A container truck anti-lifting method, control system and device

Abstract

The present application discloses a method for preventing a container truck from being lifted, comprising the following steps: installing a weight collection unit on a container spreader, combining the two units to form a detection module; lifting the container and collecting a first load weight signal based on the detection module; when the container is lifted to a safe height, collecting a second load weight signal based on the detection module; performing signal conversion between the first and second load weight signals to obtain a first effective lifting weight and a second effective loading weight; comparing and analyzing the first and second effective lifting weights, and determining whether the container truck will be lifted based on the comparison and analysis results; issuing a control instruction based on the determination result, and the spreader control logic controlling the spreader to continue lifting or stop lifting based on the instruction. The technical solution disclosed in the present application is applicable to container trucks operating on multiple lanes for anti-lifting protection, and can make a determination immediately after lifting, with rapid response and higher reliability.

Description

Technical Field

[0001] The present application relates to the technical field of container truck anti-lifting detection technology, and more specifically, to a container truck anti-lifting method, control system and device. Background Art

[0002] Container trucks, also known as container trucks, are a crucial step in container loading and unloading operations, and one prone to accidents. Unloading involves lifting the container from the truck using a container spreader. During transport, the truck's locks must be rotated 90° to connect with the container's corner fittings to prevent the container from detaching from the truck. During unloading, the locks must be manually rotated 90° in the opposite direction to lift the container from the truck. Otherwise, the truck and container could be lifted together, potentially resulting in a serious safety incident. Therefore, "anti-lifting" testing during the unloading phase is a crucial safety assurance step for truck operations.

[0003] Currently, operators typically verify whether a truck is detached from a container. However, manual verification is subject to significant subjective factors, and operator negligence can lead to serious accidents. With technological advancements, the industry is gradually adopting anti-lift protection methods using laser sensor technology and pattern recognition technology. Laser sensor technology typically involves installing a laser sensor near the crane's lane to detect the positional relationship between the container and the truck during unloading. Once the truck reaches a certain height, it determines whether the truck and container are separated. This approach requires high-precision two-dimensional or three-dimensional laser sensors, which are costly. When operating in two or more lanes, if containers are stacked near the crane lane, anti-lift protection cannot be implemented in lanes farther from the crane. Furthermore, this solution cannot make a determination until the truck is lifted and has reached a certain height, at which point damage to the container or truck may have already occurred. Graphic recognition technology involves installing a camera near the crane's lane to capture side views of the container and truck. These images are then converted into positional coordinates through image processing to determine whether the truck has lifted. However, this approach has poor environmental adaptability; rain, snow, fog, and other weather conditions can affect the anti-lift protection effectiveness, and multi-lane anti-lift protection cannot be implemented. Similar to laser sensor detection, it can only make a determination after the truck has been lifted.

[0004] Therefore, how to provide a method, control system and device for preventing container trucks from lifting, which can be applied to the anti-lifting protection of container trucks operating in multiple lanes, can make judgments at the moment of lifting, respond quickly and have higher reliability, has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] In order to solve the above technical problems, the present application provides a method for preventing container trucks from lifting, which can be applied to the anti-lifting protection of container trucks operating in multiple lanes. It can make a judgment at the moment of lifting, with rapid response and higher reliability.

[0006] The technical solutions provided in this application are as follows:

[0007] The present application provides a method for preventing a container truck from being lifted, comprising the following steps: S1. Configuring a detection module: configuring a weight acquisition unit, installing the weight acquisition unit on a container spreader, and combining them to form a detection module; S2. Initial data acquisition: lifting the container on the container truck with a spreader to an initial stage, and acquiring a first load weight signal at this time based on the detection module; S3. Secondary data acquisition: lifting the container with a spreader to a lifting stage, and when the container is lifted to a safe height, acquiring a second load weight signal at this time based on the detection module; S4. Signal conversion processing: performing signal conversion on the first load weight signal and the second load weight signal to obtain a first effective lifting weight and a second effective loading weight, respectively; S5. Weight comparison judgment: comparing and analyzing the first effective lifting weight and the second effective loading weight, and judging whether the container truck will be lifted based on the comparison and analysis result; S6. Spreader lifting control: issuing a control instruction according to the judgment result, and the spreader control logic controls the spreader to continue lifting or stop lifting based on the control instruction.

[0008] Furthermore, in a preferred embodiment of the present invention, in step S1, the weight collection unit is installed on the rotary lock mechanism at the four corners of the container spreader, and the lock heads on the four corners of the container trailer coincide with the projection positions of the weight collection unit on the container spreader in the horizontal plane.

[0009] Furthermore, in a preferred embodiment of the present invention, the weight collection unit is specifically a pressure sensor.

[0010] Furthermore, in a preferred embodiment of the present invention, in step S2, the step of initially collecting data includes:

[0011] S201, install container spreader;

[0012] S202. Use the spreader to slowly jog the container until the lower surface of the container corner fitting just leaves the upper surface of the truck trailer. At this time, the container corner fitting is in the reserved gap between the truck trailer lock and the upper surface of the trailer.

[0013] S203: Then, use the weight acquisition unit on the sling to obtain the first load weight signal.

[0014] Furthermore, in a preferred embodiment of the present invention, in step S3, the step of secondary data collection includes:

[0015] S301, using a spreader to slowly lift the container in the reserved gap;

[0016] S302, raising the container to a level position where the container corner fitting contacts the trailer lock;

[0017] S303: Then, use the weight acquisition unit on the spreader to obtain the second load weight signal.

[0018] Furthermore, in a preferred embodiment of the present invention, in step S5, the weight comparison and judgment step includes:

[0019] S501, building a data comparison model;

[0020] S502: Select multiple weight data samples as a training set and train the data comparison model to obtain the comparison logic of the model, wherein the weight data samples include container weight samples and combined weight samples of the container and the container truck;

[0021] S503, setting a weight threshold;

[0022] S504: inputting the first effective hoisting weight and the second effective loading weight as characteristic values ​​into the data comparison model for comparison;

[0023] S505: If the first effective lifting weight is close to the second effective load weight, or the weight values ​​of the first effective lifting weight and the second effective load weight do not change significantly when the spreader is jogged, it is determined that the truck locks have been fully unlocked and the truck will not be lifted.

[0024] If the second effective load weight is greater than the weight threshold and the second effective load weight gradually increases as the spreader is lifted, it is determined that the container truck lock is not completely unlocked and the container truck will be lifted.

[0025] Furthermore, in a preferred embodiment of the present invention, in the weight comparison and judgment step, the weight threshold is set as follows:

[0026] The sum of the first effective lifting weight and 1.5 tons is set as the weight threshold.

[0027] Furthermore, in a preferred embodiment of the present invention, in step S6, the step of controlling the lifting of the spreader includes:

[0028] If it is determined that the container truck cannot be lifted, a first instruction is issued, and after receiving the first instruction, the spreader control logic controls the spreader to continue lifting;

[0029] If it is determined that the container truck will be lifted, a second instruction and an anti-lifting alarm will be issued. After receiving the second instruction, the spreader control logic controls the spreader to stop the inching lifting, then slowly descend, and put the container back on the container truck trailer.

[0030] In addition, this application provides another technical solution as follows:

[0031] The present application provides a container truck anti-lifting control system, comprising:

[0032] The signal acquisition module includes a weight acquisition unit provided on the container spreader, and is configured to acquire a first load weight signal when the container on the truck is lifted by the spreader to an initial stage, and to acquire a second load weight signal when the container is lifted by the spreader to a safe height;

[0033] a signal processing module, configured to perform signal conversion on the first load weight signal and the second load weight signal to obtain a first effective hoisting weight and a second effective loading weight, respectively;

[0034] a judgment module, configured to compare and analyze the first effective lifting weight and the second effective loading weight, and determine whether the container truck will be lifted based on the comparison and analysis result;

[0035] The control module is used to issue a control instruction according to the judgment result, so that the spreader control logic controls the spreader to continue lifting or stop lifting based on the control instruction.

[0036] The present application also provides a container truck anti-lifting device, comprising: the container truck anti-lifting control system described above.

[0037] The present invention provides a method, control system and device for preventing a container truck from being lifted. The method comprises the following steps: S1, configuring a detection module: configuring a weight acquisition unit, installing the weight acquisition unit on a container spreader, and combining them to form a detection module; S2, initial data acquisition: lifting the container on the container truck with a spreader to an initial stage, and acquiring a first load weight signal at this time based on the detection module; S3, secondary data acquisition: lifting the container with a spreader to a lifting stage, and when the container is lifted to a safe height, acquiring a second load weight signal at this time based on the detection module; S4, signal conversion processing: performing signal conversion on the first load weight signal and the second load weight signal to obtain a first effective lifting weight and a second effective loading weight, respectively; S5, weight comparison judgment: comparing and analyzing the first effective lifting weight and the second effective loading weight, and judging whether the container truck will be lifted based on the comparison and analysis result; S6, spreader lifting control: issuing a control instruction according to the judgment result, and the spreader control logic controls the spreader to continue lifting or stop lifting based on the control instruction.In the anti-lifting method provided by the present invention, a signal acquisition module must first be configured. In this method, the weight acquisition unit is installed on the lock of the container spreader. When the spreader rises to lift the container, the tension on the lock is transmitted to the weight acquisition unit, thereby obtaining a weight signal; the weight acquisition unit needs to perform two signal acquisitions. The first acquisition is in the initial stage when the container is lifted. At this time, the container has just been lifted off the trailer surface. Since the container can only be fixed on the container trailer by combining the lock on the trailer with the corner pieces at the four corners of the box, and a certain gap is reserved at the horizontal height of the lock from the upper surface of the trailer, when the container is lifted to the initial stage, regardless of whether the lock on the container trailer is fully unlocked, the first load weight signal detected by the weight acquisition unit, the weight represented by the signal is theoretically the total weight of the container and the cargo in the box; secondly, the second acquisition of the weight acquisition unit is when the container rises to a safe height. Specifically, the container is lifted in the reserved gap. When the inner bottom surface of the container corner fitting rises to the height of the trailer lock, the second load weight signal is detected; then the weight electrical signal needs to be converted into a specific weight value for comparative analysis. When all the locks on the trailer are unlocked, the first effective lifting weight and the second effective loading weight obtained from the initial stage to the lifting stage and even subsequent continuous lifting of the container will theoretically be equal or similar. However, if the locks on the container truck trailer are not all unlocked, when the container rises to the same height as the trailer lock, the lock will contact the container, load the weight, and restrict the lifting of the container. At this time, the weight of the container truck will be transmitted to the weight collection unit, and as the spreader is jogged and lifted, the second effective loading weight will gradually increase until the weight of the container truck is fully loaded. Therefore, by comparing the first effective lifting weight and the second effective loading weight, it can be determined whether the container truck will be lifted. Then, based on the judgment result, it can be controlled whether to continue lifting the container or stop lifting, thereby realizing anti-lifting protection for the container truck. Therefore, compared with the prior art, the technical solution involved in the present invention can be applied to the anti-lifting protection of container trucks operating in multiple lanes. It can make a judgment at the moment of lifting, with rapid response and higher reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0039] Figure 1 This is a flowchart of the steps of the container truck anti-lifting method involved in an embodiment of the present invention;

[0040] Figure 2 This is a schematic block diagram of the structure of the container truck anti-lifting control system involved in an embodiment of the present invention;

[0041] Figure 3 This is a connection diagram of the container spreader according to an embodiment of the present invention;

[0042] Figure 4 A bottom view of the container spreader according to an embodiment of the present invention;

[0043] Figure 5 Schematic diagram of the structure of the sling lock according to an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the connection of the container truck trailer lock according to an embodiment of the present invention;

[0045] Figure 7 This is a logic flow chart of the spreader control logic involved in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of this application.

[0047] It should be noted that when an element is referred to as being “fixed on” or “set on” another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being “connected to” another element, it can be directly connected to the other element or indirectly connected to the other element.

[0048] It should be understood that the terms "length", "width", "up", "down", "front", "back", "first", "second", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" or "several" means two or more, unless otherwise specifically defined.

[0050] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the efficacy and purpose that can be achieved by this application.

[0051] Please Figures 1 to 7 As shown, the present application provides a method, control system and device for preventing a container truck from being lifted, wherein the method for preventing a container truck from being lifted includes the following steps: S1, configuring a detection module: configuring a weight acquisition unit, installing the weight acquisition unit on a container spreader 1, and combining them to form a detection module; S2, initial data acquisition: lifting the container 2 on the container truck with the spreader to the initial stage, and collecting a first load weight signal at this time based on the detection module; S3, secondary data acquisition: lifting the container 2 with the spreader to the lifting stage, when the container 2 is lifted to a safe height, collecting a second load weight signal at this time based on the detection module; S4, signal conversion processing: performing signal conversion on the first load weight signal and the second load weight signal to obtain a first effective lifting weight and a second effective loading weight, respectively; S5, weight comparison judgment: comparing and analyzing the first effective lifting weight and the second effective loading weight, and judging whether the container truck will be lifted based on the comparison and analysis result; S6, spreader lifting control: issuing a control instruction according to the judgment result, and the spreader control logic controls the spreader to continue lifting or stop lifting based on the control instruction. The technical solution involved in the present invention can be applied to the anti-lifting protection of container trucks operating in multiple lanes. It can make a judgment at the moment of lifting, with rapid response and higher reliability.

[0052] The following is a detailed description of the container truck anti-lifting method disclosed in the present invention in conjunction with specific embodiments. The measurement method includes:

[0053] S1. Configuring a detection module: configuring a weight collection unit, installing the weight collection unit on the container spreader 1, and combining them to form a detection module.

[0054] In step S1 , the weight collection unit is installed on the rotary lock mechanism at the four corners of the container spreader 1 , and the lock heads on the four corners of the truck trailer 3 coincide with the projection positions of the weight collection unit on the container spreader 1 on the horizontal plane.

[0055] Specifically, in a specific embodiment of the present invention, the weight collection unit is specifically a pressure sensor 7.

[0056] Among them, such as Figure 5 As shown, Figure 5 It is a schematic diagram of the installation structure of the pressure sensor 7. In this embodiment, the weight collection unit is a pressure sensor 7. Four pressure sensors 7 are provided and installed on the spreader lock head 4 of the rotary lock mechanism of the container spreader 1. When the spreader rises to lift the container 2, the tension exerted on the spreader lock head 4 is transmitted to the pressure sensor 7. The sensor deforms and converts the force exerted on it into an electrical signal, thereby realizing the collection of the weight signal. In this solution, the sensor is installed on the spreader and will not be interfered with by the container 2, fences or other vehicles in the site. It can be applied to the anti-lifting protection of container trucks operating in multiple lanes. Moreover, the same set of pressure sensors 7 can be used regardless of the number of lanes, saving costs.

[0057] S2. Initial data collection: The container 2 on the container truck is lifted to the initial stage using a spreader, and a first load weight signal at this time is collected based on the detection module.

[0058] Specifically, in a specific embodiment of the present invention, in step S2, the steps of initial data collection include: S201, installing the container spreader 1; S202, slowly jogging the container 2 with the spreader until the lower surface of the container corner fitting 6 just leaves the upper surface of the container trailer 3, and at this time the container corner fitting 6 is in the reserved gap between the container trailer lock 5 and the upper plane of the trailer; S203, then using the weight collection unit on the spreader to obtain the first load weight signal.

[0059] Among them, such as Figure 6 As shown, Figure 6: This is a schematic diagram of the connection structure between the container 2 and the truck trailer lock 5. Surface A is the inner bottom surface of the container corner fitting 6, and surface B is the lower bottom surface of the truck trailer lock 5. Surface A and surface B are also the contact surfaces between the container corner fitting 6 and the truck trailer lock 5. Surface C is the bottom surface of the container 2, and surface D is the upper surface of the truck trailer 3. Surfaces C and D are both contact surfaces between the container 2 and the truck trailer 3. Because a gap H is left between surface A of the container corner fitting 6 and surface B of the truck trailer lock 5, when the spreader lifts the container 2 to the initial stage, surface D of the container 2 leaves surface C of the upper surface of the truck trailer 3, but surface A of the container corner fitting 6 has not yet contacted surface B of the lock. That is, the lower surface of the container corner fitting 6 has just left the upper surface of the truck trailer 3, and the container corner fitting 6 is still within the reserved gap H. The weight represented by the first load weight signal obtained by the weight acquisition unit is theoretically the weight of the container 2 itself.

[0060] S3. Secondary data collection: The container 2 is lifted by the sling to the lifting stage. When the container 2 is lifted to a safe height, a second load weight signal at this time is collected based on the detection module.

[0061] Specifically, in a specific embodiment of the present invention, in step S3, the step of secondary data collection includes: S301, using a sling to slowly and jog the container 2 in the reserved gap; S302, raising the container 2 to a horizontal position where the container corner fitting 6 contacts the trailer lock; S303, then using the weight collection unit on the sling to obtain the second load weight signal.

[0062] Among them, in the embodiment of the present invention, Figure 2 、 3As shown, because the locks on the four corners of the container truck trailer 3 coincide with the projection positions of the four pressure sensors 7 of the container spreader 1 in the horizontal plane, when the spreader lifts the container 2 and continues to rise, when it reaches a safe height, if the locks 5 of the container truck trailer have been fully unlocked, the container 2 will continue to rise without being restricted by the locks. However, if the locks 5 of the container truck trailer are not fully unlocked, when the contact surface B of the lock 5 of the container truck trailer hooks the contact surface A of the container corner fitting 6, that is, when the container 2 rises to the horizontal position where the container corner fitting 6 contacts the trailer lock, the weight of the container truck is transmitted to the pressure sensors 7 through the container 2. At this time, the load on the pressure sensors 7 will suddenly increase. Therefore, the weight value represented by the second load weight signal obtained at this time will be greater than the weight value represented by the first load weight signal. As the container 2 continues to be lifted, the weight value represented by the second load weight signal will continue to increase until the container 2 itself is loaded with the weight of the entire container truck. Compared with the existing solutions that use laser sensors or cameras, both detect the position changes of the container 2 and the container truck, and can only trigger the anti-lifting alarm after the container truck is lifted to a certain height. At this time, since the container truck has been lifted to a certain height, it may cause a certain degree of damage to the container 2 or the container truck. The present solution uses a pressure sensor 7 to collect the first load weight signal and the second load weight signal. The judgment can be made the moment the container truck is lifted, with faster response speed and better effect. Moreover, the signal collection is not affected by the external environment. In severe weather such as heavy rain, heavy fog, and snow, there is no risk of failure to detect or false alarm or missed alarm. It can adapt to any severe environment and has higher reliability.

[0063] Specifically, in a specific embodiment of the present invention, the first load weight signal and the second load weight signal are signal values ​​obtained by a single weight acquisition unit; multiple weight acquisition units respectively obtain multiple first load weight signals and multiple second load weight signals.

[0064] Among them, when collecting weight, the weight collection units are usually multiple, and theoretically the lifting weight will be evenly divided by multiple weight collection units; in this embodiment, four pressure sensors 7 are set, each pressure sensor 7 corresponds to a trailer lock, and the first load weight signal and the second load weight signal are signal values ​​obtained by a single pressure sensor 7, which makes it convenient to determine which trailer lock is not completely unlocked after weight comparison.

[0065] Specifically, in a specific embodiment of the present invention, the speed of the inching lifting is 0.1 m / s, and the safety height is not greater than 0.2 m.

[0066] S4. Signal conversion processing: performing signal conversion on the first load weight signal and the second load weight signal to obtain a first effective hoisting weight and a second effective loading weight respectively.

[0067] S5. Weight comparison and judgment: comparing and analyzing the first effective lifting weight and the second effective loading weight, and judging whether the container truck can be lifted based on the comparison and analysis result.

[0068] Among them, in the embodiment of the present invention, since there are four pressure sensors 7, there are four first effective lifting weights and four second effective loading weights converted, and each pressure sensor 7 corresponds to one first effective lifting weight and one second effective loading weight; when making a comparison, the first effective lifting weight and the second effective loading weight converted on the same pressure sensor 7 are compared.

[0069] Specifically, in a specific embodiment of the present invention, in step S5, the weight comparison judgment step includes: S501, constructing a data comparison model; S502, selecting multiple weight data samples as a training set, training the data comparison model, and obtaining the comparison logic of the model through training, wherein the weight data samples include the weight sample of container 2 and the combined weight sample of container 2 plus the container truck loading; S503, setting a weight threshold; S504, inputting the first effective lifting weight and the second effective loading weight as feature values ​​into the data comparison model for comparison; S505, if the first effective lifting weight and the second effective loading weight are similar, or the weight values ​​of the two are within the range of the weight threshold, and the second effective loading weight does not change significantly as the spreader is jogged and lifted, it is judged that the container truck lock has been completely unlocked and the container truck will not be lifted; if the second effective loading weight is greater than the weight threshold, and the second effective loading weight gradually increases as the spreader is jogged and lifted, it is judged that the container truck lock is not completely unlocked and the container truck will be lifted.

[0070] Among them, in an embodiment of the present invention, comparative analysis of the first effective lifting weight and the second effective loading weight obtained by conversion is the key to judging whether the container truck will be lifted; in the step of weight comparison judgment, it is first necessary to establish a data comparison module, and the model needs to be trained with multiple sample data to make the model construction conform to the comparison logic of this scheme; then a comparative analysis is performed, because if all the locks on the container truck trailer 3 are unlocked, the container 2 will not hinder the lifting of the container 2 from the initial stage to the lifting stage, and even the subsequent continuous lifting, so the first effective lifting weight and the second effective loading weight obtained will be equal or similar in theory, but if the locks on the container truck trailer 3 are not all unlocked, when the container 2 rises to the same height as the trailer lock, the container truck trailer lock 5 will contact the container 2, blocking the lifting of the container 2 and loading the weight. At this time, the container truck The weight will be transmitted to the pressure sensor 7, and as the spreader is lifted by inching, the second effective loading weight will gradually increase until the weight of the container truck is fully loaded. Therefore, by comparing the first effective lifting weight with the second effective loading weight, it can be determined whether the container truck will be lifted; in this embodiment, since there are 4 pressure sensors 7, they are jointly subjected to force when the container 2 is lifted. Therefore, when the sudden increase in load of any one or more of the 4 sensors on the spreader exceeds the weight threshold, it can be determined that the container truck trailer lock 5 corresponding to the pressure sensor 7 is not unlocked, and it can be determined that the container truck is lifted; and when any one lock, 2, 3, or 4 locks are not unlocked, it can be determined whether the container truck is hung or not by comparing the first effective lifting weight and the second effective loading weight obtained by the pressure sensor corresponding to the single lock.

[0071] Specifically, in a specific embodiment of the present invention, in the weight comparison and judgment step, setting the weight threshold is specifically: adding the first effective lifting weight to 1.5 tons to set the sum as the weight threshold.

[0072] In the embodiment of the present invention, the containers 2 lifted from the container truck include both loaded containers (i.e., containers 2 containing cargo) and empty containers. When loading loaded containers, if the container truck lifts the container, the weight of the container 2 plus the weight of the container truck will exceed the crane's maximum lifting capacity, triggering an overload alarm and limiting lifting, making it less likely for the crane to lift the container. However, when unloading empty containers, the weight of the empty container 2 generally does not exceed 5 tons, and the weight of the container 2 plus the container truck will not exceed the crane's maximum lifting capacity, thus failing to trigger the crane's overload alarm and making it more likely for the container truck to lift the container. Therefore, even when lifting empty containers, anti-lifting protection can be implemented.

[0073] S6. Spreader lifting control: Based on the judgment result, a control instruction is issued, and the spreader control logic controls the spreader to continue lifting or stop lifting based on the control instruction.

[0074] Specifically, in a specific embodiment of the present invention, in step S6, the steps of controlling the lifting of the spreader include: if it is determined that the container truck will not be lifted, issuing a first instruction, and after the spreader control logic receives the first instruction, controlling the spreader to continue lifting; if it is determined that the container truck will be lifted, issuing a second instruction and an anti-lifting alarm, and after the spreader control logic receives the second instruction, controlling the spreader to stop the inching lifting, and then slowly descending, and placing the container 2 back on the container truck trailer 3.

[0075] Specifically, in a specific embodiment of the present invention, the control logic of the container spreader 1 includes: starting; detecting a change in the value of the pressure sensor 7; then filtering out interference and calculating the weight of the container 2; then the spreader continues to rise; then judging whether a sudden increase in load is detected, and if so, triggering the container truck anti-lifting protection; if not, judging whether the anti-lifting safety height is exceeded, and if not, calling back the spreader continue rising logic and continuing to execute downward; if it exceeds the safety height, judging that there is no risk of container truck lifting, and allowing continued lifting; and finally ending.

[0076] The truck anti-lifting method provided by the present invention detects the secondary loading status of the pressure sensor 7. Specifically, the weight of the container 2 is calculated immediately after the container 2 leaves the truck. When the spreader lifts the container 2 and continues to rise, if the truck lock is not released, the weight of the truck will also be loaded on the pressure sensor 7. Due to the weight of the truck itself, the pressure sensor 7 can detect the sudden increase in weight and calculate the magnitude of the sudden increase. By comparing it with the weight of a smaller container 2 trailer on the market, if the increased weight reaches or approaches the weight of the trailer, or if the single pressure sensor 7 calculates the weight as one-quarter of the truck weight, the truck is determined to be lifted. Therefore, anti-lifting protection can be achieved even when lifting an empty container. There is no need to use laser sensors, cameras, laser scanning or graphic recognition to obtain the features of the container truck and the container 2, and then build a model of the container truck and the container 2 based on these features, and then calculate the position between the two to determine whether it is lifted; and because there are many types of container trucks, it is difficult for one model to take all of them into account. Therefore, a large amount of data accumulation and training is required to make the model more perfect, and it is difficult to take all types of container trucks into account. However, this solution does not need to consider the type of container truck, and can make the anti-lifting protection of the container truck more comprehensive.

[0077] This application provides another technical solution as follows:

[0078] A container truck anti-lifting control system includes: a signal acquisition module, including a weight acquisition unit provided on a container spreader 1, for collecting a first load weight signal at the time when a container 2 on the container truck is lifted by the spreader to the initial stage, and collecting a second load weight signal at the time when the container 2 is lifted by the spreader to a safe height; a signal processing module, for performing signal conversion between the first load weight signal and the second load weight signal to obtain a first effective lifting weight and a second effective loading weight, respectively; a judgment module, for comparing and analyzing the first effective lifting weight and the second effective loading weight, and judging whether the container truck will be lifted based on the comparison and analysis result; and a control module, for issuing a control instruction according to the judgment result, so that the spreader control logic controls the spreader to continue lifting or stop lifting based on the control instruction.

[0079] The present application also provides a container truck anti-lifting device, comprising: the container truck anti-lifting control system described above.

[0080] In summary, the embodiments of the present invention involve a method, control system, and device for preventing container trucks from lifting, which can solve the problems in the prior art of preventing container trucks from lifting, such as being unsuitable for multi-lane and harsh environments, as well as being high in cost and having poor response speed. In the container truck anti-lifting method provided by the present invention, a signal acquisition module is first required to be configured. In this method, the weight acquisition unit is installed on the lock of the container spreader 1. When the spreader rises and lifts the container 2, the tension on the lock is transmitted to the weight acquisition unit, thereby obtaining a weight signal; the weight acquisition unit needs to perform two signal acquisitions. The first acquisition is in the initial stage when the container 2 is lifted. At this time, the container 2 has just been lifted off the trailer surface. Since the container 2 can only be fixed on the container truck trailer 3 by combining the lock on the trailer with the corner pieces at the four corners of the box, and a certain gap is reserved at the horizontal height of the lock from the upper surface of the trailer, when the container 2 is lifted to the initial stage, regardless of whether the lock on the container truck trailer 3 is fully unlocked, the first load weight signal detected by the weight acquisition unit, the weight represented by the signal is theoretically the total weight of the container 2 and the cargo inside the box; secondly, the second acquisition by the weight acquisition unit is when the container 2 rises to a safe height, specifically, when the container 2 is at the midpoint of the reserved gap During the inching lifting, when the inner bottom surface of the container corner fitting 6 rises to the height of the trailer lock, the second load weight signal is detected; then the weight electrical signal needs to be converted into a specific weight value for comparative analysis. When all the locks on the trailer are unlocked, the first effective lifting weight and the second effective loading weight obtained from the initial stage to the lifting stage and even the subsequent continuous lifting of the container 2 are theoretically equal or similar. However, if the locks on the container trailer 3 are not all unlocked, when the container 2 rises to the same height as the trailer lock, the lock will contact the container 2, load the weight, and restrict the lifting of the container 2. At this time, the weight of the container truck will be transmitted to the weight collection unit, and as the spreader is inching lifted, the second effective loading weight will gradually increase until the container truck is fully loaded. Therefore, by comparing the first effective lifting weight and the second effective loading weight, it can be determined whether the container truck will be lifted. Then, based on the judgment result, it can be controlled whether the container 2 continues to be lifted or stopped, thereby realizing anti-lifting protection for the container truck. Therefore, compared with the prior art, the technical solution involved in the present invention can be applied to the anti-lifting protection of container trucks operating in multiple lanes. It can make a judgment at the moment of lifting, with rapid response and higher reliability.

[0081] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for preventing container trucks from lifting, characterized in that: The following steps are involved: S1. Configuring a detection module: Configuring a weight collection unit, installing the weight collection unit on a container spreader, and combining them to form a detection module; S2. Initial data collection: The container on the container truck is lifted to the initial stage using a spreader, and a first load weight signal at this time is collected based on the detection module; S3. Secondary data collection: The container is lifted by the spreader to the lifting stage. When the container is lifted to a safe height, a second load weight signal at this time is collected based on the detection module; S4, signal conversion processing: performing signal conversion on the first load weight signal and the second load weight signal to obtain a first effective hoisting weight and a second effective loading weight respectively; S5. Weight comparison and judgment: comparing and analyzing the first effective lifting weight and the second effective loading weight, and judging whether the container truck can be lifted based on the comparison and analysis result; S6, spreader lifting control: Based on the judgment result, a control instruction is issued, and the spreader control logic controls the spreader to continue lifting or stop lifting based on the control instruction; in step S5, the weight comparison judgment step includes: S501, building a data comparison model; S502: Select multiple weight data samples as a training set and train the data comparison model to obtain the comparison logic of the model, wherein the weight data samples include container weight samples and combined weight samples of the container and the container truck; S503, setting a weight threshold; S504: inputting the first effective hoisting weight and the second effective loading weight as characteristic values ​​into the data comparison model for comparison; S505: If the first effective lifting weight is close to the second effective load weight, or the weight difference between the two is within the weight threshold, and the second effective load weight does not change significantly as the spreader is jogged, it is determined that the truck locks are all unlocked and the truck will not be lifted. If the second effective load weight is greater than the weight threshold and the second effective load weight gradually increases as the spreader is inched and lifted, it is determined that the container truck lock is not completely unlocked and the container truck will be lifted; In step S6, the steps of controlling the lifting of the spreader include: If it is determined that the container truck cannot be lifted, a first instruction is issued, and after receiving the first instruction, the spreader control logic controls the spreader to continue lifting; If it is determined that the container truck will be lifted, a second instruction and an anti-lifting alarm will be issued. After receiving the second instruction, the spreader control logic controls the spreader to stop the inching lifting, then slowly descend, and put the container back on the container truck trailer.

2. The method for preventing container trucks from lifting according to claim 1, characterized in that: In step S1, the weight collection unit is installed on the rotary lock mechanism at the four corners of the container spreader, and the lock heads on the four corners of the truck trailer coincide with the projection positions of the weight collection unit on the container spreader on the horizontal plane.

3. The method for preventing container trucks from lifting according to claim 2, characterized in that: The weight collection unit is specifically a pressure sensor.

4. The method for preventing container trucks from lifting according to claim 2, characterized in that: In step S2, the steps of initial data collection include: S201, install container spreader; S202. Use the spreader to slowly jog the container until the lower surface of the container corner fitting just leaves the upper surface of the truck trailer. At this time, the container corner fitting is in the reserved gap between the truck trailer lock and the upper surface of the trailer. S203: Use the weight acquisition unit on the sling to obtain the first load weight signal.

5. The method for preventing container trucks from lifting according to claim 4, characterized in that: In step S3, the step of secondary data collection includes: S301, using a spreader to slowly lift the container in the reserved gap; S302, raising the container to a level position where the container corner fitting contacts the trailer lock; S303: Use the weight acquisition unit on the sling to obtain the second load weight signal.

6. The method for preventing container trucks from lifting according to claim 5, characterized in that: In the weight comparison and judgment step, the weight threshold is set as follows: The sum of the first effective lifting weight and 1.5 tons is set as the weight threshold.

7. A container truck anti-lifting control system, characterized in that: include: The signal acquisition module includes a weight acquisition unit provided on the container spreader, configured to acquire a first load weight signal when the container on the truck is lifted by the spreader to an initial stage, and to acquire a second load weight signal when the container is lifted by the spreader to a safe height; a signal processing module, configured to perform signal conversion on the first load weight signal and the second load weight signal to obtain a first effective hoisting weight and a second effective loading weight, respectively; a judgment module, configured to compare and analyze the first effective lifting weight and the second effective loading weight, and determine whether the container truck will be lifted based on the comparison and analysis result; The control module is used to issue a control instruction according to the judgment result, so that the spreader control logic controls the spreader to continue lifting or stop lifting based on the control instruction.

8. A container truck anti-lifting device, characterized in that: include: The container truck anti-lifting control system according to claim 7.

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