Anti-rollover control method and system for container stacking machine

Abstract

The invention discloses an anti-rollover control method and system for a container stacking machine, and belongs to the technical field of stacking machine control technologies. The anti-rollover control method of the container stacking machine comprises the steps that equipment parameters input by a user through an interactive instrument are received; calculating a first horizontal distance and a first vertical distance according to the equipment parameters, the weight of the lifting box, the lifting height of the lifting appliance and the inclination angle of the portal; the current turning radius of the container stacking machine is calculated according to the equipment parameters, the vehicle steering angle and the first horizontal distance; the current maximum rotating speed of the walking motor is calculated according to the equipment parameters, the lateral ramp angle, the first vertical distance and the current turning radius; and determining the current pedal opening degree of the accelerator pedal, determining the target rotating speed of the walking motor according to the current pedal opening degree and the current maximum rotating speed, and controlling the walking motor to work according to the target rotating speed. The container stacking machine can be controlled according to the actual state of the container stacking machine, and the rollover prevention effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of stacker control, and in particular to an anti-rollover control method and system for a container stacker. Background Art

[0002] Container stacker, also known as port stacker, is a large container lifting machinery equipment mainly used in ports, docks, railways and highways. Since the center of gravity of the container stacker is relatively high and the center of gravity changes during the loading process, the safety requirements for its operation, especially stability, are relatively high. Therefore, the anti-rollover control of the container stacker is an important function that affects the driver's operating safety and comfort. In the related art, the speed of the container stacker is usually limited based on the gantry height, but the anti-rollover effect of the above method is poor.

[0003] Therefore, how to control the container stacker according to the actual state of the container stacker to improve the anti-rollover effect is a technical problem that those skilled in the art need to solve at present. Summary of the invention

[0004] The purpose of the present application is to provide a method, system, device and medium for preventing rollover of a container stacker, which can control the container stacker according to the actual state of the container stacker and improve the anti-rollover effect.

[0005] In order to solve the above technical problems, the present application provides a rollover prevention control method for a container stacker, which is applied to a vehicle controller of the container stacker. The rollover prevention control method for the container stacker includes:

[0006] receiving device parameters input by the user through the interactive instrument;

[0007] The weight of the hanging box is collected by using a weighing pressure sensor;

[0008] Use the length and angle sensor to collect the lifting height of the spreader and the tilt angle of the gantry;

[0009] Using a steering angle sensor to collect the vehicle steering angle of the container stacker;

[0010] Using a ramp angle sensor to collect the lateral ramp angle of the container stacker;

[0011] Calculate the first horizontal distance and the first vertical distance according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry; wherein the first horizontal distance is the horizontal distance between the center of gravity of the whole vehicle of the container stacker and the center of the front axle, and the first vertical distance is the vertical distance between the center of gravity of the whole vehicle of the container stacker and the center of the front axle;

[0012] Calculating a current turning radius of the container stacker according to the equipment parameters, the vehicle steering angle and the first horizontal distance;

[0013] Calculating the current maximum speed of the travel motor according to the equipment parameters, the lateral ramp angle, the first vertical distance and the current turning radius;

[0014] The current pedal opening of the accelerator pedal is determined, the target speed of the travel motor is determined according to the current pedal opening and the current maximum speed, and the travel motor is controlled to operate according to the target speed.

[0015] Optionally, the equipment parameters include empty vehicle weight, second horizontal distance, spreader weight and third horizontal distance; wherein the second horizontal distance is the horizontal distance between the empty vehicle center of gravity and the front axle center of the container forklift when the gantry is in a vertical state, and the third horizontal distance is the horizontal distance between the spreader center and the front axle center of the container forklift when the gantry is vertical and the container is in a hoisting state;

[0016] Accordingly, the first horizontal distance is calculated according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry, including:

[0017] Calculating the first horizontal distance x using a first formula;

[0018] Among them, the first formula is: ;m Z represents the empty vehicle weight, x1 represents the second horizontal distance, m S represents the weight of the spreader, x2 represents the third horizontal distance, m represents the weight of the hanging box, h represents the lifting height of the spreader, and θ represents the inclination angle of the gantry.

[0019] Optionally, the equipment parameters include empty vehicle weight, spreader weight, container height and a second vertical distance; wherein the second vertical distance is a vertical distance between an empty vehicle center of gravity and a front axle center of the container forklift when the gantry is in a vertical state;

[0020] Accordingly, the first vertical distance is calculated according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry, including:

[0021] The first vertical distance h is calculated using the second formula g ;

[0022] Among them, the second formula is ;m Z Indicates the empty vehicle weight, m S Indicates the weight of the sling, h S Indicates the height of the container, h Zrepresents the second vertical distance, m represents the weight of the hoisting box, h represents the lifting height of the sling, and θ represents the inclination angle of the gantry.

[0023] Optionally, the equipment parameters include vehicle wheelbase and rear axle track;

[0024] Accordingly, calculating the current turning radius of the container stacker according to the equipment parameter, the vehicle steering angle and the first horizontal distance includes:

[0025] Calculate the current turning radius R of the container stacker using the third formula;

[0026] Wherein, the third formula is ; L represents the vehicle wheelbase, B2 represents the rear axle track, α represents the vehicle steering angle, and x represents the first horizontal distance.

[0027] Optionally, the equipment parameters include safety factor, front axle track, maximum allowable rotation speed of the travel motor, axle speed ratio and tire rolling radius;

[0028] Accordingly, the current maximum speed of the travel motor is calculated according to the equipment parameters, the lateral ramp angle, the first vertical distance and the current turning radius, including:

[0029] The fourth formula is used to calculate the current maximum travel speed v of the container stacker. max ;

[0030] The fifth formula is used to calculate the current maximum speed r of the walking motor. max ;

[0031] Wherein, the fourth formula is: ; The fifth formula is: ;

[0032] n represents the safety factor, B1 represents the front axle track, β represents the lateral ramp angle, h g represents the first vertical distance, R represents the current turning radius, g represents the acceleration due to gravity, r v Indicates the maximum speed allowed by the travel motor, i indicates the bridge speed ratio, R g Indicates the rolling radius of the tire.

[0033] Optionally, determining the target speed of the travel motor according to the current pedal opening and the current maximum speed includes:

[0034] The product of the current pedal opening and the current maximum rotation speed is used as the target rotation speed of the travel motor.

[0035] Optionally, after controlling the travel motor to operate according to the target speed, the method further includes:

[0036] Get the actual speed r of the travel motor s ;

[0037] If r max <r s ≤n×r max , it is determined that the container stacker is in the first state; wherein, r max Indicates the current maximum speed, and n indicates the safety factor;

[0038] If r s >n×r max , it is determined that the container stacker is in the second state;

[0039] If the container stacker is in the first state for a period longer than a first preset period, outputting an alarm message;

[0040] If the container stacker is in the second state for a period longer than a second preset period, the travel motor is braked and an alarm message is output.

[0041] The present application also provides a rollover prevention control system for a container stacker, which is applied to a vehicle controller of the container stacker. The rollover prevention control system for the container stacker includes:

[0042] A parameter receiving module, used for receiving device parameters input by a user through an interactive instrument;

[0043] A parameter acquisition module is used to acquire the weight of the hoisting box using a weighing pressure sensor; it is also used to acquire the lifting height of the hoist and the inclination angle of the gantry using a length angle sensor; it is also used to acquire the vehicle steering angle of the container stacker using a steering angle sensor; it is also used to acquire the lateral ramp angle of the container stacker using a ramp angle sensor;

[0044] A distance calculation module, used to calculate a first horizontal distance and a first vertical distance according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry; wherein the first horizontal distance is the horizontal distance between the center of gravity of the whole vehicle of the container stacker and the center of the front axle, and the first vertical distance is the vertical distance between the center of gravity of the whole vehicle of the container stacker and the center of the front axle;

[0045] A radius calculation module, used for calculating the current turning radius of the container stacker according to the equipment parameters, the vehicle steering angle and the first horizontal distance;

[0046] A speed calculation module, used for calculating the current maximum speed of the travel motor according to the equipment parameters, the lateral ramp angle, the first vertical distance and the current turning radius;

[0047] The motor control module is used to determine the current pedal opening of the accelerator pedal, determine the target speed of the travel motor according to the current pedal opening and the current maximum speed, and control the travel motor to work according to the target speed.

[0048] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the above-mentioned anti-rollover control method for a container stacker are implemented.

[0049] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the above-mentioned anti-rollover control method for a container stacker are implemented.

[0050] The present application provides a rollover prevention control method for a container stacker, which is applied to the vehicle controller of the container stacker, and uses an interactive instrument, a weighing pressure sensor, a length angle sensor, a steering angle sensor, and a ramp angle sensor to respectively collect equipment parameters, a hanging box weight, a hoisting device lifting height, a gantry tilt angle, a vehicle steering angle, and a lateral ramp angle. Based on the collected equipment parameters, hanging box weight, hoisting device lifting height, and gantry tilt angle, the present application calculates the first horizontal distance and the first vertical distance of the center of gravity of the whole vehicle relative to the center of the front axle; the present application also calculates the current turning radius based on the vehicle steering angle and the first horizontal distance; the present application also calculates the current maximum speed of the travel motor based on the equipment parameters, the lateral ramp angle, the first vertical distance, and the current turning radius. The present application determines the target speed of the travel motor according to the current pedal opening and the calculated current maximum speed, and then adjusts the working state of the travel motor according to the target speed, thereby achieving effective control of the vehicle speed. The above process ensures that the vehicle's driving speed meets both the operating requirements and does not exceed the safety limit. Therefore, the present application can control the container stacker according to the actual state of the container stacker to improve the anti-rollover effect. The present application also provides an anti-rollover control system for a container stacker, a storage medium and an electronic device, which have the above-mentioned beneficial effects and are not described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. 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 paying any creative work.

[0052] Figure 1 A flow chart of an anti-rollover control method for a container stacker provided in an embodiment of the present application;

[0053] Figure 2 A schematic diagram of the structure of an anti-rollover control system for an electric container stacker provided in an embodiment of the present application;

[0054] Figure 3 A side view of a container stacker provided in an embodiment of the present application;

[0055] Figure 4 A top view of a container stacker provided in an embodiment of the present application;

[0056] Figure 5 A schematic diagram of a ramp for a container stacker provided in an embodiment of the present application;

[0057] Figure 6 A schematic diagram of the appearance of a container stacker provided in an embodiment of the present application;

[0058] Figure 7 A schematic diagram of the installation of a length and angle sensor provided in an embodiment of the present application;

[0059] Figure 8 A schematic diagram of the installation of a steering angle sensor provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] See below Figure 1 , Figure 1 A flow chart of an anti-rollover control method for a container stacker provided in an embodiment of the present application.

[0062] Specific steps may include:

[0063] S101: receiving device parameters input by a user through an interactive instrument;

[0064] Among them, this embodiment can be applied to a vehicle controller of a container stacker, and the vehicle controller is respectively connected to an interactive instrument, a weighing pressure sensor, a length angle sensor, a steering angle sensor, and a ramp angle sensor.

[0065] The vehicle controller can receive equipment parameters input by the user through the interactive instrument on the vehicle. The above equipment parameters may include: empty vehicle weight, second horizontal distance, spreader weight, third horizontal distance, container height, second vertical distance, vehicle wheelbase, rear axle track, safety factor, front axle track, maximum speed allowed by the travel motor, axle speed ratio and tire rolling radius, any one or a combination of several of them. Equipment parameters are parameters entered by the user according to actual conditions.

[0066] The second horizontal distance is the horizontal distance between the center of gravity of the empty vehicle and the center of the front axle of the container forklift when the gantry is in a vertical state; the third horizontal distance is the horizontal distance between the center of the spreader and the center of the front axle of the container forklift when the gantry is vertical and the box is in a hoisting state; the second vertical distance is the vertical distance between the center of gravity of the empty vehicle and the center of the front axle of the container forklift when the gantry is in a vertical state. The vertical state of the gantry refers to the state in which the gantry is perpendicular to the horizontal plane. The center of gravity of the empty vehicle refers to the center of gravity of the container forklift when the container is not hoisted. The box is in a hoisting state refers to the state in which the container forklift is hoisting a container.

[0067] S102: Using a weighing pressure sensor to collect the weight of the hanging box;

[0068] In this embodiment, the weight of the hanging box can be determined by using the signal transmitted by the weighing pressure sensor. The weight of the hanging box refers to the total weight of the hanging tool and the container on the hanging tool.

[0069] S103: Using a length angle sensor to collect the lifting height of the spreader and the tilt angle of the gantry;

[0070] The length angle sensor is used to detect the lifting height of the spreader (i.e., the lifting height of the spreader) and the tilt angle of the gantry (i.e., the tilt angle of the gantry). This embodiment can accurately obtain the current height position of the spreader and the tilt state of the gantry through the telescopic length and angle change of the length angle sensor cable.

[0071] S104: using a steering angle sensor to collect a vehicle steering angle of the container stacker;

[0072] The steering angle sensor is used to detect the rotation angle of the steering wheel or steering wheel of the container stacker, that is, the vehicle steering angle. In this embodiment, the vehicle steering angle of the container stacker is monitored in real time through the steering angle sensor.

[0073] S105: collecting the lateral ramp angle of the container stacker using a ramp angle sensor;

[0074] The ramp angle sensor is used to detect the lateral inclination angle (i.e., lateral ramp angle) of the ground on which the container stacker is located during operation. In this embodiment, the ramp angle sensor measures the lateral ramp angle of one side of the vehicle relative to the horizontal plane. The lateral ramp angle is the angle between the ground perpendicular to the vehicle's driving direction and the horizontal plane.

[0075] S106: Calculating a first horizontal distance and a first vertical distance according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry;

[0076] The first horizontal distance is the horizontal distance between the center of gravity of the container stacker and the center of the front axle, and the first vertical distance is the vertical distance between the center of gravity of the container stacker and the center of the front axle.

[0077] The first horizontal distance refers to the horizontal projection distance from the center of gravity of the vehicle to the center of the front axle. The projection position of the center of gravity of the vehicle on the horizontal plane can be determined according to the equipment parameters, the weight of the hoisting box, the inclination angle of the gantry and the lifting height of the hoist. In this embodiment, trigonometric functions can be used to calculate the horizontal distance between the center of gravity of the vehicle and the center of the front axle.

[0078] The first vertical distance refers to the vertical distance from the center of gravity of the vehicle to the center of the front axle. The vertical position of the center of gravity of the vehicle can be determined according to the equipment parameters, the weight of the hoisting box, the inclination angle of the gantry and the lifting height of the hoist. In this embodiment, trigonometric functions can be used to calculate the vertical distance between the center of gravity of the vehicle and the center of the front axle.

[0079] S107: Calculating a current turning radius of the container stacker according to the equipment parameters, the vehicle steering angle and the first horizontal distance;

[0080] Among them, on the basis of having determined the equipment parameters, the vehicle steering angle and the first horizontal distance, the vehicle dynamics formula can be used to calculate the current turning radius of the container stacker.

[0081] S108: Calculating a current maximum speed of the travel motor according to the device parameters, the lateral ramp angle, the first vertical distance and the current turning radius;

[0082] The current maximum speed of the travel motor is the maximum speed that the travel motor can reach at the current moment. By limiting the current maximum speed, the maximum travel speed of the container stacker can be controlled to ensure that the container stacker does not lose stability due to excessive speed.

[0083] S109: Determine a current pedal opening of the accelerator pedal, determine a target speed of the travel motor according to the current pedal opening and the current maximum speed, and control the travel motor to operate according to the target speed.

[0084] The pedal opening of the accelerator pedal indicates the degree to which the driver wants the vehicle to accelerate; for example, the current pedal opening of the accelerator pedal may be expressed in percentage form (0% indicates that the accelerator pedal is fully released, and 100% indicates that the accelerator pedal is fully depressed).

[0085] There is a certain mapping relationship between the pedal opening and the target speed of the travel motor. The target speed of the travel motor is determined according to the current pedal opening and the current maximum speed, so as to control the travel motor to work according to the target speed. Specifically, after determining the target speed, the vehicle controller can send instructions to the motor controller to adjust the speed of the travel motor to reach the target value. As a feasible implementation method, the product of the current pedal opening and the current maximum speed can be used as the target speed of the travel motor.

[0086] The present embodiment provides a rollover prevention control method for a container stacker, which is applied to the vehicle controller of the container stacker, and uses an interactive instrument, a weighing pressure sensor, a length angle sensor, a steering angle sensor, and a ramp angle sensor to respectively collect equipment parameters, a hoisting box weight, a hoisting device lifting height, a gantry tilt angle, a vehicle steering angle, and a lateral ramp angle. Based on the collected equipment parameters, hoisting box weight, hoisting device lifting height, and gantry tilt angle, the present embodiment calculates the first horizontal distance and the first vertical distance of the center of gravity of the whole vehicle relative to the center of the front axle; the present embodiment also calculates the current turning radius based on the vehicle steering angle and the first horizontal distance; the present embodiment also calculates the current maximum speed of the travel motor based on the equipment parameters, the lateral ramp angle, the first vertical distance, and the current turning radius. The present embodiment determines the target speed of the travel motor according to the current pedal opening and the calculated current maximum speed, and then adjusts the working state of the travel motor according to the target speed, thereby achieving effective control of the vehicle speed. The above process ensures that the vehicle's driving speed meets both the operating requirements and does not exceed the safety limit. Therefore, this embodiment can control the container stacker according to the actual state of the container stacker, thereby improving the anti-rollover effect.

[0087] As a feasible implementation mode, the equipment parameters include empty vehicle weight, a second horizontal distance, a sling weight and a third horizontal distance; wherein, the second horizontal distance is the horizontal distance between the empty vehicle center of gravity and the front axle center of the container forklift when the gantry is in a vertical state, and the third horizontal distance is the horizontal distance between the sling center and the front axle center of the container forklift when the gantry is vertical and the box is in a hanging state.

[0088] Accordingly, the first horizontal distance x can be calculated using the first formula according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry;

[0089] Among them, the first formula is: ;m Z represents the empty vehicle weight, x1 represents the second horizontal distance, m S represents the weight of the spreader, x2 represents the third horizontal distance, m represents the weight of the hanging box, h represents the lifting height of the spreader, and θ represents the inclination angle of the gantry.

[0090] As a feasible implementation method, the equipment parameters include empty vehicle weight, spreader weight, container height and a second vertical distance; wherein the second vertical distance is a vertical distance between an empty vehicle center of gravity and a front axle center of the container forklift when the gantry is in a vertical state;

[0091] Accordingly, the first vertical distance h can be calculated using the second formula according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoist and the inclination angle of the gantry: g ;

[0092] Among them, the second formula is ;m Z Indicates the empty vehicle weight, m S Indicates the weight of the sling, h S Indicates the height of the container, h Z It represents the second vertical distance, m represents the weight of the hoisting box, h represents the lifting height of the hoisting device, and θ represents the inclination angle of the gantry. The height of the container is the height of the container's overall dimensions.

[0093] As a feasible implementation mode, the equipment parameters include vehicle wheelbase and rear axle track;

[0094] Accordingly, the current turning radius R of the container stacker can be calculated according to the equipment parameters, the vehicle steering angle and the first horizontal distance using a third formula;

[0095] Wherein, the third formula is ; L represents the vehicle wheelbase, B2 represents the rear axle track, α represents the vehicle steering angle, and x represents the first horizontal distance.

[0096] As a feasible implementation method, the equipment parameters include safety factor, front axle track, maximum allowable speed of the travel motor, axle speed ratio and tire rolling radius;

[0097] Accordingly, the current maximum speed of the travel motor is calculated according to the equipment parameters, the lateral ramp angle, the first vertical distance and the current turning radius, including:

[0098] The fourth formula is used to calculate the current maximum travel speed v of the container stacker. max ;

[0099] The fifth formula is used to calculate the current maximum speed r of the walking motor. max ;

[0100] Wherein, the fourth formula is: ; The fifth formula is: ;

[0101] n represents the safety factor, B1 represents the front axle track, β represents the lateral ramp angle, h g represents the first vertical distance, R represents the current turning radius, g represents the acceleration due to gravity, r v Indicates the maximum speed allowed by the travel motor, i indicates the bridge speed ratio, R g Indicates the tire rolling radius, and min indicates the minimum value.

[0102] As a feasible implementation, after the travel motor is controlled to work according to the target speed, the actual speed of the travel motor can also be detected, and braking and / or alarm operations can be performed when the actual speed is too high. The specific process is as follows:

[0103] Get the actual speed r of the travel motor s If r max <r s ≤n×r max , it is determined that the container stacker is in the first state; wherein, r max Indicates the current maximum speed, n indicates a safety factor greater than 1; if r s >n×r max , it is determined that the container stacker is in the second state; if the container stacker is in the first state for a period longer than a first preset period, an alarm message is output; if the container stacker is in the second state for a period longer than a second preset period, the travel motor is braked and an alarm message is output.

[0104] The process described in the above embodiment is explained below through an embodiment in actual application.

[0105] Since container stackers are large in size, have high gantry and high center of gravity, simply limiting the speed by making the gantry higher than a certain value cannot completely avoid the rollover problem, and does not take into account the dangerous conditions that may occur when turning or driving on uneven roads. The driver mainly adjusts the vehicle speed based on experience, which affects the operating efficiency and does not actually play an active safety role. The current anti-rollover control strategy for empty container stackers is mostly to limit the speed by the gantry height. When the gantry height is higher than 12m, the speed limit is constant and does not take into account the impact of turning and load.

[0106] This embodiment proposes an anti-rollover control scheme for electric container stackers. The vehicle controller can adaptively calculate the maximum speed allowed for the vehicle based on the real-time height angle of the spreader, the lateral ramp angle of the road, the steering angle of the rear axle of the vehicle, and the weight of the container, and limit the maximum speed of the travel motor through the motor controller MCU to achieve the anti-rollover function of the vehicle. In the entire algorithm strategy, the front axle track B1, the rear axle track B2, the vehicle wheelbase L, the horizontal distance x1 from the center of gravity of the empty vehicle (excluding the spreader and cargo) in the vertical state of the gantry to the front axle, and the vertical distance h from the ground are introduced. Z , Horizontal distance from the center of the sling to the front axle when the mast is vertical and the box is hoisted x2, Weight of empty vehicle (excluding sling and cargo) m Z , Lifting device weight m S 、Container height h S , Vehicle tire rolling radius R g , Maximum allowable speed of the travel motor r v Thirteen adjustable parameters, i, axle speed ratio and safety factor n, can be set by the administrator through the interactive instrument to adjust the stability of the anti-rollover control program. The weight of the spreader is the weight of the spreader.

[0107] See also Figure 2 , Figure 2 This is a schematic diagram of the structure of an anti-rollover control system for an electric container stacker provided in an embodiment of the present application. The system mainly includes an accelerator pedal TSC, a ramp angle sensor S1, a length angle sensor ACQ, a weighing pressure sensor W, a rear axle steering angle sensor S2, an interactive bus instrument P, a vehicle controller VCU, a buzzer alarm B, a motor controller MCU and a travel motor M. The target speed and the current speed of the motor can be transmitted between the vehicle controller VCU and the motor controller MCU.

[0108] The vehicle controller controls the maximum speed of the motor by comprehensively analyzing the angle, length, load cell and accelerator pedal status, and combines the parameters set by the instrument to achieve vehicle stability and safety. In this embodiment, the bus instrument, vehicle controller and motor controller exchange information through the CAN bus; the administrator can input the following adjustable parameters through the instrument: front axle track B1, rear axle track B2, vehicle wheelbase L, horizontal distance x1 from the front axle and vertical distance h from the ground when the gantry is vertical and the hoist is lowered to the bottom. Z , Horizontal distance from the center of the sling to the front axle when the mast is vertical and the box is hoisted x2, Weight of empty vehicle (excluding sling and cargo) m Z , Lifting device weight m S 、Container height h S , Vehicle tire rolling radius R g , Maximum allowable speed of the travel motor r v, bridge speed ratio i and safety factor n; the stability of system operation is adjusted through the above thirteen adjustable parameters;

[0109] See also Figure 3 , Figure 3 A side view of a container stacker provided in an embodiment of the present application, Figure 3 The figure shows the gantry tilt angle θ, the hoisting height h of the spreader, and the container height h S , the center of gravity of the empty vehicle without the spreader G1, the center of gravity of the spreader and the container G2, the horizontal distance from the center of the spreader to the front axle when the gantry is vertical and the container is hanging x2, the horizontal distance from the center of gravity of the vehicle to the center of the front axle x, the horizontal distance from the center of gravity of the empty vehicle (excluding the spreader and cargo) to the front axle when the gantry is vertical x1, the real-time center of gravity of the vehicle G, the vertical distance from the center of gravity of the vehicle to the center of the front axle h g , The vertical distance between the center of gravity of the empty vehicle (excluding the sling and cargo) and the ground when the gantry is in a vertical state h Z .

[0110] See also Figure 4 , Figure 4 This is a top view of a container forklift provided in an embodiment of the present application, showing the center of gravity G2 of the spreader and container, the front axle track B1, the instantaneous turning radius R, the instantaneous rotation center O of the vehicle, the vehicle wheelbase L, the center of gravity G1 of the empty vehicle without the spreader, the real-time center of gravity G of the entire vehicle and the rear axle track B2.

[0111] See also Figure 5 , Figure 5 A schematic diagram of a ramp for a container stacker provided in an embodiment of the present application. Figure 5 The figure shows the real-time center of gravity G of the vehicle and the vertical distance h from the center of gravity of the vehicle to the center of the front axle. g , vehicle lateral ramp angle β and front axle track B1.

[0112] See also Figure 6 , Figure 6 This is a schematic diagram of the appearance of a container stacker provided in an embodiment of the present application, showing a gantry inclination angle of 3° and a maximum spreader height h max =21270mm, minimum height of sling h min =2200mm.

[0113] See also Figure 7 , Figure 7 A schematic diagram of the installation of a length and angle sensor provided in an embodiment of the present application shows a lifting cylinder, an outer mast crossbeam, a wire terminal bracket body, a wire box bracket body, an inner mast, a length and angle sensor ACQ and a tilt cylinder.

[0114] See also Figure 8 , Figure 8A schematic diagram of the installation of a steering angle sensor provided in an embodiment of the present application is shown in the figure, which shows a steering angle sensor and a steering axle.

[0115] The anti-rollover control method for a container stacker provided in this embodiment comprises the following steps:

[0116] Step 1: The controller obtains the customer-set adjustable parameters (i.e., the equipment parameters entered by the user through the interactive instrument) through the instrument: front axle track B1, rear axle track B2, vehicle wheelbase L, horizontal distance x1 from the center of gravity of the empty vehicle (excluding slings and cargo) to the front axle and vertical distance h from the ground when the gantry is in a vertical state Z , Horizontal distance from the center of the sling to the front axle when the mast is vertical and the box is hoisted x2, Weight of empty vehicle (excluding sling and cargo) m Z , Lifting device weight m S 、Container height h S , Vehicle tire rolling radius R g , Maximum allowable speed of the travel motor r v , bridge speed ratio i and safety factor n. In this application example, B1=3280mm, B2=2300mm, L=4550mm, x1=1771mm, h Z =2640mm,x2=2649mm,m Z =37360kg,m S =3600kg,h S =2896mm, R g =797mm, r v =3000rpm, i=41.02, n=1.2.

[0117] Step 2: The vehicle controller obtains the accelerator pedal opening value k (0~100%) by collecting the data of the accelerator pedal, obtains the vehicle lateral ramp angle β by collecting the data of the ramp angle sensor S1, obtains the hoisting height h and the gantry inclination angle θ by collecting the data of the length angle sensor, obtains the vehicle steering angle α by collecting the data of the rear axle angle sensor, and obtains the hoist box weight m by collecting the data of the weighing pressure sensor.

[0118] Step 3: Calculate the horizontal distance x (i.e., the first horizontal distance) between the center of gravity of the vehicle and the center of the front axle. The specific formula is as follows:

[0119] ;

[0120] Step 4: Calculate the instantaneous turning radius R of the vehicle center (i.e., the current turning radius). The specific formula is as follows:

[0121] ;

[0122] Step 5: Calculate the vertical distance h from the center of gravity of the vehicle to the center of the front axle g (i.e., the first vertical distance), the specific formula is as follows:

[0123] ;

[0124] Step 6: Calculate the maximum speed v allowed for the vehicle max (i.e., the current maximum driving speed), the specific formula is as follows:

[0125] ;

[0126] Step 7: Calculate the maximum allowable speed r of the vehicle's travel motor max (i.e., the current maximum speed), the specific formula is as follows:

[0127] ;

[0128] In the above formula, r v The maximum speed allowed by the travel motor is 3000 rpm in this example.

[0129] Step 8: The vehicle controller calculates the real-time speed r of the current travel motor according to the accelerator pedal opening k:

[0130] The above real-time speed r=k×r max The above method can solve the problem that the container forklift is prone to rollover when it is moving straight or turning in the empty or hanging box state, thereby improving the operation safety and operation experience.

[0131] Step 9: The vehicle controller controls the travel motor to rotate at a speed r through the motor controller MCU to ensure the vehicle's anti-rollover function. On the other hand, the speed r fed back by the motor S With the limit value r max Comparison of the execution system anti-rollover alarm strategy.

[0132] The anti-rollover alarm strategy in this embodiment is as follows:

[0133] (1) If r S ≤r max If the duration exceeds 2 seconds, the motor controller MCU will not brake and the buzzer alarm will not sound.

[0134] (2) If r max <r S ≤n×r max If the duration exceeds 2 seconds, the motor controller MCU will not brake, the buzzer alarm will sound cyclically, and the sound-stop ratio will be 1:3.

[0135] (3) r S >n×rmax If the duration exceeds 1S, the motor controller MCU brakes until the motor speed reaches 0.8×r max The buzzer alarm continues to sound.

[0136] The wire box of the above-mentioned length angle sensor ACQ is horizontally fixed to the wire box bracket body by bolts, and the wire box bracket body is fixed to the inner door frame of the vehicle by bolts; the sensor wire terminal is fixed to the wire terminal bracket body by bolts, and the wire terminal bracket body is also fixed to the outer door frame by bolts.

[0137] The ramp angle sensor S1 is fixed on the horizontal plane of the vehicle body and can measure the lateral ramp angle of the vehicle; the steering angle sensor is fixed on the steering axle and can monitor the steering angle value of the vehicle in real time.

[0138] The height value h of the spreader refers to the height value from the lower edge of the spreader lock to the ground. In this embodiment, the minimum value h of the spreader height is min =2200mm, maximum sling height h max =21270mm. Containers are divided into 8-foot 6-inch containers and 9-foot 6-inch containers, with a height value of h l They are 2591mm and 2896mm respectively. In this application, h S The value is 2.896m, whichever is greater.

[0139] The above-mentioned gantry inclination angle θ is a positive value when tilting backward and a negative value when tilting forward.

[0140] This embodiment adaptively calculates the maximum speed allowed for the vehicle based on the real-time height angle of the spreader, the lateral ramp angle of the road, the steering angle of the rear axle of the vehicle, and the weight of the container, and limits the maximum speed of the travel motor through the motor controller MCU to achieve the anti-rollover function of the vehicle, effectively improving the safety performance and driving experience of the vehicle. The control strategy of this embodiment introduces the current height value of the spreader, the cargo load value, the steering angle value, and the ramp angle value. According to the current height of the spreader, the cargo load state, the lateral angle of the ramp, and the steering angle, the maximum speed of the motor to prevent the vehicle from rolling over can be calculated in real time to prevent rolling over.

[0141] An anti-rollover control system for a container stacker provided in an embodiment of the present application is applied to a vehicle controller of the container stacker. The anti-rollover control system for the container stacker includes:

[0142] A parameter receiving module, used for receiving device parameters input by a user through an interactive instrument;

[0143] A parameter acquisition module is used to acquire the weight of the hoisting box using a weighing pressure sensor; it is also used to acquire the lifting height of the hoist and the inclination angle of the gantry using a length angle sensor; it is also used to acquire the vehicle steering angle of the container stacker using a steering angle sensor; it is also used to acquire the lateral ramp angle of the container stacker using a ramp angle sensor;

[0144] A distance calculation module, used to calculate a first horizontal distance and a first vertical distance according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry; wherein the first horizontal distance is the horizontal distance between the center of gravity of the whole vehicle of the container stacker and the center of the front axle, and the first vertical distance is the vertical distance between the center of gravity of the whole vehicle of the container stacker and the center of the front axle;

[0145] A radius calculation module, used for calculating the current turning radius of the container stacker according to the equipment parameters, the vehicle steering angle and the first horizontal distance;

[0146] A speed calculation module, used for calculating the current maximum speed of the travel motor according to the equipment parameters, the lateral ramp angle, the first vertical distance and the current turning radius;

[0147] The motor control module is used to determine the current pedal opening of the accelerator pedal, determine the target speed of the travel motor according to the current pedal opening and the current maximum speed, and control the travel motor to work according to the target speed.

[0148] The present embodiment provides a rollover prevention control method for a container stacker, which is applied to the vehicle controller of the container stacker, and uses an interactive instrument, a weighing pressure sensor, a length angle sensor, a steering angle sensor, and a ramp angle sensor to respectively collect equipment parameters, a hoisting box weight, a hoisting device lifting height, a gantry tilt angle, a vehicle steering angle, and a lateral ramp angle. Based on the collected equipment parameters, hoisting box weight, hoisting device lifting height, and gantry tilt angle, the present embodiment calculates the first horizontal distance and the first vertical distance of the center of gravity of the whole vehicle relative to the center of the front axle; the present embodiment also calculates the current turning radius based on the vehicle steering angle and the first horizontal distance; the present embodiment also calculates the current maximum speed of the travel motor based on the equipment parameters, the lateral ramp angle, the first vertical distance, and the current turning radius. The present embodiment determines the target speed of the travel motor according to the current pedal opening and the calculated current maximum speed, and then adjusts the working state of the travel motor according to the target speed, thereby achieving effective control of the vehicle speed. The above process ensures that the vehicle's driving speed meets both the operating requirements and does not exceed the safety limit. Therefore, this embodiment can control the container stacker according to the actual state of the container stacker, thereby improving the anti-rollover effect.

[0149] Furthermore, the equipment parameters include empty vehicle weight, second horizontal distance, spreader weight and third horizontal distance; wherein the second horizontal distance is the horizontal distance between the empty vehicle center of gravity and the front axle center of the container forklift when the gantry is in a vertical state, and the third horizontal distance is the horizontal distance between the spreader center and the front axle center of the container forklift when the gantry is vertical and the container is in a hoisting state;

[0150] Correspondingly, the process of the distance calculation module calculating the first horizontal distance according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry includes:

[0151] Calculating the first horizontal distance x using a first formula;

[0152] Among them, the first formula is: ;m Z represents the empty vehicle weight, x1 represents the second horizontal distance, m S represents the weight of the spreader, x2 represents the third horizontal distance, m represents the weight of the hanging box, h represents the lifting height of the spreader, and θ represents the inclination angle of the gantry.

[0153] Furthermore, the equipment parameters include empty vehicle weight, spreader weight, container height and a second vertical distance; wherein the second vertical distance is a vertical distance between an empty vehicle center of gravity and a front axle center of the container forklift when the gantry is in a vertical state;

[0154] Correspondingly, the process of the distance calculation module calculating the first vertical distance according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry includes:

[0155] The first vertical distance h is calculated using the second formula g ;

[0156] Among them, the second formula is ;m Z Indicates the empty vehicle weight, m S Indicates the weight of the sling, h S Indicates the height of the container, h Z represents the second vertical distance, m represents the weight of the hoisting box, h represents the lifting height of the sling, and θ represents the inclination angle of the gantry.

[0157] Further, the equipment parameters include vehicle wheelbase and rear axle track;

[0158] Correspondingly, the process in which the radius calculation module calculates the current turning radius of the container stacker according to the equipment parameters, the vehicle steering angle and the first horizontal distance includes:

[0159] Calculate the current turning radius R of the container stacker using the third formula;

[0160] Wherein, the third formula is ; L represents the vehicle wheelbase, B2 represents the rear axle track, α represents the vehicle steering angle, and x represents the first horizontal distance.

[0161] Furthermore, the equipment parameters include safety factor, front axle track, maximum allowable rotation speed of the travel motor, axle speed ratio and tire rolling radius;

[0162] Correspondingly, the process in which the speed calculation module calculates the current maximum speed of the travel motor according to the device parameters, the lateral ramp angle, the first vertical distance and the current turning radius includes:

[0163] The fourth formula is used to calculate the current maximum travel speed v of the container stacker. max ;

[0164] The fifth formula is used to calculate the current maximum speed r of the walking motor. max ;

[0165] Wherein, the fourth formula is: ; The fifth formula is: ;

[0166] n represents the safety factor, B1 represents the front axle track, β represents the lateral ramp angle, h g represents the first vertical distance, R represents the current turning radius, g represents the acceleration due to gravity, r v Indicates the maximum speed allowed by the travel motor, i indicates the bridge speed ratio, R g Indicates the rolling radius of the tire.

[0167] Furthermore, the process in which the motor control module determines the target speed of the travel motor according to the current pedal opening and the current maximum speed includes: taking the product of the current pedal opening and the current maximum speed as the target speed of the travel motor.

[0168] Furthermore, it also includes:

[0169] A state detection module is used to obtain the actual speed r of the walking motor after controlling the walking motor to work according to the target speed. s ; Also used if r max <r s ≤n×r max , it is determined that the container stacker is in the first state; wherein, r max Indicates the current maximum speed, n indicates the safety factor; it is also used if r s >n×r max, it is determined that the container stacker is in the second state; it is also used to output an alarm message if the container stacker continues to be in the first state for a period longer than a first preset period; it is also used to brake the travel motor and output an alarm message if the container stacker continues to be in the second state for a period longer than a second preset period.

[0170] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, which will not be repeated here.

[0171] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0172] The present application also provides an electronic device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0173] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of this application.

[0174] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A method for preventing rollover of a container stacker, characterized in that: A vehicle controller applied to a container stacker, wherein the anti-rollover control method of the container stacker comprises: receiving device parameters input by the user through the interactive instrument; Use weighing pressure sensor to collect the weight of hanging box; Use the length and angle sensor to collect the lifting height of the spreader and the tilt angle of the gantry; Using a steering angle sensor to collect the vehicle steering angle of the container stacker; Using a ramp angle sensor to collect the lateral ramp angle of the container stacker; Calculate the first horizontal distance and the first vertical distance according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry; wherein the first horizontal distance is the horizontal distance between the center of gravity of the whole vehicle of the container stacker and the center of the front axle, and the first vertical distance is the vertical distance between the center of gravity of the whole vehicle of the container stacker and the center of the front axle; Calculating a current turning radius of the container stacker according to the equipment parameters, the vehicle steering angle and the first horizontal distance; Calculating the current maximum speed of the travel motor according to the equipment parameters, the lateral ramp angle, the first vertical distance and the current turning radius; The current pedal opening of the accelerator pedal is determined, the target speed of the travel motor is determined according to the current pedal opening and the current maximum speed, and the travel motor is controlled to operate according to the target speed.

2. The anti-rollover control method for a container stacker according to claim 1, characterized in that: The equipment parameters include empty vehicle weight, second horizontal distance, spreader weight and third horizontal distance; wherein the second horizontal distance is the horizontal distance between the empty vehicle center of gravity and the front axle center of the container forklift when the gantry is in a vertical state, and the third horizontal distance is the horizontal distance between the spreader center and the front axle center of the container forklift when the gantry is in a vertical state and the container is hoisted; Accordingly, the first horizontal distance is calculated according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry, including: Calculating the first horizontal distance x using a first formula; Among them, the first formula is: ;m Z represents the empty vehicle weight, x1 represents the second horizontal distance, m S represents the weight of the spreader, x2 represents the third horizontal distance, m represents the weight of the hanging box, h represents the lifting height of the spreader, and θ represents the inclination angle of the gantry.

3. The anti-rollover control method for a container stacker according to claim 1, characterized in that: The equipment parameters include empty vehicle weight, spreader weight, container height and second vertical distance; wherein the second vertical distance is the vertical distance between the empty vehicle center of gravity and the front axle center of the container forklift when the gantry is in a vertical state; Accordingly, the first vertical distance is calculated according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry, including: The first vertical distance h is calculated using the second formula g ; Among them, the second formula is ;m Z Indicates the empty vehicle weight, m S Indicates the weight of the sling, h S Indicates the height of the container, h Z represents the second vertical distance, m represents the weight of the hoisting box, h represents the lifting height of the sling, and θ represents the inclination angle of the gantry.

4. The anti-rollover control method for a container stacker according to claim 1, characterized in that: The equipment parameters include vehicle wheelbase and rear axle track; Accordingly, calculating the current turning radius of the container stacker according to the equipment parameter, the vehicle steering angle and the first horizontal distance includes: Calculate the current turning radius R of the container stacker using the third formula; Wherein, the third formula is ; L represents the vehicle wheelbase, B2 represents the rear axle track, α represents the vehicle steering angle, and x represents the first horizontal distance.

5. The anti-rollover control method for a container stacker according to claim 1, characterized in that: The equipment parameters include safety factor, front axle track, maximum allowable rotation speed of the travel motor, axle speed ratio and tire rolling radius; Accordingly, the current maximum speed of the travel motor is calculated according to the equipment parameters, the lateral ramp angle, the first vertical distance and the current turning radius, including: The fourth formula is used to calculate the current maximum travel speed v of the container stacker. max ; The fifth formula is used to calculate the current maximum speed r of the walking motor. max ; Wherein, the fourth formula is: ; The fifth formula is: ; n represents the safety factor, B1 represents the front axle track, β represents the lateral ramp angle, h g represents the first vertical distance, R represents the current turning radius, g represents the acceleration due to gravity, r v Indicates the maximum speed allowed by the travel motor, i indicates the bridge speed ratio, R g Indicates the rolling radius of the tire.

6. The method for preventing rollover of a container stacker according to claim 1, characterized in that: Determining the target speed of the travel motor according to the current pedal opening and the current maximum speed includes: The product of the current pedal opening and the current maximum rotation speed is used as the target rotation speed of the travel motor.

7. The anti-rollover control method for a container stacker according to claim 1, characterized in that: After controlling the travel motor to work according to the target speed, the method further includes: Get the actual speed r of the travel motor s ; If r max <r s ≤n×r max , it is determined that the container stacker is in the first state; wherein, r max Indicates the current maximum speed, and n indicates the safety factor; If r s >n×r max , it is determined that the container stacker is in the second state; If the container stacker is in the first state for a period longer than a first preset period, outputting an alarm message; If the container stacker is in the second state for a period longer than a second preset period, the travel motor is braked and an alarm message is output.

8. A rollover prevention control system for a container stacker, characterized in that: A vehicle controller applied to a container stacker, wherein the anti-rollover control system of the container stacker comprises: A parameter receiving module, used for receiving device parameters input by a user through an interactive instrument; A parameter acquisition module is used to acquire the weight of the hoisting box using a weighing pressure sensor; it is also used to acquire the lifting height of the hoist and the inclination angle of the gantry using a length angle sensor; it is also used to acquire the vehicle steering angle of the container stacker using a steering angle sensor; it is also used to acquire the lateral ramp angle of the container stacker using a ramp angle sensor; A distance calculation module, used to calculate a first horizontal distance and a first vertical distance according to the equipment parameters, the weight of the hoisting box, the lifting height of the hoisting device and the inclination angle of the gantry; wherein the first horizontal distance is the horizontal distance between the center of gravity of the whole vehicle of the container stacker and the center of the front axle, and the first vertical distance is the vertical distance between the center of gravity of the whole vehicle of the container stacker and the center of the front axle; A radius calculation module, used for calculating the current turning radius of the container stacker according to the equipment parameters, the vehicle steering angle and the first horizontal distance; A speed calculation module, used for calculating the current maximum speed of the travel motor according to the equipment parameters, the lateral ramp angle, the first vertical distance and the current turning radius; The motor control module is used to determine the current pedal opening of the accelerator pedal, determine the target speed of the travel motor according to the current pedal opening and the current maximum speed, and control the travel motor to work according to the target speed.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the anti-rollover control method for a container stacker according to any one of claims 1 to 7 are implemented.

10. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the anti-rollover control method for a container stacker according to any one of claims 1 to 7 are implemented.

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