Container F-TR unlocking detection method

Abstract

The invention relates to and discloses a container F-TR unlocking detection method. According to the detection method, the unlocking state of the container is judged by adopting a'force measurement + distance measurement 'dynamic multi-sensor fusion measurement method; in the lifting process of the container, the non-contact distance inspection unit is used for measuring the distance variation of the container truck, the upper plane of the flat plate and the lower plane of the container, the distance variation between the container and the ground and the weight change rate detected by the force transducer, and a wired or wireless transmission device is used for transmitting data to the control unit; whether the container is unlocked or not is judged through the control unit and displayed on the display unit in real time; the system comprises a data acquisition unit, a control unit, a display unit, an early warning unit and the like, the unlocking state of the container is monitored in real time, and early warning is performed through a data processing module and an early warning device; according to the invention, the dangerous situation that unlocking is not carried out during hoisting can be effectively avoided.

Description

Technical Field

[0001] The present invention relates to a method for detecting that a container F-TR is not unlocked, and in particular to a method capable of accurately judging whether a container is completely unlocked, so as to avoid dangerous situations during lifting. Background Art

[0002] As an advanced modern transportation mode, container transportation has the characteristics of high transportation efficiency, good economic benefits and excellent service quality compared with traditional bulk transportation. It is widely used in international and domestic cargo transportation and has developed rapidly.

[0003] At present, F-TR locks are widely used to connect containers and flatbed transporters. F-TR locks have a unique eagle head structure, commonly known as "eagle head locks". Its head has a total of 4 faces that guide, lock and guide the container to drop, lock and exit. In order to ensure that the F-TR lock works, the 4 F-TR locks on the same container on the flat car are arranged with their eagle heads (upper cone direction) in the same direction at the same end and in opposite directions at both ends. After the eccentric structure of the F-TR lock core head and the F-TR lock are assembled, the outer width of the lock head is larger than the outer width of the container corner hole, which changes the movement form of the container in and out of the lock head from a single form of vertical movement to a composite form of "vertical movement + plane rotation" to lock the container.

[0004] Due to the particularity of container loading and unloading operations, when the loading volume inside the container is uneven, the container F-TR lock is not completely disengaged, resulting in accidents such as lifting the container together with the flat car, causing damage to the derailment brake valve, vehicle derailment and other serious accidents. Such accidents often cause serious damage to the container and the flat car, which not only brings huge economic losses to the railway company, but also has a great impact on the operation process of the lifting site. In order to solve the problem of F-TR lock failure to unlock and unhook warning, it is necessary to develop an efficient and reliable container F-TR lock unlocked lifting detection system and device, which can accurately monitor whether the F-TR lock is unlocked during container lifting, timely detect the unlocking of the F-TR lock, and make corresponding alarms and processing to ensure safety during container lifting.

[0005] Patent CN206192554U designs a container F-TR lock disengagement intelligent detection system based on four tension sensors connected to the container special spreader. When the deviation between the tension change value of a tension sensor and the tension change value of another or several tension sensors exceeds the set threshold, it is considered that the F-TR lock is not normally disengaged. The entire system has a simple structure, but it cannot identify the state of all four F-TR locks being locked, and the ability to identify eccentric loads is insufficient.

[0006] Patent CN218453903 installs 4 force sensors on the container spreader to monitor the loads on the four locks in real time during the lifting process. According to the size of the four loads, the relative proportional relationship and the actual gross weight range of the container, it is determined whether the F-TR lock is dragged (not disengaged) during the container lifting operation. The entire system has a simple structure, but using only tension sensors may not be able to detect other abnormal conditions that are not related to the unlocking state of the container, such as damage, tilt or instability of the container. These abnormal conditions may pose a potential threat to the safety of the lifting process. Summary of the invention

[0007] Purpose of the invention: The present invention provides a method for detecting that the F-TR of a container is not unlocked, aiming to obtain the weight, weight change rate and distance from the flatbed truck of the container when the spreader is performing lifting work through multiple sensors, and comprehensively determine whether the F-TR is unlocked, thereby avoiding the occurrence of safety accidents caused by the F-TR not being fully unlocked.

[0008] The technical solution adopted by the present invention to solve its technical problem is: A method for detecting that a container F-TR is not unlocked; S1. Arrange several force sensors to collect the load data P of each container spreader on the container i ; Arrange several distance sensors to collect the distance data L of each position of the container relative to the pallet i ; Arrange a timer to record the lifting time T; The ECU controller determines that if the load data P of each force sensor i If the data changes with the lifting time T, it is determined that the container lifting device starts to lift the container; S2. After determining that the container spreader starts to lift the container, the timer restarts the timing. The ECU controller determines if the distance data L i As the hoisting time T changes, it is determined that each F-TR lock has been unlocked.

[0009] As a further improvement of the present invention, the ECU controller determines the change of the load data Pi with the lifting time T as follows: determine whether the container spreader starts to bear and lift the container, set the time interval ΔT for data recording, set the critical value ΔP0 of the value change of the force sensor according to the deadweight data of the container; collect the load data Pi of the container spreader through the force sensor at intervals of ΔT i , if any load data P of the lifting time T i Compared with the weight data of the previous moment P （i-1） The difference is less than the critical value ΔP0, then it is determined that the container has not been lifted. If the load data P i If it is greater than the critical value ΔP0, it is determined that the container spreader starts to lift the container; ECU controller determines distance data L i The specific process of changes with the lifting time T is as follows: the data transmission module transmits the load data P of the force sensor to i The lifting time T is transmitted to the ECU controller, which calculates the load data P i / Change rate of hoisting time T k n ; Determine the change rate k in the ECU controller n Is it 0? If k n ≠0, the distance sensor starts to collect the distance data L between the container and the truck i ECU records the distance data at this time as Li0; ECU determines that during the process of lifting the container, any lifting time T |L i -L i0 | is less than the distance threshold ΔL0, the distance threshold ΔL0 is set according to the frame volume of the F-TR lock. If |L i -L i0 | is less than or equal to ΔL0, the ECU controller determines that the F-TR lock is not unlocked, and ends the current judgment; If |L i -L i0 | is greater than ΔL0, the ECU controller continues to determine the distance data L of the current lifting time T i Is it greater than the maximum distance critical value ΔL? max , maximum distance critical value ΔL max Set according to the height of the F-TR lock; if Li>ΔL max , the ECU controller determines that the F-TR lock has been unlocked and outputs the result.

[0010] As a further improvement of the present invention, the F-TR lock has four groups, namely, a left front F-TR lock, a left rear F-TR lock, a right front F-TR lock, and a right rear F-TR lock, which are respectively arranged at four rectangular diagonal positions of the flatbed truck; the force sensors include four groups, which are respectively arranged at four rectangular diagonal positions of the container spreader, and the four groups of force sensors include a left front force sensor, a left rear force sensor, a right front force sensor, and a right rear force sensor; the load data P iIt includes P1, P2, P3, and P4 collected by the left front force sensor, the left rear force sensor, the right front force sensor, and the right rear force sensor respectively; the distance sensor includes four groups, and the four groups of distance sensors are arranged at four rectangular diagonal positions of the cart respectively, including the left front distance sensor, the left rear distance sensor, the right front distance sensor, and the right rear distance sensor; the distance data Li includes L1, L2, L3, and L4 collected by the left front distance sensor, the left rear distance sensor, the right front distance sensor, and the right rear distance sensor respectively; The change rate kn includes k1, k2, k3, k4 obtained by calculating P1, P2, P3, P4 and the hoisting time T respectively by the ECU controller; The ECU controller determines the unlocking status of the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock respectively through the aforementioned steps and records them.

[0011] As a further improvement of the present invention, the detection method also includes the detection of single-angle locking, double-angle locking, triangular locking, and four-angle locking; Among them; the ECU controller determines that if any of the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock is not unlocked, then a single-angle lock reminder is output; the ECU controller determines that if any of the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock is unlocked, and the other F-TR locks are not unlocked, then a triangle lock reminder is output; the ECU controller determines that if the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock are all not unlocked, then a four-corner lock is output; the ECU controller determines that if any two of the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock are unlocked, then a double-corner lock reminder is output.

[0012] As a further improvement of the present invention, when the ECU controller outputs a double-angle lock, the ECU controller sequentially performs the following judgments: If the left front F-TR lock is not unlocked, then determine whether the right rear F-TR lock is unlocked. If the right rear F-TR lock is unlocked, then output a lateral lock reminder. If the right rear F-TR lock is not unlocked, then output a diagonal lock reminder. If the right front F-TR lock is not unlocked, then determine whether the left rear F-TR lock is unlocked. If the left rear F-TR lock is unlocked, then output a lateral lock reminder. If the left rear F-TR lock is not unlocked, then output a diagonal lock reminder. If the right rear F-TR lock is not unlocked, then determine whether the left front F-TR lock is unlocked. If the left front F-TR lock is unlocked, then output a lateral lock reminder. If the left front F-TR lock is not unlocked, then output a diagonal lock reminder. If the right front F-TR lock is not unlocked, it is determined whether the left rear F-TR lock is unlocked. If the left rear F-TR lock is unlocked, a lateral lock reminder is output; if the left rear F-TR lock is not unlocked, a diagonal lock reminder is output.

[0013] As a further improvement of the present invention, the left front distance sensor, the left rear distance sensor, the right front distance sensor, and the right rear distance sensor are installed on the anti-collision ear plate or the guide ear plate of the container spreader; the left front distance sensor, the left rear distance sensor, the right front distance sensor, and the right rear distance sensor measure the distances L1, L2, L3, and L4 between the top of the container stationary fixed by the container spreader and the plane of the flatbed truck.

[0014] As a further improvement of the present invention, the left front force sensor, the left rear force sensor, the right front force sensor, and the right rear force sensor are installed at the locking hook support position of the container spreader relative to the container.

[0015] As a further improvement of the present invention, the distance sensor further includes a left distance sensor located between the left front distance sensor and the left rear distance sensor; the left distance sensor measures the distance L5 from the left side of the top of the container to the ground; the left distance sensor measures the distance L6 from the right side of the top of the container to the ground; When lifting a container, the following auxiliary steps are also included to determine the unlocking status of the F-TR lock: If the ECU controller determines that L i ≤ΔL max , then re-collect distance data, i=1, 2, 3, 4; If the ECU controller determines that |L i -L i0 |>ΔL max When i=1, 2, 3, 4; The ECU controller continues to collect L5 and L6, and determines whether L5-L i >ΔL f And L6-L i >ΔL f , ΔL f is the maximum critical value of the distance between the distance sensor and the ground; If the current L5-L i >ΔL f And L6-L i >ΔL f , then it is determined that all F-TR locks have been unlocked; if the current L5-L i ≤ΔL f or L6-L i ≤ΔL f , then continue to re-collect L5 and L6.

[0016] The beneficial effects of the present invention are: 1. The present invention provides a method for detecting whether a container F-TR is unlocked and a lifting detection system. The method for detecting whether a container F-TR is unlocked and the lifting detection system adopt a "force measurement + distance measurement" dynamic multi-sensor fusion measurement method to determine the unlocking state of the container. Compared with the single tension detection method in the prior art, the present solution can not only detect whether the container is separated from each F-TR lock by distance measurement, but also prevent the misjudgment caused by a single force measurement, especially when the tension of the F-TR lock is the same as the load of the container, because the data of the four groups of force sensors are the same, it may be misjudged that the four groups of F-TR locks have been unlocked or not unlocked.

[0017] 2. During the container lifting process, the non-contact distance sensor is used to measure the distance change between the upper plane of the container truck / flatbed and the lower plane of the container, as well as the weight change rate detected by the force sensor. The data is transmitted to the control unit through a wired or wireless transmission device to determine whether the container is unlocked and display it in real time to detect whether there is a single-foot lock, horizontal lock, longitudinal lock, triangular lock, or four-corner lock.

[0018] 3. The present invention sets the critical value ΔP0 of the value change of the force sensor according to the deadweight data of the container, which can reduce the data error caused by the virtual position of the F-TR lock and the stretching amount of the container hoisting cable.

[0019] 4. The present invention preferentially detects whether the traction force is stably applied to the container by the rate of change of the pulling force relative to time. Compared with directly detecting whether the pulling force exceeds the threshold, the structural damage caused by excessive pulling force can be prevented. Then, the present invention detects whether the container is partially lifted while the pulling force changes stably by the rate of change of the distance relative to time. Whether the F-TR lock is locked is determined by whether it is lifted. This prevents structural damage caused by continuous pulling force output when the F-TR is not unlocked. At the same time, the data of the lifting detection method is more accurate.

[0020] 5. In view of the fact that four F-TR locks are used in general containers, the present invention designs four sets of distance sensors and force sensors, and the measuring axes of the force sensors and distance sensors are coaxial with the unlocking direction axis of the F-TR locks, so that the data transmission efficiency is higher.

[0021] 6. The present invention can judge and output different unlocking states, so as to facilitate operators to judge and adjust the on-site state of the F-TR lock in a timely manner.

[0022] 7. The present invention also additionally provides a left distance sensor and a right distance sensor located in the middle of the spreader for detecting the lifting state of the middle of the container and the lifting state relative to the ground. The detection of the distance data relative to the ground assists the detection of the lifting state, making the determination of the unlocking state more accurate; and the distance data of the midpoint position relative to the ground can also better determine the tilt state of the entire container when the four F-TR locks are not completely unlocked. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0024] Figure 1 It is a schematic diagram of the overall arrangement of an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of the F-TR lock; Figure 3 is a system architecture diagram of an embodiment of the present invention; Figure 4 This is a flow chart of the detection when F-TR locks ≤ 3 are not unlocked in the detection method of an embodiment of the present invention; Figure 5 This is a flow chart of unlock detection in which the detection method according to an embodiment of the present invention is suitable for all working conditions. DETAILED DESCRIPTION

[0025] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0026] The present invention provides a detection method based on the container F-TR unlocking detection system, which adopts the "force measurement + distance measurement" dynamic multi-sensor fusion measurement method to judge the unlocking state of the container. It aims to obtain the weight of the container, the weight change rate and the distance between the container and the flatbed truck and the ground through multiple sensors when the spreader is performing lifting work, and comprehensively judge whether the F-TR is unlocked to avoid the occurrence of safety accidents caused by the F-TR not being fully unlocked.

[0027] The hardware of the detection system includes a data acquisition unit, a control unit, a display unit, and an early warning unit; among them: the data acquisition unit includes a force sensor, a distance sensor, a timer, etc.; the control unit mainly includes an ECU controller, which is used for data screening, logical operations and output signals; the display unit is a display; the early warning unit includes a buzzer and a signal light; the force sensor, distance sensor, and timer transmit data to the ECU controller for data collection, calculation and judgment; the results judged by the ECU are displayed on the display of the display unit, and some results are output through the buzzer and signal light.

[0028] Figure 1Schematic diagram of the arrangement of the components of the present invention relative to the container lifting mechanism, including: a lifting device 101, a container 102, four sets of F-TR locks 103, a cart 104, a force measuring unit, and a distance measuring unit; wherein the force measuring unit includes a left front force sensor 108, a right front force sensor 111, a left rear force sensor 110, and a right rear force sensor 109; the distance measuring unit includes a left front distance measuring sensor 105, a left distance measuring sensor 106, a right front distance measuring sensor 107, a left rear distance measuring sensor 112, a right rear distance measuring sensor 113, and a right distance measuring sensor 114; The force measuring unit mainly collects the change of the traction force of the lifting device on the container during the lifting process, that is, the change of weight; the distance measuring unit mainly measures the change of the distance between the container and the flatbed truck and the ground. The data acquisition module transmits the data to the ECU controller as the basis for judging whether the F-TR lock is unlocked; The F-TR lock used in this embodiment refers to Figure 2 The F-TR lock 103 has an eagle head structure, and its head has four surfaces, including a lower guide slope 201, an upper guide slope 202, an upward blocking surface 203, and a lock head bearing surface 204, which guides, locks, and guides the container to fall and exit; To ensure that the F-TR locks function properly, the four F-TR locks on the same container on the flat car should be arranged with their eagle heads (upper cone direction) in the same direction at the same end and in opposite directions at the two ends.

[0029] See also Figure 3 This is a system architecture diagram of the present invention. The functional modules of the system mainly include a control unit 301, a display unit 302, and an early warning unit 303; The control unit 301 is an ECU controller and a handle controller, the display unit 302 is a display screen, and the warning unit 303 includes a buzzer and a signal light.

[0030] Figure 4 This is a flow chart of the detection method of the present invention when the number of F-TR locks is less than or equal to 3 unlocked, which mainly includes the following steps: S401, start; S402, collecting weight data P1-P4 of the sling from the lifting (0 weight) to the full load of the lifting point through the force sensor.

[0031] S403, judging whether to start lifting the container with load, if the data of the force sensor is significantly changed compared with the data of the previous moment, the lifting device starts lifting the container, otherwise, the lifting device does not start lifting the container.

[0032] S404, the data transmission module transmits the force sensor data to the ECU controller, and the controller calculates the data to establish the P1-P4 tension / time change rate curves k1-k4.

[0033] S405, the ECU controller determines whether the change rate curve kn is 0; if kn=0, the force sensor data is collected again; if kn≠0, the distance sensor data is continued to be collected.

[0034] S406: If kn≠0, measure the distance data L1-L4 between the container and the truck through the distance measuring sensor.

[0035] S407, recording the initial distance data L10-L40 between the container and the pallet truck of the distance measuring sensor when the container is lifted.

[0036] S409: When lifting the container, determine whether any current |Li-Li0| is ≤ΔL0.

[0037] S410: If |Li-Li0| is greater than ΔL0, it is determined that the F-TR locks are not unlocked.

[0038] S411. If |Li-Li0|≤ΔL0, then continue to determine whether the current Li>ΔLmax holds.

[0039] S412: If Li>Δlmax, it is determined that all F-TR locks are unlocked.

[0040] S413, end the detection.

[0041] Figure 5 The detection method of the present invention is suitable for all working conditions and the unlocking detection flow chart mainly includes the following steps: S502, collecting weight data P1-P4 of the sling from the time of lifting to the full load of the lifting point through the force sensor.

[0042] S503, judging whether to start lifting the container with load, if the data of the force sensor has obvious changes compared with the data of the previous moment, the lifting device starts to lift the container, otherwise, the lifting device does not start to lift the container.

[0043] S504, the data transmission module transmits the force sensor data to the ECU controller, and the controller calculates the data to establish the P1-P4 tension / time change rate curves k1-k4.

[0044] S505, the ECU controller determines whether the change rate curve kn is 0; if kn=0, the force sensor data is collected again; if kn≠0, the distance sensor data is continued to be collected.

[0045] S506: If kn≠0, measure the distance data L1-L4 between the container and the truck through the distance measuring sensor.

[0046] S507, recording the initial distance data L10-L40 between the container and the pallet truck of the distance measuring sensor when the container is lifted.

[0047] S509: When lifting the container, determine whether any current |Li-Li0| is ≤ΔLmin.

[0048] S510: If |Li-Li0| is greater than ΔLmin, it is determined that the F-TR locks are not unlocked.

[0049] S511. If |Li-Li0|≤ΔLmin, continue to determine whether the current |Li-Li0|>ΔLmax holds.

[0050] S512. If |Li-Li0|>ΔLmax, continue to collect the distances L5 and L6 between the current container and the ground, and determine whether L5-Li>ΔLf and L6-Li>ΔLf?

[0051] S513: If currently L5-Li>ΔLf and L6-Li>ΔLf, it is determined that all F-TR locks have been unlocked.

[0052] S514, end the detection.

[0053] In a specific implementation case of the present invention, when the container and the spreader arrive at the designated position, they start working.

[0054] The existing hook support position of the sling is used to install a force sensor to measure the weight from lifting to the full load of the lifting point, as well as the weight change rate. The force sensor uses the LKS composite intelligent twist lock weighing sensor with a measurement range of 0~20t and a voltage signal output type. A distance measuring sensor is installed on the anti-collision / guide ear plate to measure the absolute distance between the distance measuring sensor and the plane on the container flatbed truck; a distance measuring sensor is installed on the anti-collision / guide ear plates on both sides of the spreader to detect the difference in distance between the spreader and the ground; the distance measuring sensor uses the laser distance measuring sensor SW-LDS10A, with a measuring distance of 0.05~10m, a measuring frequency of 1~10HZ, and a digital output to meet the requirements of the detection system.

[0055] Different monitoring processes are selected for different working conditions, and less than 3 unlocked detection processes and unlocked detection processes suitable for all working conditions are set.

[0056] The STM32 controller processes these data as a complete detection cycle, obtains the corresponding results, and restarts the next detection cycle, and so on. The data of each sensor will be transmitted to the STM32 controller, which will be installed in the control box on the spreader. The data of the controller will be wirelessly transmitted through the Lora module transmission module.

[0057] The test results will be displayed on the 7-inch touch screen, which will show the container's weight and tilt. It can display the single-leg lock, double-angle lock, triangle lock, and four-angle lock of the F-TR lock, and give a real-time alarm for unlocked situations. The monitoring room will also give a sound and light alarm to remind the staff to deal with it in time to avoid safety accidents.

[0058] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A method for detecting that a container F-TR is not unlocked; the characteristics are: S1. Arrange several force sensors to collect the load data P of each container spreader on the container i ; Arrange several distance sensors to collect the distance data L of each position of the container relative to the pallet i ; Arrange a timer to record the lifting time T; The ECU controller determines that if the load data P of each force sensor i If the data changes with the lifting time T, it is determined that the container lifting device starts to lift the container; S2. After determining that the container spreader starts to lift the container, the timer restarts the timing. The ECU controller determines if the distance data L i As the hoisting time T changes, it is determined that each F-TR lock has been unlocked.

2. A method for detecting that a container F-TR is not unlocked according to claim 1, characterized in that: The ECU controller determines the load data Pi data changes with the lifting time T in the following process: determine whether the container spreader starts to lift the container, set the data recording time interval ΔT, set the critical value ΔP0 of the value change of the force sensor according to the container's deadweight data; collect the load data Pi of the container spreader through the force sensor at intervals of ΔT i , if any load data P of the lifting time T i Compared with the weight data of the previous moment P （i-1） The difference is less than the critical value ΔP0, then it is determined that the container has not been lifted. If the load data P i If it is greater than the critical value ΔP0, it is determined that the container spreader starts to lift the container; ECU controller determines distance data L i The specific process of changes with the lifting time T is as follows: the data transmission module transmits the load data P of the force sensor to i The lifting time T is transmitted to the ECU controller, which calculates the load data P i / Change rate of hoisting time T k n ; Determine the change rate k in the ECU controller n Is it 0? If k n ≠0, the distance sensor starts to collect the distance data L between the container and the truck i ECU records the distance data at this time as Li0; ECU determines that during the process of lifting the container, any lifting time T |L i -L i0 | is less than the distance threshold ΔL0, the distance threshold ΔL0 is set according to the frame volume of the F-TR lock. If |L i -L i0 | is less than or equal to ΔL0, the ECU controller determines that the F-TR lock is not unlocked, and ends the current judgment; If |L i -L i0 | is greater than ΔL0, the ECU controller continues to determine the distance data L of the current lifting time T i Is it greater than the maximum distance threshold ΔL? max , maximum distance critical value ΔL max Set according to the height of the F-TR lock; if Li>ΔL max , the ECU controller determines that the F-TR lock has been unlocked and outputs the result.

3. A method for detecting that a container F-TR is not unlocked as claimed in claim 2, characterized in that: The F-TR locks include four groups, namely, the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock, which are arranged at the four rectangular diagonal positions of the flatbed truck respectively; the force sensors include four groups, which are arranged at the four rectangular diagonal positions of the container spreader respectively, and the four force sensors include the left front force sensor, the left rear force sensor, the right front force sensor, and the right rear force sensor; the load data P i It includes P1, P2, P3, and P4 collected by the left front force sensor, the left rear force sensor, the right front force sensor, and the right rear force sensor respectively; the distance sensor includes four groups, and the four groups of distance sensors are arranged at four rectangular diagonal positions of the cart respectively, including the left front distance sensor, the left rear distance sensor, the right front distance sensor, and the right rear distance sensor; the distance data Li includes L1, L2, L3, and L4 collected by the left front distance sensor, the left rear distance sensor, the right front distance sensor, and the right rear distance sensor respectively; The change rate kn includes k1, k2, k3, k4 obtained by calculating P1, P2, P3, P4 and the hoisting time T respectively by the ECU controller; The ECU controller determines the unlocking status of the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock respectively through the aforementioned steps and records them.

4. A method for detecting that a container F-TR is not unlocked as claimed in claim 3, characterized in that: The detection method also includes the detection of single-angle locking, double-angle locking, triangular locking, and four-angle locking; Among them; the ECU controller determines that if any of the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock is not unlocked, then a single-angle lock reminder is output; the ECU controller determines that if any of the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock is unlocked, and the other F-TR locks are not unlocked, then a triangle lock reminder is output; the ECU controller determines that if the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock are all not unlocked, then a four-corner lock is output; the ECU controller determines that if any two of the left front F-TR lock, the left rear F-TR lock, the right front F-TR lock, and the right rear F-TR lock are unlocked, then a double-corner lock reminder is output.

5. A method for detecting that a container F-TR is not unlocked as claimed in claim 4, characterized in that: When the ECU controller outputs the double-angle lock, the ECU controller makes the following judgments in sequence: If the left front F-TR lock is not unlocked, then determine whether the right rear F-TR lock is unlocked. If the right rear F-TR lock is unlocked, then output a lateral lock reminder. If the right rear F-TR lock is not unlocked, then output a diagonal lock reminder. If the right front F-TR lock is not unlocked, then determine whether the left rear F-TR lock is unlocked. If the left rear F-TR lock is unlocked, then output a lateral lock reminder. If the left rear F-TR lock is not unlocked, then output a diagonal lock reminder. If the right rear F-TR lock is not unlocked, then determine whether the left front F-TR lock is unlocked. If the left front F-TR lock is unlocked, then output a lateral lock reminder. If the left front F-TR lock is not unlocked, then output a diagonal lock reminder. If the right front F-TR lock is not unlocked, it is determined whether the left rear F-TR lock is unlocked. If the left rear F-TR lock is unlocked, a lateral lock reminder is output; if the left rear F-TR lock is not unlocked, a diagonal lock reminder is output.

6. A method for detecting that a container F-TR is not unlocked as claimed in claim 3, characterized in that: The left front distance sensor, left rear distance sensor, right front distance sensor, and right rear distance sensor are installed on the anti-collision ear plate or the guide ear plate of the container spreader; the left front distance sensor, left rear distance sensor, right front distance sensor, and right rear distance sensor measure the distance L1, L2, L3, and L4 between the top of the container statically fixed by the container spreader and the plane of the flatbed truck.

7. A method for detecting that a container F-TR is not unlocked as claimed in claim 3, characterized in that: The left front force sensor, the left rear force sensor, the right front force sensor, and the right rear force sensor are installed at the locking hook support position of the container spreader relative to the container.

8. A method for detecting that a container F-TR is not unlocked as claimed in claim 3, characterized in that: The distance sensor further includes a left distance sensor located between the left front distance sensor and the left rear distance sensor; the left distance sensor measures the distance L5 from the left side of the top of the container to the ground; the left distance sensor measures the distance L6 from the right side of the top of the container to the ground; When lifting a container, the following auxiliary steps are included to determine the unlocking status of the F-TR lock: If the ECU controller determines that L i ≤ΔL max , then re-collect distance data, i=1, 2, 3, 4; If the ECU controller determines that |L i -L i0 |>ΔL max When i=1, 2, 3, 4; The ECU controller continues to collect L5 and L6, and determines whether L5-L i >ΔL f And L6-L i >ΔL f , ΔL f is the maximum critical value of the distance between the distance sensor and the ground; If the current L5-L i >ΔL f And L6-L i >ΔL f , then it is determined that all F-TR locks have been unlocked; if the current L5-L i ≤ΔL f or L6-L i ≤ΔL f , then continue to re-collect L5 and L6.

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