Empty box lifting appliance electrical protection system and control method

Abstract

The invention discloses an electric protection system and control method for an empty box lifting appliance, and the electric protection control method for the empty box lifting appliance comprises an unlocking control method: a controller judges whether the empty box lifting appliance is in a box landing state or not according to a signal of a box landing sensor; according to the signal of the locking sensor, judging whether the device is in a locking state or not; if the box is in the landing state and is in the locking state, the unlocking operation is allowed to be executed; otherwise, the unlocking operation is not allowed to be executed. And the action of the lifting appliance is controlled after the independent sensor judges the box-touching, unlocking and locking states, so that the occurrence of safety accidents and the wrong use of equipment are avoided.

Description

Technical Field

[0001] The invention relates to the field of container operation, and in particular to an electrical protection system and a control method for an empty container hoist. Background Art

[0002] The lifting equipment for empty containers usually contains two or more rotary lock devices that can be rotated by manual control. After the rotary lock device is inserted into the lifting hole of the container, the lock pin can be firmly stuck in the lifting hole by rotating it in the forward direction and cannot be dislodged, thereby realizing the locking operation, thereby driving the entire container for logistics transportation; and when the lock pin is rotated in the reverse direction, it can be restored to the initial state, and the lock pin can be smoothly dislodged from the lifting hole to achieve the purpose of unlocking. Generally, the rotary lock device is controlled manually. However, when the operator is in a situation that does not meet the safety requirements and the requirements for the use of the empty container lifting equipment for any reason, he cannot make an accurate judgment on the current state, and then mistakenly controls the opening and closing of the rotary lock device, which may cause a safety accident in serious cases, or the lifting accessories cannot be used well, resulting in malfunctions and low efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide an electrical protection system and control method for an empty box sling, which controls the sling movement after judging the state of the box, unlocking, and locking based on independent sensors, so as to avoid the occurrence of safety accidents and incorrect use of the equipment.

[0004] An electrical protection control method for an empty container sling, the method comprising an unlocking control method: a controller determines whether the container is in a container-on state according to a signal from a container-on sensor; and determines whether the container is in a locked state according to a signal from a locked sensor; if the container is in a container-on state and in a locked state, unlocking operation is allowed; otherwise, unlocking operation is not allowed.

[0005] In one of the embodiments, the method also includes a locking control method: the controller determines whether the box is in a closed state based on the signal of the box closing sensor; and determines whether the box is in an unlocked state based on the signal of the unlocking sensor; if the box is in a closed state and in an unlocked state, the locking operation is allowed; otherwise, the locking operation is not allowed.

[0006] In one of the embodiments, the method also includes a forward and backward tilt control method: the controller determines whether it is in an unlocked state based on the signal of the unlocking sensor; and determines whether it is in a suspended state based on the signal of the box sensor; if it is in an unlocked state and in a suspended state, the forward and backward tilt operation is allowed; otherwise, the forward and backward tilt operation is not allowed.

[0007] In one of the embodiments, the method also includes a lifting control method: the controller determines whether it is in an unlocking abnormality based on the signal of the unlocking sensor; and determines whether it is in a locking abnormality based on the signal of the locking sensor; if it is not in an unlocking abnormality and not in a locking abnormality, the lifting operation is allowed; otherwise, the lifting operation is not allowed.

[0008] In one of the embodiments, judging whether the box is in a closed state according to the signal of the box closing sensor includes the following judging method: the controller receives the signal of at least two of the box closing sensors; if all of the box closing sensors are powered on, it is judged to be in a closed state; if all of the box closing sensors are powered off, it is judged to be in a suspended state; if some of the box closing sensors are powered on and other part of the box closing sensors are powered off, it is judged to be a box closing abnormality; or, judging whether the box is in a locked state according to the signal of the locking sensor includes the following judging method: the controller receives the signal of at least two of the locking sensors; if all of the locking sensors are powered on, it is judged to be in a locked state; if some of the locking sensors are powered on and other part of the locking sensors are powered off, it is judged to be a locking abnormality; or, judging whether the box is in an unlocked state according to the signal of the unlocking sensor includes the following judging method: the controller receives the signal of at least two of the unlocking sensors; if all of the unlocking sensors are powered on, it is judged to be in an unlocked state; if some of the unlocking sensors are powered on and other part of the unlocking sensors are powered off, it is judged to be an unlocking abnormality.

[0009] In one of the embodiments, the method also includes an indicator light control method: the controller determines the state of the box according to the signal of the box-locking sensor, and when it is determined to be in the box-locking state, the box-locking indicator light is always on; when it is determined to be abnormal, the box-locking indicator light flashes; when the determined state is not one of the above two states, the box-locking indicator light is always off; or, the controller determines the locked state according to the signal of the locking sensor, and when it is determined to be in the locked state, the locking indicator light is always on; when it is determined to be abnormal, the locking indicator light flashes; when the determined state is not one of the above two states, the locking indicator light is always off; or, the controller determines the unlocked state according to the signal of the unlocking sensor, and when it is determined to be in the unlocked state, the unlocking indicator light is always on; when it is determined to be abnormal, the unlocking indicator light flashes; when the determined state is not one of the above two states, the unlocking indicator light is always off.

[0010] An electrical protection system for an empty box sling, comprising a controller, at least two box-carrying sensors, and at least two locking sensors; the controller is used to execute any of the methods described above; the box-carrying sensors are used to detect whether the sling is in place on the top of the empty box, and each of the box-carrying sensors is arranged at a different detection point of the sling; the locking sensors are used to detect whether the rotary lock is locked in place, and each of the locking sensors is arranged at a different detection point of the sling; the box-carrying sensors are connected to the controller, and the locking sensors are connected to the controller.

[0011] In one of the embodiments, an electrical protection system for an empty box sling further includes at least two unlocking sensors, wherein the unlocking sensors are connected to the controller, and the unlocking sensors are used to detect whether the rotary lock is unlocked in place, and each of the unlocking sensors is arranged at a different detection point of the sling.

[0012] In one of the embodiments, when the sling is landing a box on the top of an empty box, the box landing sensor is energized, otherwise the box landing sensor is de-energized; when the rotary lock is locked in place, the locking sensor is energized, otherwise the locking sensor is de-energized; when the rotary lock is unlocked in place, the unlocking sensor is energized, otherwise the unlocking sensor is de-energized.

[0013] In one of the embodiments, an electrical protection system for an empty container sling further includes a container indicator light, an unlock indicator light, and a lock indicator light, and the container indicator light, the unlock indicator light, and the lock indicator light are connected to the controller.

[0014] Compared with the prior art, the electrical protection system and control method of the empty container sling of the present invention have the following advantages:

[0015] 1. The present invention comprehensively judges the state of the sling according to the box loading, unlocking and locking conditions, controls and limits the unlocking operation, locking operation, forward and backward tilting operation, and lifting and lowering operation, thereby improving the safety of the operation.

[0016] 2. The present invention is provided with more than two box-locking sensors, which are distributed at different measuring points. The box-locking situation is comprehensively judged according to the signals of all the box-locking sensors, and separate unlocking sensors and locking sensors are provided to monitor the unlocking and locking situations separately, so as to restore the loading state of the sling as comprehensively as possible and further improve the safety of the operation.

[0017] 3. An indicator light is provided, which provides prompts on site in the form of constant on, flashing or constant off, so as to facilitate on-site personnel to quickly monitor and deal with the situation in a timely manner.

[0018] The present invention will become more apparent from the following description taken in conjunction with the accompanying drawings, which are used to illustrate embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 The structure of the electrical protection system of the empty container hoist according to the embodiment of the present invention is shown in FIG. Figure 1 ;

[0021] Figure 2 The structure of the electrical protection system of the empty container hoist according to the embodiment of the present invention is shown in FIG. Figure 2 ;

[0022] Figure 3 is a schematic diagram of the structure of the rotary lock in an embodiment of the present invention;

[0023] Figure 4 2 is a schematic diagram of the structure of the rotary lock unlocking in an embodiment of the present invention;

[0024] Figure 5 1 is a schematic diagram of a process for determining a box-loading state in an embodiment of the present invention;

[0025] Figure 6 1 is a schematic diagram of a blocking state determination process in an embodiment of the present invention;

[0026] Figure 7 1 is a schematic diagram of a flow chart of determining an unlocking state in an embodiment of the present invention;

[0027] Figure 8 is a schematic flow chart of an unlocking control method in an embodiment of the present invention;

[0028] Fig. 9 is a flow chart of a locking control method in an embodiment of the present invention;

[0029] Fig.10 is a schematic flow chart of a forward and backward tilt control method in an embodiment of the present invention;

[0030] Fig.11 is a flow chart of a lifting control method in an embodiment of the present invention;

[0031] Fig.12 1 is a flow chart of a method for controlling a case indicator light in an embodiment of the present invention;

[0032] Fig.13 is a flow chart of a method for controlling a locking indicator light in an embodiment of the present invention;

[0033] Fig.14It is a flow chart of the unlock indicator light control method in an embodiment of the present invention.

[0034] Among them, 1. Empty box lifting device, 2. Rotary lock, 3. Lock pin cylinder, 4. Corner piece, 5. Lock hole, 6. Box landing sensor, 7. Locking sensor, 8. Unlocking sensor, 9. Detection plate, 10. Box landing rod. DETAILED DESCRIPTION

[0035] Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0036] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention 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 limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In this embodiment, Figure 1-14 As shown, the empty container lifting device 1 takes a reach stacker as an example, a corner piece 4 is provided at the top corner of the container, the lifting device 1 is provided with a rotary lock device for locking the container, the corner piece 4 is provided with a locking hole 5, and the rotary lock 2 of the rotary lock device can be inserted into the locking hole 5 of the corner piece 4 and rotated to lock, as shown in FIG. Figure 1 As shown. The rotary lock 2 can rotate within the range of 0° to 90°, and the lock pin cylinder 3 controls the rotation state of the rotary lock by its extension and retraction action; thereby achieving the locking and unlocking operation with the container corner fitting 4; the unlocking sensor 8 and the locking sensor 7 are arranged near the lock pin cylinder 3, so that the detection plate 9 fixed on the lock pin cylinder 3 can be detected when the lock pin cylinder 3 is in a fully extended state and a retracted state; when the lock pin cylinder 3 is in a fully extended state, the rotary lock 2 is in a 90° state, and the state with the corner fitting 4 is in a locked state, as shown in FIG. Figure 3 As shown, at this time, the locking sensor 7 is powered, and the other states are de-energized; and when the lock pin cylinder 3 is fully retracted, the rotary lock is at 0°, and the state of the angle piece 4 is unlocked, as shown in FIG. Figure 4As shown, the unlocking sensor 8 is powered at this time, and is powered off in other states. However, this embodiment is not limited thereto, and other methods, other rotary lock structures, or other sensors may be used to perform unlocking detection or locking detection, including but not limited to using a visual sensor or an infrared sensor as an unlocking sensor or a locking sensor and arranging them accordingly.

[0039] like Figure 2 As shown, a plurality of retractable spring-loaded box-engaging rods 10 are provided at the position where the bottom of the sling 1 contacts the top of the empty box. The box-engaging rods 10 can perform ejection and compression movements. In the absence of external force, the box-engaging rods 10 will be reset to the ejection state due to the action of the spring. When there is sufficient external force pressing the box-engaging end of the box-engaging rod 10, the spring of the box-engaging rod device will be compressed, so that the box-engaging rod 10 is in a compressed state; the box-engaging sensor 6 is arranged above the direction of the telescopic movement of the box-engaging rod, which can detect the telescopic movement of the box-engaging rod 10, and then detect whether the box-engaging rod is in a compressed state. When the box-engaging rod 10 is in a compressed state, the box-engaging sensor 6 will be induced to be energized; when the box-engaging rod 10 is in a pop-up state, the box-engaging sensor 6 will not be induced and will lose power. However, this embodiment is not limited thereto, and other forms of box-engaging sensors or other methods of detecting the box-engaging condition may also be used.

[0040] In this embodiment, an electrical protection system for an empty box hoist includes at least two box placement sensors, at least two locking sensors, and a controller; the controller is used to execute any one of the control methods described below, the box placement sensor is used to detect whether the hoist is in place on the top of the empty box, and each box placement sensor is set at a different detection point of the hoist; the locking sensor is used to detect whether the rotary lock is locked in place, and each locking sensor is set at a different detection point of the hoist; the box placement sensor is connected to the controller, and the locking sensor is connected to the controller. When the hoist is in place on the top of the empty box, the box placement sensor is energized, otherwise the box placement sensor loses power; when the rotary lock is locked in place, the locking sensor is energized, otherwise the locking sensor loses power.

[0041] In this embodiment, an electrical protection system for an empty container sling further includes at least two unlocking sensors, the unlocking sensors are used to detect whether the rotary lock is unlocked in place, and each unlocking sensor is arranged at a different detection point of the sling. When the rotary lock is unlocked in place, the unlocking sensor is energized, otherwise the unlocking sensor loses power.

[0042] This embodiment determines the box closing, locking and unlocking conditions according to the signals of each sensor:

[0043] (1) Judging the box landing status according to the signals of the box landing sensors, including the following judging methods: receiving signals from at least two box landing sensors; if all the box landing sensors are powered on, judging it is in the box landing status; if all the box landing sensors are powered off, judging it is in the suspended status; if some of the box landing sensors are powered on and other part of the box landing sensors are powered off, judging it is abnormal box landing.

[0044] For example, two box placement sensors are set, namely, box placement sensor No. 1 and box placement sensor No. 2. A judgment method of traversing each sensor is adopted, and a comprehensive judgment is made based on the status of all sensors. The specific judgment method flow is as follows: Figure 5 As shown:

[0045] ①: Determine whether the No. 1 box sensor is powered. If it is powered, proceed to step ②; if not, proceed to step ③;

[0046] ②: Determine whether the No. 2 box loading sensor is powered. If powered, it is determined to be in the box loading state. If not powered, it is determined to be abnormal;

[0047] ③: Determine whether the No. 2 box-locking sensor is energized. If it is energized, it is judged as a box-locking abnormality. If it is not energized, it is judged as a suspended state.

[0048] The present invention is provided with more than two box landing sensors, which are distributed at different measuring points. Each box landing sensor can detect the box landing status at its location separately. Only when all the box landing sensors are powered on and detect that the box is normally landed, it indicates that all the box landing surfaces of the empty container sling are in contact with the upper top surface of the container, which means that the rotary lock of the sling has been fully extended into the lifting hole of the container corner fitting, and it is determined to be in the box landing state at this time; however, as long as one of the box landing sensors loses power, it indicates that the container fails to properly contact the empty container sling. If some of the box landing sensors lose power and some of the box landing sensors are powered on, it indicates that the container is in contact with a part of the contact surface and fails to contact with another part of the contact surface, and it is determined to be abnormal in the box landing; if all the box landing sensors lose power, it means that the surface container is not in contact with all the contact surfaces of the sling, the sling and the container are separated, and it is determined to be in a suspended state. In this embodiment, the box landing sensor is powered on to indicate that the box is in place, so as to further improve the safety of the system, but it is not limited to this embodiment, and other signals can also be used to represent that the box is in place.

[0049] (ii) judging the locking state according to the signal of the locking sensor, including the following judging method: receiving the signal of at least two locking sensors; if all the locking sensors are powered on, judging it is a locking state; if some of the locking sensors are powered on and other locking sensors are powered off, judging it is a locking abnormality.

[0050] For example, two locking sensors are set, namely, locking sensor No. 1 and locking sensor No. 2. A judgment method of traversing each sensor is adopted, and a comprehensive judgment is made in combination with the status of all sensors. The specific judgment method flow is as follows Figure 6 As shown:

[0051] ①: Determine whether the No. 1 locking sensor is powered. If it is powered, proceed to step ②; if not, proceed to step ③;

[0052] ②: Determine whether the No. 2 locking sensor is energized. If it is energized, it is determined to be in a locked state. If it is not energized, it is determined to be a locked abnormality;

[0053] ③: Determine whether the No. 2 locking sensor is energized. If it is energized, it is determined to be a locking abnormality.

[0054] The present invention is provided with more than two locking sensors, which are distributed near each rotary lock. Each locking sensor can detect the corresponding rotary lock separately. Only when all locking sensors are powered on and detect that all rotary locks are locked normally, it is determined to be in a locked state, which means that all rotary locks are locked correctly; however, as long as one locking sensor loses power, it indicates that at least one rotary lock cannot be locked normally, which is determined to be an abnormal locking state. In this embodiment, the power on of the locking sensor indicates that the locking is in place, so as to further improve the safety of the system, but it is not limited to this embodiment, and other signals can also be used to represent the locking in place.

[0055] (iii) judging the unlocking state according to the signal of the unlocking sensor, including the following judging method: receiving the signal of at least two unlocking sensors; if all the unlocking sensors are powered on, judging it is in the unlocking state; if some of the unlocking sensors are powered on and other unlocking sensors are powered off, judging it is an unlocking abnormality.

[0056] For example, two box closing sensors are set, namely, unlocking sensor No. 1 and unlocking sensor No. 2. The judgment method of traversing each sensor is adopted, and the comprehensive judgment is made in combination with the status of all sensors. The specific judgment method flow is as follows Figure 7 As shown:

[0057] ①: Determine whether the No. 1 unlocking sensor is powered. If it is powered, proceed to step ②; if not, proceed to step ③;

[0058] ②: Determine whether the No. 2 unlocking sensor is powered. If powered, it is determined to be unlocked; if not powered, it is determined to be unlocked abnormally;

[0059] ③: Determine whether the No. 2 unlocking sensor is energized. If so, it is determined that the unlocking is abnormal.

[0060] The present invention is provided with more than two unlocking sensors, which are distributed near each rotary lock. Each unlocking sensor can detect the corresponding rotary lock separately. Only when all unlocking sensors are powered on and detect that all rotary locks are unlocked normally, it is determined to be unlocked, which means that all rotary locks are unlocked correctly; however, as long as one unlocking sensor loses power, it indicates that at least one rotary lock cannot be unlocked normally, which is determined to be unlocking abnormality. In this embodiment, the unlocking sensor is powered on to indicate that the unlocking is in place, so as to further improve the security of the system, but it is not limited to this embodiment, and other signals can also be used to represent that the unlocking is in place.

[0061] As mentioned above, when the box closing sensor is energized, it means that the box is closed normally at that position, when the locking sensor is energized, it means that the locking at that position is normal, and when the unlocking sensor is energized, it means that the unlocking is normal. The sensor is energized only when it is in a normal state. When an abnormality occurs in any link and causes the sensor to lose power, as long as there is a sensor that loses power, it will not be judged as a normal state, thereby further improving the safety of the entire system.

[0062] In this embodiment, an electrical protection control method for an empty box sling includes: an unlocking control method, a locking control method, a forward and backward tilting control method, and a lifting control method.

[0063] (1) Unlocking control method:

[0064] The controller determines whether the box is in the box-in state according to the signal of the box-in sensor; and determines whether the box is in the box-in state according to the signal of the box-in sensor;

[0065] If the box is in the closed state and locked, the unlocking operation is allowed; otherwise, the unlocking operation is not allowed.

[0066] The specific control process is as follows Figure 8 As shown:

[0067] ①: Determine whether the box is locked. If yes, proceed to step ②. Otherwise, unlocking is not allowed.

[0068] ②: Determine whether it is in a locked state. If so, unlocking is allowed; otherwise, unlocking is not allowed.

[0069] Among them, allowing unlocking can be that the controller sends a signal to execute unlocking or a signal to permit unlocking to the rotary lock device, and not allowing unlocking can be that the controller sends a signal not to unlock to the rotary lock device, or it can be that the controller is prohibited from sending a signal to allow unlocking to the rotary lock device. It is not limited to this and can also be implemented in other ways.

[0070] The present invention is provided with a container landing sensor dedicated to detecting whether the container is properly docked with the spreader, and the container landing sensor is used to determine whether the spreader is properly docked with the empty container; and a locking sensor is provided specifically for detecting whether the lock is in place, and the signal of the locking sensor is used to determine whether the lock is in place, thereby achieving more accurate detection of the container landing and locking status.

[0071] The container-engaging state means that all the container-engaging surfaces of the empty container spreader are in contact with the upper surface of the container, indicating that the rotary locks of the spreader have all been inserted into the lifting holes of the container corner fittings, which means that the spreader has been docked with the container and related operations of opening and closing the locks can be performed.

[0072] The locked state means that all the locking pin cylinders of the empty container lifting device are fully extended, the rotary lock is at 90°, and the rotary lock cannot be disengaged from the container corner fitting lifting hole. This state is the locked state, and the rotary lock closes normally and is locked in place.

[0073] Therefore, only when it is judged to be in the loaded and locked state, which means that the container is normally locked on the spreader, is the unlocking operation allowed in this state, so as to avoid damage caused by unlocking operation when the container is abnormally loaded, and also avoid damage caused by repeated unlocking operations.

[0074] (II) Locking control method:

[0075] The controller determines whether the box is in the closed state according to the signal of the box closing sensor; and determines whether the box is in the unlocked state according to the signal of the unlocking sensor;

[0076] If the box is in the loaded state and unlocked state, the locking operation is allowed; otherwise, the locking operation is not allowed.

[0077] The specific control process is as follows Fig. 9 As shown:

[0078] ①: Determine whether it is in the box-loading state, if yes, go to step ②, otherwise locking is not allowed;

[0079] ②: Determine whether it is in unlocked state, if yes, lock is allowed, otherwise lock is not allowed.

[0080] Among them, allowing locking can be the controller sending a signal to the rotary lock device to execute locking or a signal to permit locking, and not allowing locking can be the controller sending a signal to the rotary lock device not to allow locking, or it can be prohibiting the controller from sending a signal to the rotary lock device to allow locking. The present invention is not limited to this and can also be implemented in other ways.

[0081] The present invention is provided with an unlocking sensor which is specially used for detecting whether the unlocking is in place, and determines whether the unlocking is in place through the signal of the unlocking sensor, so as to realize more accurate detection of the unlocking situation.

[0082] The unlocked state refers to the state in which all the locking pin cylinders of the empty container spreader are fully retracted, the rotary lock is at 0°, and the rotary lock can be disengaged from the container corner fitting lifting hole. This state is considered to be unlocked, and the rotary lock is unlocked normally and in place. Therefore, only when it is judged to be in the container loading state and locked state, which means that the container and the spreader are docked normally, the lock hole is inserted into the rotary lock and is in the unlocked state, the locking operation is allowed in this state to avoid damage caused by performing the locking operation under abnormal container loading, and to avoid damage caused by repeated locking operations.

[0083] (III) Forward and backward tilt control method:

[0084] The controller determines whether it is in the unlocked state according to the signal of the unlocking sensor; and determines whether it is in the suspended state according to the signal of the box closing sensor;

[0085] If it is in the unlocked state and in the suspended state, the forward and backward tilting operation is allowed; otherwise, the forward and backward tilting operation is not allowed.

[0086] The specific control process is as follows Fig.10 As shown:

[0087] ①: Determine whether it is in unlocked state, if yes, go to step ②, otherwise, forward and backward tilting operation is not allowed;

[0088] ②: Determine whether it is in a suspended state. If so, the forward and backward tilting operation is allowed. Otherwise, the forward and backward tilting operation is not allowed.

[0089] Among them, allowing the forward and backward tilting can be that the controller sends a signal to the boom drive device of the spreader to execute the forward and backward tilting or a signal to permit the forward and backward tilting, and not allowing the forward and backward tilting can be that the controller sends a signal to the boom drive device of the spreader not to allow the forward and backward tilting, or it can be that the controller is prohibited from sending a signal to the spreader to allow the forward and backward tilting. The present invention is not limited to this and can also be implemented in other ways.

[0090] The forward and backward tilt control is used to control the boom of the spreader to change the forward and backward tilt angle. When the spreader is loaded with containers, the forward and backward tilt operation is not allowed. Specifically, in the unlocked state, it means that the spreader is not locked with the container, and in the suspended state, it means that the container and the spreader are completely separated. Only when it is in the unlocked state and suspended state at the same time, it means that the spreader has completely unloaded the container, and the forward and backward tilt operation is allowed at this time; otherwise, in other cases, it cannot be confirmed whether the spreader has completely unloaded the container, and the forward and backward tilt operation is not allowed.

[0091] (IV) Lifting and lowering control method:

[0092] The controller determines whether the unlocking is abnormal according to the signal of the unlocking sensor; and determines whether the locking is abnormal according to the signal of the locking sensor;

[0093] If there is no unlocking abnormality and no locking abnormality, the lifting operation is allowed; otherwise, the lifting operation is not allowed.

[0094] Preferably, when there is no unlocking abnormality and no locking abnormality, the lifting operation and the lowering operation are allowed; in other cases, the lowering operation is allowed but the lifting operation is not allowed. The lifting operation is to control the lifting or lowering of the spreader. The lifting operation is allowed only when the spreader is empty or normally loaded with containers. Once the unlocking abnormality or the locking abnormality occurs, only the lowering operation is allowed but the lifting operation is not allowed, so as to ensure the safety of the operation.

[0095] The specific control process is as follows Fig.11 As shown:

[0096] ①: Determine whether the unlocking is abnormal. If yes, lifting is not allowed but lowering is allowed. Otherwise, proceed to step ②;

[0097] ②: Determine whether it is a locking abnormality. If so, lifting is not allowed and lowering is allowed. Otherwise, lifting is allowed.

[0098] Among them, allowing lifting can be that the controller sends a signal to execute lifting or a signal to permit lifting to the drive device of the spreader, and not allowing lifting can be that the controller sends a signal to the drive device of the spreader not to allow lifting, or it can be that the controller is prohibited from sending a signal to the spreader to allow lifting. The present invention is not limited to this and can also be implemented in other ways.

[0099] However, it is not limited to this embodiment, and the following lifting control process can also be adopted:

[0100] ① The controller determines whether it is in a locking abnormality according to the signal of the locking sensor: if it is, the lifting operation is not allowed, but the lowering operation is allowed; otherwise, it goes to step ②;

[0101] ② According to the signal of the unlocking sensor, determine whether it is in an unlocking abnormality: if it is, the lifting operation is not allowed, and the lowering operation is allowed; otherwise, the lifting operation is allowed.

[0102] (V) Traffic light control method

[0103] Preferably, for the convenience of on-site management and monitoring, in this embodiment, an electrical protection system for an empty container sling further includes a container indicator light, an unlock indicator light, and a lock indicator light, which are connected to the controller.

[0104] An electrical protection control method for an empty container sling also includes an indicator light control method:

[0105] The signal of the box loading sensor determines whether it is in the box loading state. When it is determined to be in the box loading state, the box loading indicator light is always on; when it is determined to be abnormal, the box loading indicator light flashes; when the state is not in the above two states, the box loading indicator light is always off; the control process is as follows Fig.12 shown.

[0106] According to the signal of the locking sensor, after judging whether it is in the locked state, when it is judged to be in the locked state, the locking indicator light is always on; when it is judged to be locked abnormally, the locking indicator light flashes; when the judged state is not the above two states, the locking indicator light is always off; the control process is as follows Fig.13 shown.

[0107] According to the signal of the unlocking sensor, after judging whether it is in the unlocking state, when it is judged to be in the unlocking state, the unlocking indicator light is always on; when it is judged to be unlocking abnormality, the unlocking indicator light flashes; when the judged state is not the above two states, the unlocking indicator light is always off; the control process is as follows Fig.14 shown.

[0108] It is convenient to quickly judge the loading status of the spreader according to different light signals.

[0109] Preferably, real-time monitoring can also be set up, for example, 3ms or 5ms is set as a monitoring cycle, and the signals of the box sensor, unlocking sensor, and locking sensor are collected in each cycle, so as to monitor the status of the spreader in time and take corresponding control strategies in time.

[0110] The present invention comprehensively judges and controls the unlocking operation, locking operation, forward and backward tilting operation, and lifting operation according to the box-stuck state, locked state, and unlocked state. This embodiment judges the box-stuck state according to multiple box-stuck sensors, judges the locked state according to multiple locking sensors, and judges the unlocked state according to multiple unlocking sensors, but is not limited to this embodiment. In order to realize the comprehensive judgment and control of the unlocking operation, locking operation, forward and backward tilting operation, and lifting operation according to the box-stuck state, locked state, and unlocked state, other methods can also be used to judge the box-stuck state, locked state, and unlocked state. Taking the detection and judgment of the box-stuck state as an example (the methods for the locked state and the unlocked state are similar), they include but are not limited to the following examples: Example 1: A box-stuck sensor is set, and the box-stuck sensor is equipped with a multi-point detection mechanism. Only when the multi-point boxes are in place can the multi-point detection mechanism trigger the box-stuck sensor to send a signal that the box-stuck state is reached; Example 2: A single box-stuck sensor is set, and the box-stuck state is judged only by the single sensor; Example 3: A visual sensor is set, and the position deviation of the detection image is detected to judge the box-stuck state, abnormal state, and suspended state.

[0111] The present invention has been described above in conjunction with the best embodiments, but the present invention is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations based on the essence of the present invention.

Claims

1. An empty container sling electrical protection control method, characterized in that: The method comprises an unlocking control method: The controller determines whether the box is in the box-in state according to the signal of the box-in sensor; and determines whether the box is in the box-in state according to the signal of the box-in sensor; If the box is in the closed state and locked, the unlocking operation is allowed; otherwise, the unlocking operation is not allowed.

2. The electrical protection control method for an empty container sling according to claim 1, characterized in that: The method also includes a locking control method: The controller determines whether the box is in the closed state according to the signal of the box closing sensor; and determines whether the box is in the unlocked state according to the signal of the unlocking sensor; If the box is in the loaded state and unlocked state, the locking operation is allowed; otherwise, the locking operation is not allowed.

3. The electrical protection control method for an empty container sling according to claim 1, characterized in that: The method also includes a forward and backward tilt control method: The controller determines whether it is in the unlocked state according to the signal of the unlocking sensor; and determines whether it is in the suspended state according to the signal of the box closing sensor; If it is in the unlocked state and in the suspended state, the forward and backward tilting operation is allowed; otherwise, the forward and backward tilting operation is not allowed.

4. The electrical protection control method for an empty container sling according to claim 1, characterized in that: The method also includes a lifting control method: The controller determines whether the unlocking is abnormal according to the signal of the unlocking sensor; and determines whether the locking is abnormal according to the signal of the locking sensor; If there is no unlocking abnormality and no locking abnormality, the lifting operation is allowed; otherwise, the lifting operation is not allowed.

5. An empty container sling electrical protection control method according to any one of claims 1 to 4, characterized in that: According to the signal of the box placing sensor, it is judged whether it is in the box placing state, including the following judgment method: the controller receives the signal of at least two of the box placing sensors; if all the box placing sensors are powered on, it is judged to be in the box placing state; if all the box placing sensors are powered off, it is judged to be in the suspended state; if some of the box placing sensors are powered on and other part of the box placing sensors are powered off, it is judged to be abnormal box placing; Alternatively, judging whether the state is locked according to the signal of the locking sensor includes the following judging method: the controller receives the signal of at least two locking sensors; if all the locking sensors are powered, it is judged to be locked; if some of the locking sensors are powered and other locking sensors are powered off, it is judged to be locked abnormally; Alternatively, judging whether the state is unlocked is based on the signal of the unlocking sensor, including the following judging method: the controller receives signals from at least two of the unlocking sensors; if all of the unlocking sensors are powered on, it is judged to be in an unlocked state; if some of the unlocking sensors are powered on and other parts of the unlocking sensors are powered off, it is judged to be an unlocking abnormality.

6. The electrical protection control method for an empty container sling according to claim 5, characterized in that: The method also includes an indicator light control method: The controller determines the state of the box placement according to the signal of the box placement sensor. When it is determined to be in the box placement state, the box placement indicator light is always on; when it is determined to be abnormal, the box placement indicator light flashes; when the determined state is not the above two states, the box placement indicator light is always off; Alternatively, the controller determines the locking state according to the signal of the locking sensor. When it is determined to be a locked state, the locking indicator light is always on; when it is determined to be a locked abnormality, the locking indicator light flashes; when the determined state is not the above two states, the locking indicator light is always off; Alternatively, the controller determines the unlocking state according to the signal of the unlocking sensor. When it is determined to be unlocked, the unlocking indicator light is always on; when it is determined to be unlocking abnormality, the unlocking indicator light flashes; when the determined state is not the above two states, the unlocking indicator light is always off.

7. An electrical protection system for an empty container sling, characterized in that: It includes a controller, at least two box-locking sensors, and at least two locking sensors; The controller is used to execute the method according to any one of claims 1 to 6; The box placement sensor is used to detect whether the spreader is in place on the top of the empty box, and each of the box placement sensors is arranged at a different detection point of the spreader; The locking sensor is used to detect whether the rotary lock is locked in place, and each locking sensor is arranged at a different detection point of the spreader; The box closing sensor is connected to the controller, and the locking sensor is connected to the controller.

8. The electrical protection system for an empty container sling according to claim 7, characterized in that: It also includes at least two unlocking sensors, which are connected to the controller and are used to detect whether the rotary lock is unlocked in place. Each of the unlocking sensors is arranged at a different detection point of the sling.

9. The electrical protection system for an empty container sling according to claim 8, characterized in that: When the sling is landing a box on the top of an empty box, the box landing sensor is energized, otherwise the box landing sensor is de-energized; when the rotary lock is locked in place, the locking sensor is energized, otherwise the locking sensor is de-energized; when the rotary lock is unlocked in place, the unlocking sensor is energized, otherwise the unlocking sensor is de-energized.

10. The electrical protection system for an empty container sling according to claim 8, characterized in that: It also includes a box loading indicator light, an unlocking indicator light, and a locking indicator light, and the box loading indicator light, the unlocking indicator light, and the locking indicator light are connected to the controller.

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