggering display output of the hoist operation prompt includes: displaying an arrow icon to indicate the hoist's running direction.

[0015] In at least one possible implementation, the integrated control method further includes setting different vehicle speed limits based on the spin lock state of the spreader.

[0016] In at least one possible implementation, the integrated control method further includes: when both an electronic throttle pedal signal and a vehicle speed limit signal are received simultaneously, calculating the corresponding engine speed values ​​based on the two control signals, and taking the minimum engine speed value as the target value for the current engine speed control.

[0017] In at least one possible implementation, the dynamic speed limit is based on a criterion that the weight value is inversely proportional to the speed limit value of the maximum vehicle speed.

[0018] In at least one of the possible implementations, the second dynamic speed limit range value is smaller than the aforementioned first dynamic speed limit range value.

[0019] Secondly, the present invention provides a container front crane, including a vehicle controller, which is connected to an engine controller, a gearbox controller, a spreader controller, a boom length and angle sensor, a pressure sensor, an electronic throttle pedal, and a display for electrical signal transmission; and the vehicle controller is used to execute the above-mentioned integrated speed limit control method for the container front crane.

[0020] In at least one possible implementation, one end of the boom length angle sensor is fixedly mounted on the boom fixed arm, and the other end is fixed on the telescopic arm, for measuring the boom pitch angle and telescopic arm extension length related to the position of the spreader.

[0021] In at least one possible implementation, the boom length angle sensor is calibrated to use the position of the container crane's cab as a reference for the position of the spreader.

[0022] In at least one of the possible implementations, the pressure sensor is mounted at the bottom of the pitch cylinder to detect the cylinder bottom pressure, which characterizes the weight of the container.

[0023] Compared with existing technologies, the main design concept of this invention lies in providing multi-dimensional reference signals for auxiliary speed limit control, such as spreader load, boom position, and container weight, through a spreader controller, boom length and angle sensor, and pressure sensor, based on the vehicle controller's coordination with the engine and transmission speed limit control. These signals are integrated with the spreader's load and boom position. With the participation of these multiple auxiliary signals, auxiliary speed limits can be implemented by detecting the load and spreader position, indicating the safe height and safe extension of the spreader's movement. Intuitive guidance prompts enable the driver to perform timely corrective actions, preventing obstructed vision or excessive boom movement, thereby improving the safety of container crane operation. Furthermore, by combining the container weight detection signal provided by this invention, different levels of speed limits can be set as needed to achieve refined speed limiting, improving crane operating efficiency while ensuring safety. Attached Figure Description

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below with reference to the accompanying drawings, wherein:

[0025] Figure 1 A flowchart illustrating the integrated speed limit control method for container front cranes provided in an embodiment of the present invention;

[0026] Figure 2A schematic diagram of a container front crane provided in an embodiment of the present invention. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0028] This invention proposes an embodiment of a comprehensive speed limit control method for container front cranes, such as... Figure 1 As shown, the specific steps may include:

[0029] Step S1: Read the twistlock status signal sent by the spreader controller. If the twistlock status signal indicates that the spreader is in a locked state (that is, the spreader is carrying a load), then proceed to step S2; otherwise, proceed to step S5.

[0030] It should be noted here that the control of crane speed, including acceleration and deceleration, can refer to other existing speed control schemes, such as, but not limited to, utilizing the gearbox shifting function. When the engine speed is limited by a high gear speed limit, in order to improve the efficiency of joint operations, the gearbox can be controlled to automatically downshift to increase the engine speed and improve work efficiency. Conversely, speed reduction can also be achieved, which will not be elaborated or limited in this invention.

[0031] Step S2: Collect the measurement signal from the boom length angle sensor and calculate the spreader height and reach distance; collect the detection signal from the pressure sensor used to characterize the container weight and calculate the weight value of the currently lifted container; if both the spreader height and reach distance are within the preset safe travel range for the container, proceed to step S3; otherwise, proceed to step S4.

[0032] Step S3: Dynamically limit the predetermined maximum speed according to the weight value based on the first dynamic speed limit range value;

[0033] Furthermore, the dynamic speed limit is set based on the principle that the weight value is inversely proportional to the speed limit value of the maximum vehicle speed, that is, the greater the weight, the smaller the speed limit value, and under the current conditions, the first dynamic speed limit range value can be 12km / h to 20km / h.

[0034] Step S4: Dynamically limit the maximum vehicle speed according to the weight value based on the second dynamic speed limit range value, and trigger the display to output the spreader operation prompt. The spreader operation prompt is used to guide the loaded spreader to move to the preset safe driving range of the craner.

[0035] In practice, the principle of dynamic speed limiting is the same as described above, that is, the greater the weight value, the smaller the speed limit value. Under this condition, the second dynamic speed limit range value is smaller than the first dynamic speed limit range value. For example, based on the previous example, it can be set to 5km / h to 8km / h.

[0036] Furthermore, regarding the display's prompts, specifically, intuitive arrow icons can be used to indicate the direction of the spreader's movement, enabling the operator to promptly adjust the boom's extension length and lifting angle (related to height) according to the visual arrows, thereby entering the aforementioned safe travel range of the crane. It can be understood that the safe travel range of the crane refers to the position range of the boom and spreader that ensures the current center of gravity of the crane remains stable, provided it does not obstruct the visibility of the crane cab (depending on the operator's field of vision). This can be pre-calibrated based on different loads, establishing several standard values ​​for boom extension and lifting angles corresponding to different crane loads.

[0037] Step S5: Collect the measurement signal from the boom length angle sensor and calculate the spreader height and forward reach. If both the spreader height and forward reach are within the preset safe driving range without a sling, then limit the vehicle speed according to the predetermined first speed threshold; otherwise, proceed to step S6.

[0038] Understandably, when the spreader is unloaded, as long as the boom's working condition meets the predetermined requirements, the vehicle speed can be controlled at a relatively high speed value. For example, the first speed threshold can be set to 28 km / h.

[0039] Step S6: Limit the vehicle speed to a predetermined second speed threshold that is less than the first speed threshold, and trigger the display to output a lifting device operation prompt. The lifting device operation prompt is used to guide the unloaded lifting device to move to a preset safe driving range without a lifting container.

[0040] In other words, even when unloaded, if either the spreader height or the reach exceeds the limit, it indicates that moving the unloaded crane will pose a safety hazard. Therefore, on the one hand, the maximum speed threshold can be slightly reduced, such as limiting it to 25 km / h. On the other hand, as mentioned earlier, an arrow icon can be used on the display to remind the driver which direction the spreader should move to enter the safe driving range without a container. Of course, those skilled in the art will understand that the safe driving range without a container does not involve the issue of the container obstructing the driver's view. Therefore, the pre-calibration design mainly considers the impact of the boom (including the telescopic boom) position on the vehicle's center of gravity during movement.

[0041] Furthermore, corresponding to the aforementioned safe driving range for the cradle and the safe driving range for the uncradle, in other solutions, different vehicle speed limits can be set according to the state of the spreader's twist lock, that is, different speed limit standards can be met for loaded and unloaded conditions.

[0042] Finally, it can also be noted that the integrated control method further includes: when both the electronic throttle pedal signal and the vehicle speed limit signal are received simultaneously, the corresponding engine speed values ​​are calculated based on the two control signals, and the minimum engine speed value is taken as the target value for the current engine speed control.

[0043] Finally, corresponding to the above embodiments, the present invention also provides an embodiment of a container front crane, which can be referred to. Figure 2 The main feature of the container front crane 100 is that its vehicle controller 1 is equipped with the aforementioned integrated control method for speed limit of the container front crane. In this embodiment, it is further emphasized that the present invention mainly provides a reference for safe driving from the perspective of the crane spreader carrying load and the boom operating status, avoiding the drawbacks of speed limit schemes based solely on vehicle speed limits.

[0044] In detail, a container front crane may include: a vehicle controller 1 (original vehicle equipment, used to execute the above-mentioned integrated control method), which can be connected to the engine controller 2, the transmission controller 3, and the spreader controller 4 via a CAN bus; the engine controller 2 is used to receive the engine speed signal sent by the vehicle controller 1 (to form a control mechanism for the engine speed); the transmission controller 3 is used to detect the input signal of the vehicle gear lever 13 and receive the shift request signal sent by the vehicle controller 1 (specifically, the shift action can be performed by controlling the solenoid valve); the spreader controller 4 is used to detect and send the load signal of the spreader 7, specifically to determine whether the spreader 7 is carrying a container 8 by the twistlock state of the spreader 7.

[0045] Continuing from the previous text, the vehicle controller 1 is also connected to a boom length angle sensor 5, a pressure sensor 2, and a display (not shown in the figure); the boom length angle sensor 5 is used to send a relative position signal of the spreader 7 (specifically, it can be calibrated as the position relative to the cab of the container crane); the pressure sensor 12 is used to send a container weight signal. Furthermore, the vehicle controller 1's transmission of the engine speed signal to the engine controller can be combined with the accelerator pedal action. Specifically, the vehicle controller 1 is also connected to an electronic accelerator pedal 6, which transmits the accelerator pedal travel signal to the vehicle controller 1.

[0046] In actual operation, one end of the boom length angle sensor 5 can be fixedly installed on the boom fixed arm 9, and the other end can be fixed on the telescopic arm 10. It is used to measure the boom pitch angle and telescopic arm extension length related to the position of the spreader. The pressure sensor 12 is installed at the bottom of the pitch cylinder 11 and is used to detect the cylinder bottom pressure of the pitch cylinder 11, which represents the weight of the container.

[0047] In summary, the main design concept of this invention lies in providing multi-dimensional reference signals for auxiliary speed limit control, such as spreader load, boom position, and container weight, through the spreader controller, boom length and angle sensor, and pressure sensor, based on the vehicle controller's coordination with the engine and transmission speed limit control. These signals are integrated with the aforementioned multi-dimensional auxiliary signals to assist in speed limit control by detecting the load and spreader position, indicating the safe height and safe extension of the spreader movement, and providing intuitive guidance prompts to enable the driver to perform timely corrective actions, avoiding obstructed vision or excessive boom movement, thereby improving the safety of container crane operation. Furthermore, by combining the container weight detection signal provided by this invention, different levels of speed limits can be set as needed to achieve refined speed limiting, improving crane operating efficiency while ensuring safety.

[0048] In this invention, when directional terms are mentioned, they are relative concepts based on the embodiments. Furthermore, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, A and B simultaneously, or B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0049] The above description of the structure, features, and effects of the present invention is based on the embodiments shown in the figures. However, the above are only preferred embodiments of the present invention. It should be noted that the technical features involved in the above embodiments and their preferred methods can be reasonably combined and matched by those skilled in the art to form a variety of equivalent solutions without departing from or changing the design concept and technical effects of the present invention. Therefore, the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments, that do not exceed the spirit covered by the specification and figures, should be within the protection scope of the present invention.

Claims

1. A comprehensive control method for limiting the travel speed of a container front crane, characterized in that, The container front crane includes a vehicle controller, which is connected to an engine controller, a transmission controller, a spreader controller for detecting and sending spreader load signals, a boom length and angle sensor, a pressure sensor, an electronic throttle pedal, and a display for electrical signals. The vehicle controller is used to execute the speed-limiting integrated control method, including: Step S1: Read the twistlock status signal sent by the spreader controller. If the twistlock status signal indicates that the spreader is in a locked state, proceed to step S2; otherwise, proceed to step S5. Step S2: Collect the measurement signal from the boom length angle sensor and calculate the spreader height and reach distance; collect the detection signal from the pressure sensor used to characterize the container weight and calculate the weight value of the currently lifted container; if both the spreader height and reach distance are within the preset safe travel range for the container, proceed to step S3; otherwise, proceed to step S4. Step S3: Dynamically limit the predetermined maximum speed according to the weight value based on the first dynamic speed limit range value; Step S4: Dynamically limit the maximum vehicle speed according to the weight value based on the second dynamic speed limit range value, and trigger the display to output the spreader operation prompt. The spreader operation prompt is used to guide the loaded spreader to move to the preset safe driving range of the craner. Step S5: Collect the measurement signal from the boom length angle sensor and calculate the spreader height and forward reach. If both the spreader height and forward reach are within the preset safe driving range without a sling, then limit the vehicle speed according to the predetermined first speed threshold; otherwise, proceed to step S6. Step S6: Limit the vehicle speed to a predetermined second speed threshold that is less than the first speed threshold, and trigger the display to output a lifting device operation prompt. The lifting device operation prompt is used to guide the unloaded lifting device to move to a preset safe driving range without a lifting container.

2. The integrated speed control method for container front cranes according to claim 1, characterized in that, The trigger display output of the hoist operation prompts includes: making the display use an arrow icon to indicate the hoist's running direction.

3. The integrated speed limit control method for container front cranes according to claim 1, characterized in that, The integrated control method also includes setting different vehicle speed limits based on the spin lock status of the spreader.

4. The integrated speed control method for container front cranes according to claim 1, characterized in that, The integrated control method further includes: when both the electronic throttle pedal signal and the vehicle speed limit signal are received simultaneously, calculating the corresponding engine speed values ​​based on the two control signals, and taking the minimum engine speed value as the target value for the current engine speed control.

5. The integrated control method for travel speed limit of a container front crane according to any one of claims 1 to 4, characterized in that, The dynamic speed limit is set based on the principle that the weight value is inversely proportional to the speed limit value of the maximum vehicle speed.

6. The integrated control method for travel speed limit of a container front crane according to any one of claims 1 to 4, characterized in that, The second dynamic speed limit range value is smaller than the first dynamic speed limit range value.

7. The integrated speed limit control method for container front cranes according to claim 1, characterized in that, One end of the boom length angle sensor is fixedly installed on the boom fixed arm, and the other end is fixed on the telescopic arm. It is used to measure the boom pitch angle and telescopic arm extension length related to the position of the lifting device.

8. The integrated speed limit control method for container front cranes according to claim 7, characterized in that, The boom length angle sensor is calibrated to use the position of the container front crane's cab as a reference for the position of the spreader.

9. The integrated speed limit control method for container front cranes according to claim 1, characterized in that, The pressure sensor is installed at the bottom of the pitch cylinder and is used to detect the cylinder bottom pressure of the pitch cylinder, which characterizes the weight of the container.

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