Anti-hooking control method and system for container reach crane

Abstract

The present application discloses an anti-coupling control method and system for a container front crane, and the technical field to which it belongs is the technical field of lifting equipment. The anti-coupling control method for the container front crane includes: if the current sling height is less than a first threshold value and a container landing signal is received; if so, the sling is controlled to lift in response to a lifting instruction, and the pressure detection results of the pressure sensor in the first lifting state and the second lifting state are determined; according to the pressure detection results, the force change information of the sling lock is determined, and according to the force change information, whether the lower corner piece of the container is hooked with the locking device of the flatbed trailer is determined; if so, the sling is controlled to stop lifting and an alarm message is generated. The present application can accurately determine whether the lower corner piece of the container is hooked with the locking device of the flatbed trailer. Improving the operational safety of the container front crane is a technical problem that those skilled in the art currently need to solve.

Description

Technical Field

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

[0002] Container reach stacker, also known as reach stacker, container reach crane or reach crane, is a mobile lifting equipment used for loading and unloading containers.

[0003] For ease of transport, containers are typically placed on flatbed trailers, with the container's lower corner fittings locked with the trailer's locking device (such as an F-TR lock) to prevent the container from shifting or tipping over due to factors such as jolts, turns, or acceleration. However, improper operation during container reach stacker unloading can easily lead to the container's corner fittings becoming locked, potentially causing the container to be lifted along with the flatbed trailer, resulting in a safety accident.

[0004] Therefore, how to accurately determine whether the lower corner fittings of the container are connected to the locking device of the flatbed trailer and improve the operational safety of the container reach stacker is a technical problem that technical personnel in this field currently need to solve. Summary of the Invention

[0005] The purpose of this application is to provide an anti-hooking control method and system for a container reach crane, which can accurately determine whether the lower corner piece of the container is hooked with the locking device of the flatbed trailer, thereby improving the operational safety of the container reach crane.

[0006] To solve the above technical problems, the present application provides a method for controlling the anti-hooking of a container reach stacker. The spreader of the container reach stacker is provided with a plurality of spreader locks, each of which is provided with a pressure sensor, and the pressure sensor is used to detect the force applied to the spreader lock. The method for controlling the anti-hooking of the container reach stacker includes:

[0007] Setting the spreader height of the container front hoist at the current moment to the current spreader height;

[0008] If the current spreader height is less than the first threshold, determining whether a container-locking signal is received; wherein the container-locking signal is a signal generated when the spreader lock head completes locking the container;

[0009] If so, the spreader is controlled to rise in response to the lifting instruction, and the pressure detection results of the pressure sensor in the first lifting state and the second lifting state are determined respectively; wherein, the first lifting state is a state in which the current spreader height is equal to a first preset height, and the second lifting state is a state in which the current spreader height is equal to a second preset height, the first preset height is a height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is a height at which the lower corner fittings of the container are separated from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fittings of the container cooperate with the locking device of the flatbed trailer to lock;

[0010] Determining force change information of the spreader lock according to the pressure detection result, and judging whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer according to the force change information;

[0011] If so, the spreader is controlled to stop lifting and an alarm message is generated.

[0012] Optionally, determining the force change information of the sling lock head according to the pressure detection result includes:

[0013] Determine a first pressure value of each of the spreader lock heads in the first lifting state, and calculate a first total force value of the spreader in the first lifting state based on the first pressure values of all the spreader lock heads;

[0014] Determining a second pressure value of each of the spreader lock heads in the second lifting state, and calculating a second total force value of the spreader in the second lifting state based on the second pressure values of all the spreader lock heads;

[0015] Calculate the pressure difference of each of the sling lock heads in the first lifting state and the second lifting state according to the first pressure value and the second pressure value, and set the maximum value of all the pressure differences as the maximum pressure difference of the lock head;

[0016] Calculating a total force difference of the spreader according to the first total force value and the second total force value;

[0017] The maximum pressure difference of the lock head and the total force difference of the spreader are set as the force change information.

[0018] Optionally, determining whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer according to the force change information includes:

[0019] Determine whether the maximum pressure difference of the lock head is greater than a second threshold value, and obtain a first judgment result;

[0020] Determine whether the total force difference of the spreader is greater than a third threshold value, and obtain a second determination result;

[0021] If both the first judgment result and the second judgment result are yes, it is determined that the lower corner fitting of the container is hooked with the locking device of the flatbed trailer.

[0022] Optionally, calculating a first total force value of the spreader in the first lifting state according to the first pressure values of all the spreader locks includes:

[0023] Adding the first pressure values of all the spreader locks to obtain a first total force value of the spreader in the first lifting state;

[0024] Accordingly, calculating the second total force value of the spreader in the second lifting state according to the second pressure values of all the spreader locks includes:

[0025] The second pressure values of all the sling locks are added together to obtain a second total force value of the sling in the second lifting state.

[0026] Optionally, controlling the spreader to lift in response to a lifting instruction includes:

[0027] Setting the spreader height upon receiving the box landing signal as the initial spreader height;

[0028] If the lifting instruction is received, the difference between the current spreader height and the initial spreader height is set as the spreader height change value;

[0029] If the height change value of the spreader is less than a fourth threshold, controlling the spreader to rise at a preset speed;

[0030] If the height change value of the spreader is greater than or equal to the fourth threshold, the spreader is controlled to be lifted according to the opening degree of the handle.

[0031] Optionally, also include:

[0032] The fourth threshold is set according to the height of the locking device of the flatbed trailer.

[0033] Optionally, before determining the pressure detection results of the pressure sensor in the first lifting state and the second lifting state respectively, the method further includes:

[0034] Setting the spreader height upon receiving the box landing signal as the initial spreader height;

[0035] Adding the initial spreader height to the first height change value to obtain the first preset height;

[0036] The initial spreader height is added to the second height change value to obtain the second preset height; wherein the first height change value is smaller than the second height change value.

[0037] Optionally, before setting the spreader height of the container reach stacker at the current moment to the current spreader height, the method further includes:

[0038] collecting the reach distance and lifting angle of the container reach stacker;

[0039] The distance between the lower edge of the spreader lock head and the ground is calculated based on the extension distance, the lifting angle and the structural parameters; wherein the structural parameters include the horizontal distance of the hinge point, the vertical distance of the hinge point, the first height and the second height, the horizontal distance of the hinge point is the distance between the upper hinge point and the rear hinge point in the horizontal direction, the vertical distance of the hinge point is the distance between the upper hinge point and the rear hinge point in the vertical direction, the first height is the distance between the upper hinge point and the lower edge of the spreader lock head, and the second height is the distance between the rear hinge point and the ground; the upper hinge point is the hinge point between the telescopic arm of the container reach crane and the spreader, and the rear hinge point is the hinge point between the boom of the container reach crane and the vehicle body;

[0040] The distance between the lower edge of the spreader lock and the ground is set as the spreader height of the container reach stacker at the current moment.

[0041] Optionally, also include:

[0042] The first threshold is calculated based on the height of the flatbed trailer, the height of the track, and the height of the container.

[0043] The present application also provides an anti-hooking control system for a container reach stacker, wherein a plurality of spreader locks are provided on the spreader of the container reach stacker, and each of the spreader locks is provided with a pressure sensor, and the pressure sensor is used to detect the force applied to the spreader lock. The anti-hooking control system for the container reach stacker includes:

[0044] a spreader height determination module, configured to set the spreader height of the container front hoist at the current moment as the current spreader height;

[0045] The lifting control module is used to determine whether a container-locking signal is received if the current spreader height is less than a first threshold value; wherein the container-locking signal is a signal generated when the spreader lock head completes locking the container; if so, the spreader is controlled to lift in response to the lifting instruction, and the pressure detection results of the pressure sensor in the first lifting state and the second lifting state are determined respectively; wherein, the first lifting state is a state in which the current spreader height is equal to a first preset height, and the second lifting state is a state in which the current spreader height is equal to a second preset height, the first preset height is a height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is a height at which the lower corner fitting of the container is separated from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fitting of the container cooperates with the locking device of the flatbed trailer to lock;

[0046] The connection detection module is used to determine the force change information of the spreader lock according to the pressure detection result, and judge whether the lower corner piece of the container is connected with the locking device of the flatbed trailer according to the force change information; if so, the spreader is controlled to stop lifting and an alarm message is generated.

[0047] This application provides a method for controlling hooking prevention in a container reach stacker. The method determines the current spreader height of the reach stacker and controls the spreader to raise when the current spreader height is less than a first threshold and a container landing signal is received. The reach stacker is equipped with multiple spreader locks, each equipped with a pressure sensor. The spreader locks can lock the container for lifting. During the spreader lifting process, the pressure sensors can detect the pressure exerted by the container on each spreader lock. The method obtains pressure detection results from the pressure sensors in a first lifting state (when the lower surface of the container is separated from the flatbed trailer) and a second lifting state (when the lower corner fitting is disengaged from the locking device). During the container lifting process, the force applied between the locking device and the lower corner fitting can significantly differ depending on whether hooking occurs. By analyzing the pressure detection results, the method can determine the force variation of each spreader lock in the first and second lifting states. Based on this force variation information, the method can determine whether the lower corner fitting of the container is hooked to the locking device of the flatbed trailer, so that appropriate measures can be taken if hooking is detected. Therefore, the present application can accurately determine whether the lower corner fitting of the container is hooked with the locking device of the flatbed trailer, thereby improving the operational safety of the container reach stacker. The present application also provides an anti-hooking control system for the container reach stacker, which has the above-mentioned beneficial effects and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] 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 any creative work.

[0049] Figure 1 A flowchart of an anti-hooking control method for a container reach stacker provided in an embodiment of the present application;

[0050] Figure 2 This is an axonometric view of a spreader provided in an embodiment of the present application;

[0051] Figure 3 A diagram showing the arrangement of pressure sensors for a sling lock provided in an embodiment of the present application;

[0052] Figure 4 A signal acquisition block diagram of a control system for a container reach stacker provided in an embodiment of the present application;

[0053] Figure 5 A schematic structural diagram of a container reach stacker provided in an embodiment of the present application;

[0054] Figure 6 A diagram showing the relative positions of the lower corner fittings of a container and the F-TR lock on a flat car at sampling point 1 provided in an embodiment of the present application;

[0055] Figure 7 A diagram showing the relative positions of the lower corner fitting of a container and the F-TR lock on a flat car at sampling point 2 provided in an embodiment of the present application;

[0056] Figure 8 A cross-sectional view of the arrangement position of a sling lock pressure sensor provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0058] See below Figure 1 , Figure 1 This is a flow chart of an anti-hooking control method for a container reach crane provided in an embodiment of the present application.

[0059] Specific steps may include:

[0060] S101: Setting the spreader height of the container front loader at the current moment as the current spreader height.

[0061] This embodiment can be applied to a vehicle controller for a container reach stacker, wherein the spreader of the container reach stacker is provided with a plurality of spreader locks, each of which is provided with a pressure sensor for detecting the force applied to the spreader lock.

[0062] The spreader lock is a corner fitting on the spreader of a container reach stacker used to lock and unlock the container. The spreader lock can firmly fix the container to the spreader by cooperating with the corner fitting on the container, ensuring that the container will not fall off during lifting and transportation.

[0063] See Figure 2 , Figure 2 This is an isometric view of a spreader provided in an embodiment of the present application, showing a spreader lock rod assembly 201 and a spreader lock 202; as a feasible embodiment, the spreader can be provided with four spreader locks, see Figure 3 , Figure 3 This is a diagram showing the arrangement of pressure sensors in a sling lock provided in an embodiment of the present application. In the diagram, S1, S2, S3 and S4 represent pressure sensors provided in the four sling locks on the sling.

[0064] The container reach stacker may be provided with a length and angle sensor, and the spreader height of the container reach stacker at the current moment, ie, the current spreader height, may be calculated based on the detection value of the length and angle sensor and the structural parameters of the container reach stacker.

[0065] S102: If the current spreader height is less than the first threshold, determine whether a box landing signal is received; if so, proceed to S103; if not, end the process.

[0066] Among them, if the current spreader height is less than the first threshold, it means that the container reach stacker may be performing an operation of lifting the container from the flatbed trailer (i.e., unloading the container), and it can be determined whether a container landing signal is received.

[0067] The above-mentioned container-engaging signal is a signal generated when the spreader lock head completes locking the container. Specifically, the container-engaging signal is used to confirm whether the spreader lock head has correctly locked the corner fittings of the container. Only when the lock head is correctly locked can the spreader safely lift the container. The container-engaging signal can be detected and issued by a sensor or mechanical device on the spreader, ensuring that the operator or the automated control system can accurately determine the locking status of the spreader.

[0068] If the current spreader height is less than the first threshold and the box landing signal has been received, the spreader lifting and hook detection operations of S103 to S105 can be entered; otherwise, the normal working state is entered.

[0069] The first threshold is calculated based on the height of the flatbed trailer, the track height, and the container height. The track height is the height of the track on which the flatbed trailer is located.

[0070] S103: Controlling the lifting of the spreader in response to the lifting instruction, and determining pressure detection results of the pressure sensor in the first lifting state and the second lifting state, respectively.

[0071] Among them, before this step, there can also be an operation of determining whether a lifting instruction is received. If a lifting instruction is received, the lifting of the sling is controlled in response to the lifting instruction, and the pressure detection results of the pressure sensor in the first lifting state and the second lifting state are determined during the lifting process of the sling.

[0072] The first lifting state is a state in which the current spreader height is equal to a first preset height, and the second lifting state is a state in which the current spreader height is equal to a second preset height. The first preset height is a height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is a height at which the lower corner fittings of the container are separated from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fittings of the container cooperate with the locking device of the flatbed trailer to be locked.

[0073] The first preset height is determined by the flatbed trailer height, track height, and container height, and the second preset height is determined by the flatbed trailer height, track height, container height, and the height of the flatbed trailer's locking device. The flatbed trailer's locking device may include an F-TR lock, an integral fixed locking device, a push-pull translational locking device, etc., and no specific limitation is given herein. The locking device refers to the vertical distance between the lowest and highest points of the locking device. The container height refers to the height of the container's length, width, and height dimensions. F-TR indicates the lock model.

[0074] S104: Determine force change information of the spreader lock according to the pressure detection result, and determine whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer according to the force change information.

[0075] In the absence of a connection between the container's lower corner fittings and the flatbed trailer's locking mechanism, when the spreader lock correctly locks the container's upper corner fittings and the container is lifted, the force is primarily concentrated at the connection point between the spreader lock and the upper corner fittings. At this point, the force detected by the pressure sensor is uniform and stable, and the force detected by the pressure sensor in this situation is predictable. However, if the container's lower corner fittings become connected to the flatbed trailer's locking mechanism, the resulting mechanical constraint can generate additional lateral or torsional forces during the lifting process, creating additional resistance to the container during the lift.

[0076] During the lifting process, the force variation of the spreader lock can be used to determine whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer. Specifically, in this embodiment, the force variation information of the spreader lock can be determined based on the pressure detection results of the pressure sensor in the first lifting state and the second lifting state, and then the force variation information can be used to determine whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer.

[0077] S105: If the lower corner fitting of the container is hooked with the locking device of the flatbed trailer, the spreader is controlled to stop lifting and an alarm message is generated.

[0078] Among them, if it is detected that the lower corner piece of the container is hooked with the locking device of the flatbed trailer, the spreader can be controlled to stop lifting and an alarm message can be generated to prevent safety accidents.

[0079] This embodiment determines the current spreader height of a container reach stacker and controls the spreader to raise when the current spreader height is less than a first threshold and a container landing signal is received. The spreader of the container reach stacker is equipped with multiple spreader locks, each equipped with a pressure sensor. The spreader locks can lock the container for lifting. During the spreader lifting process, the pressure sensors can detect the pressure exerted by the container on each spreader lock. This embodiment obtains pressure detection results from the pressure sensors in a first lifting state (when the lower surface of the container is separated from the flatbed trailer) and a second lifting state (when the lower corner fitting is disengaged from the locking device). During the container lifting process, the force applied between the locking device and the lower corner fitting can significantly vary depending on whether there is any interlocking. This embodiment analyzes the pressure detection results to determine the force variation on each spreader lock between the first and second lifting states. Based on this force variation information, it is then determined whether the lower corner fitting of the container is interlocked with the locking device of the flatbed trailer, allowing appropriate action to be taken if interlocking is detected. Therefore, this embodiment can accurately determine whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer, thereby improving the operational safety of the container reach stacker.

[0080] As for Figure 1Further introduction to the corresponding embodiment, in the process of determining the force change information based on the pressure detection result, the force change of a single spreader lock head can be determined, and the force change of the spreader as a whole can also be determined, which specifically includes the following steps:

[0081] Step A1: determining a first pressure value of each of the sling lock heads in a first lifting state, and calculating a first total force value of the sling in the first lifting state according to the first pressure values of all the sling lock heads.

[0082] Specifically, in this step, the first pressure values of all the spreader locks may be added together to obtain the first total force value of the spreader in the first lifting state.

[0083] Step A2: determining a second pressure value of each of the sling lock heads in the second lifting state, and calculating a second total force value of the sling in the second lifting state according to the second pressure values of all the sling lock heads.

[0084] Specifically, in this step, the second pressure values of all the spreader locks may be added together to obtain the second total force value of the spreader in the second lifting state.

[0085] Step A3: Calculate the pressure difference of each sling lock head in the first lifting state and the second lifting state according to the first pressure value and the second pressure value, and set the maximum value of all the pressure differences as the maximum pressure difference of the lock head.

[0086] Specifically, this step can set the absolute value of the second pressure value of the same sling lock minus the first pressure value as the pressure difference value. Each sling lock has its corresponding pressure difference value. This application sets the maximum value of all pressure differences as the maximum pressure difference value of the lock.

[0087] Step A4: Calculating a total force difference of the spreader according to the first total force value and the second total force value.

[0088] Specifically, in this step, the absolute value of the second total force value minus the first total force value may be set as the total force difference of the spreader.

[0089] Step A5: setting the maximum pressure difference of the lock head and the total force difference of the spreader as the force change information.

[0090] Specifically, the force change information includes the maximum pressure difference of the lock head and the total force difference of the spreader. In this embodiment, whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer can be determined in the following manner: determining whether the maximum pressure difference of the lock head is greater than a second threshold to obtain a first judgment result; determining whether the total force difference of the spreader is greater than a third threshold to obtain a second judgment result. If both the first judgment result and the second judgment result are yes, it is determined that the lower corner fitting of the container and the locking device of the flatbed trailer are connected. If both the first judgment result and the second judgment result are not yes, it is determined that the lower corner fitting of the container and the locking device of the flatbed trailer are not connected.

[0091] As for Figure 1 In a further description of the corresponding embodiment, the lifting speed can be controlled in stages during the lifting process of the spreader, so that the spreader can be lifted at a low speed in the early stage of the lifting, and the lifting speed of the spreader can be controlled according to the opening degree of the handle thereafter. Specifically, the process of controlling the lifting of the spreader in response to the lifting instruction includes the following steps:

[0092] Step B1: setting the spreader height when the box landing signal is received as the initial spreader height.

[0093] Step B2: If the lifting instruction is received, the difference between the current spreader height and the initial spreader height is set as the spreader height change value.

[0094] Step B3: If the height change value of the spreader is less than a fourth threshold, the spreader is controlled to rise at a preset speed.

[0095] Step B4: If the height change value of the spreader is greater than or equal to the fourth threshold, the spreader is controlled to rise according to the opening of the handle.

[0096] Specifically, the fourth threshold is set according to the height of the locking device of the flatbed trailer. If the height change value of the spreader is greater than or equal to the fourth threshold, the target speed is determined according to the opening of the handle, and the target speed is used to control the spreader to lift.

[0097] As for Figure 1 Further introduction to the corresponding embodiment: before determining the pressure detection results of the pressure sensor in the first lifting state and the second lifting state respectively, the sling height when the box landing signal is received can also be set as the initial sling height; the initial sling height is added to the first height change value to obtain the first preset height; the initial sling height is added to the second height change value to obtain the second preset height; wherein, the first height change value is less than the second height change value, the first height change value and the second height change value are determined according to the structural parameters of the locking device of the flatbed trailer, and the first height change value and the second height change value are both greater than 0.

[0098] Through the above method, the difference between the current spreader height and the initial spreader height can be set as the current spreader height change value. If the current spreader height change value is equal to the first height change value, it is determined that the container reach loader is in the first lifting state; if the current spreader height change value is equal to the second height change value, it is determined that the container reach loader is in the second lifting state.

[0099] As for Figure 1 As a further introduction to the corresponding embodiment, before setting the spreader height of the container reach stacker at the current moment as the current spreader height, the spreader height at the current moment may also be determined by the following operations:

[0100] Step C1: collecting the extension distance and lifting angle of the container reach stacker.

[0101] The above-mentioned extension distance and lifting angle are the extension distance and lifting angle of the telescopic arm of the container reach crane at the current moment relative to the reference state. The above-mentioned reference state is the state where the telescopic arm of the container reach crane is retracted to the shortest and the spreader is at the lowest point.

[0102] Step C2: Calculating the distance between the lower edge of the sling lock head and the ground according to the extension distance, the lifting angle and the structural parameters.

[0103] The structural parameters include the horizontal distance between the hinge points, the vertical distance between the hinge points, the first height, and the second height. The horizontal distance between the hinge points is the horizontal distance between the upper hinge point and the rear hinge point (i.e., the fulcrum), the vertical distance between the upper hinge point and the rear hinge point is the vertical distance between the upper hinge point and the rear hinge point, the first height is the vertical distance between the upper hinge point and the lower edge of the sling lock, and the second height is the vertical distance between the rear hinge point and the ground. The upper hinge point is the hinge point between the telescopic arm of the container reach crane and the sling, and the rear hinge point is the hinge point between the boom of the container reach crane and the vehicle body. The lower edge of the sling lock is the lowest point of the sling lock. The boom of the container reach crane includes a telescopic arm and a base arm.

[0104] Specifically, the above-mentioned horizontal distance of the hinge points is the distance between the upper hinge point and the rear hinge point in the horizontal direction in the reference state, and the above-mentioned vertical distance of the hinge points is the distance between the upper hinge point and the rear hinge point in the vertical direction in the reference state.

[0105] Step C3: setting the distance between the lower edge of the spreader lock head and the ground as the spreader height of the container reach stacker at the current moment.

[0106] The process described in the above embodiment is explained below through an embodiment in actual application.

[0107] Since its introduction, the F-TR rail container lock has become the primary lock type for railway container flat cars. Its unique eagle-head design ensures the safety of containers during transport, resolving the safety issue of relying on lashing and reinforcement to prevent empty containers from falling. However, it also poses significant safety risks to post-transfer loading and unloading operations. During reachlift unloading operations, improper operation can easily lead to the container corner fittings becoming locked and even lifting the vehicle, resulting in a derailment.

[0108] Existing F-TR lock and anti-hook control systems often use a control strategy that compares the weight value obtained by jogging the container with a preset container weight entered into the system. If the jog weight value exceeds the preset weight, boom lift is prohibited. However, this F-TR lock and anti-hook control technology requires the preset container weight to be known in advance. This makes it inconvenient to frequently re-enter the preset weight value whenever the container specifications or gross weight change.

[0109] This embodiment proposes a control scheme for preventing hooking of the F-TR lock of a container reach stacker that combines calculations of gross weight and individual lock head pressure changes. The controller determines the state of the F-TR lock during container lifting based on the gross weight of the container cargo and the pressure values of the individual lock heads, as measured by pressure sensors installed on the four lock heads of the spreader. The controller determines the state of the F-TR lock during container lifting according to the changes in gross weight and individual lock head pressure within different lifting height ranges. The controller then comprehensively determines whether the F-TR lock is detached from the container based on the calculated results and executes the corresponding safety control strategy.

[0110] See Figure 4 , Figure 4 This is a signal acquisition block diagram of the control system for a container reach stacker, provided in an embodiment of the present application. The diagram shows the joystick J, length and angle sensor ACQ, locking head pressure sensors S1-S4, interactive instrument P, vehicle control unit (VCU), boom lift proportional valve Y1, buzzer alarm H01, and spreader controller SCU. The joystick transmits signals about handle direction, handle opening, and vertical lift enable to the VCU. The spreader controller SCU transmits signals indicating when the spreader has landed. Administrators can use the interactive instrument to set adjustable parameters 1-n.

[0111] The vehicle controller records the lifting height of the spreader when the container is attached by comprehensively analyzing the values of the angle, length and geometric parameters of the boom, and controls the lifting speed of the boom in sections according to the changes in the lifting height of the boom after the container is attached. The controller also calculates the total weight of the container cargo and the weight values of each lock based on the pressure sensors installed on the four locks of the spreader. According to the changes in the total weight and weight within the different lifting height ranges, it determines whether the F-TR lock is connected when lifting the container, and executes the corresponding safety control strategy to avoid larger accidents.

[0112] Information is exchanged between the bus instrument, joystick, ACQ sensor, vehicle controller and spreader controller via the CAN (Controller Area Network) bus. The administrator can input the following adjustable parameters through the instrument according to the trailer specifications: the maximum gross weight change allowed by the system , the maximum allowable weight change value , Boom speed limit lifting height value , F-TR lock function trigger height value and the opening value of the lifting proportional valve in the speed limit section ; The accuracy and efficiency of system operation can be adjusted through the above five adjustable parameters.

[0113] F-TR lock function trigger height value That is, the first threshold mentioned above, the maximum allowable weight change value That is the second threshold mentioned above, the maximum total weight change value allowed by the system That is, the third threshold value mentioned above, the boom speed limit lifting height value That is, the fourth threshold, the speed limit section lifting proportional valve opening value That is, the opening corresponding to the preset speed.

[0114] This embodiment provides a container reach stacker F-TR lock anti-hooking control method, which specifically includes the following steps:

[0115] Step D1: The controller obtains the customer-set adjustable parameters through the instrument, including the maximum gross weight change value allowed by the input system. , the maximum allowable weight change value , Boom speed limit lifting height value , F-TR lock function trigger height value and the opening value of the lifting proportional valve in the speed limit section .

[0116] In a feasible implementation, the values of the above parameters are as follows: , , , , .

[0117] Step D2: The vehicle controller obtains the distance the telescopic arm extends by collecting data from the length and angle sensor ACQ (m) and the angle of the boom lifting ( );

[0118] Step D3: The vehicle controller calculates the real-time height of the lower edge of the sling lock from the ground (mm):

[0119] ;

[0120] Where, the height from the hinge point D on the sling to the lower edge of the sling is (mm), height from rear hinge point A to the ground (mm), vertical distance from rear hinge point A to upper hinge point of sling (mm) and the horizontal distance from the rear hinge point A to the upper hinge point D of the sling when the boom is retracted to the bottom (mm) is a constant parameter; the angle of the boom lifting ( ) is a variable parameter obtained by the length and angle sensor.

[0121] Height from the hinge point D on the sling to the lower edge of the sling That is the first height mentioned above, the height from the rear hinge point A to the ground That is the second height mentioned above.

[0122] The vertical distance from the rear hinge point A to the upper hinge point of the sling That is, the vertical distance from the hinge point, and the horizontal distance from the rear hinge point A to the hinge point D on the sling. That is, the horizontal distance of the hinge point.

[0123] See Figure 5 , Figure 5 This is a structural diagram of a container reach stacker provided in an embodiment of the present application, which shows: the height from the hinge point D on the spreader to the lower edge of the spreader , vertical distance from rear hinge point A to upper hinge point of sling , maximum extension distance L, lifting angle , horizontal distance from rear hinge point A to hinge point D on sling , Height from rear hinge point A to the ground , the real-time height value of the lower edge of the sling lock from the ground .

[0124] In a feasible implementation, the values of the above parameters are as follows:

[0125] , , , .

[0126] Step D4: The vehicle controller determines the current height of the spreader ,when When the system enters step D5; when , the system enters normal working state.

[0127] Step D5: The vehicle controller determines the current spreader container-engaging status through the spreader controller. When the container-engaging signal is true (indicating that the spreader is already on the container), the vehicle controller records the initial spreader height at this time and proceeds to step D6.

[0128] Step D6: The vehicle controller determines the status of the operating handle. If it detects that the handle issues a lifting command, the vehicle controller VCU control system enters step D7.

[0129] Step D7: The vehicle controller obtains the opening degree of the handle when it is lifted according to the handle signal , calculate the real-time spreader height change value . .when When the vehicle controller VCU controls the boom lifting valve Y1, The small opening of the lifting proportional valve Y1 during lifting ensures the accuracy of weighing and avoids the hook caused by the lifting speed being too fast and not being able to make calculations in time. The specific calculation is as follows:

[0130] ;

[0131] Where, The current spreader height value With the initial height value The difference (i.e. the change in spreader height), . This is the initial spreader height mentioned above.

[0132] Step D8: When the vehicle is in the sampling point 1 state, the lower surface of the container just leaves the upper surface of the dedicated flat car. (like Figure 6 As shown), the vehicle controller collects data from the four pressure sensors S1~S4 on the sling lock to obtain the weight values of the four sling locks at this time. 、 、 and , calculate the total weight of the container cargo collected at the current sampling point When the vehicle is at sampling point 2, the lower corner piece of the container just leaves the F-TR lock on the dedicated flat car. (like Figure 7 As shown), the vehicle controller calculates the weight values of the four locks of the spreader at this time 、 、 and , calculate the total weight of the container cargo collected at the current sampling point . and The value is determined by the structural characteristics of the lock on the special flat car.

[0133] That is, the first height change value mentioned above, That is, the second height change value mentioned above, That is, the first total force value mentioned above, This is the second total force value mentioned above. The state of sampling point 1 is the first lifting state mentioned above (that is, the state where the lower surface of the container just leaves the upper surface of the flatbed trailer), and the state of sampling point 2 is the second lifting state mentioned above (the state where the lower corner fitting of the container just leaves the locking device of the flatbed trailer). Please refer to Figure 6 , Figure 6 This is a diagram of the relative positions of the container lower corner fittings and the F-TR lock on the flat car in the sampling point 1 state provided in an embodiment of the present application; see Figure 7 , Figure 7 This is a diagram of the relative positions of the lower corner fittings of the container and the F-TR lock on the flat car at sampling point 2 provided in an embodiment of the present application. Figure 6 and Figure 7 The container bottom corner piece 601, F-TR lock 602, and structural parameters are shown in FIG. and structural parameters .

[0134] In a feasible implementation, the values of the above parameters are as follows: =30mm, =100mm.

[0135] The total weight of container cargo at the above two sampling points 、 The calculation is as follows:

[0136] ;

[0137] .

[0138] Step D9: When And the weight change value of a single container lock When the F-TR lock is connected, the vehicle controller controls the lifting proportional valve Y1 to open to 0, prohibiting the spreader from continuing to lift, and controls the buzzer alarm H01 to sound an alarm. A pop-up box prompts "F-TR lock is connected, lifting is prohibited" on the instrument. The maximum gross weight change value allowed by the system is and the maximum allowable weight change Determined by the specifications of the F-TR dedicated trailer weight specifications.

[0139] Changes in container lock weight pressure at two sampling points The calculation is as follows:

[0140] .

[0141] In a feasible implementation mode, in this example, the values of the above parameters are as follows: , , t stands for tons.

[0142] See Figure 8 , Figure 8 This is a cross-sectional view of the placement of a pressure sensor on a spreader lock provided in an embodiment of the present application. In the figure, 1 represents the spreader lock, 2 represents the lock sleeve, 3 represents the lower spherical bearing, 4 represents the upper spherical bearing, 5 represents the split flange, 6 represents the rotary lock flange cover, 7 represents the tie rod, 8 represents the lower pad, 9 represents the placement of the pressure sensor, 10 represents the upper pad, and 11 represents the tie rod flange. In this embodiment, the pressure sensors are placed on the four spreader locks of the spreader. The lock pressure sensor 9 is installed between the split flange 5 and the tie rod flange 11. The upper pad 10 and lower pad 8 designed on the upper and lower surfaces of the sensor ensure that the pressure sensor is adequately stressed when lifting containers.

[0143] Boom speed limit lifting height value Determined by the lock head height value of the F-TR lock flat car, when the height change value of the spreader When lifting, the boom can only be lifted at a uniform and low speed to ensure the accuracy of weighing and avoid hooking caused by excessive lifting speed without enough time for calculation and judgment.

[0144] F-TR lock function trigger height value Considering the height of the flatbed trailer , rail height Determined by the height of a 9-foot container (2.89m), In this application example, , when the spreader height is greater than The value indicates that the vehicle is not in the F-TR lock unloading condition, the F-TR lock anti-hooking function is not triggered, and the working efficiency of non-flat car unloading conditions is not affected.

[0145] This embodiment solves the safety issues such as vehicle derailment caused by the failure of the F-TR lock to open in time when the container reach crane is performing a box lifting operation on a flat car equipped with an F-TR lock, thereby improving the vehicle's operating experience and safety.

[0146] An embodiment of the present application provides an F-TR lock anti-hookup control method, comprising the following steps:

[0147] Step E1: The vehicle controller obtains the direction and opening data of the joystick , arm extension distance , Boom lifting angle , Maximum gross weight change , the maximum allowable weight change value , Boom speed limit lifting height value , F-TR lock function trigger height value and the opening value of the lifting proportional valve in the speed limit section .

[0148] Step E2: The controller calculates the real-time height of the spreader .

[0149] Step E3: Judgment Is it less than ; If so, go to step E4; if not, end the process.

[0150] Step E4: The spreader controller reports whether the spreader box landing signal is true. If so, the process proceeds to step E5. If not, the process ends. When the box landing signal is true, it indicates that the box landing signal has been received.

[0151] Step E5: The controller calculates the initial height of the spreader .

[0152] Step E6: Determine whether the handle is in the raised state; if so, proceed to step E7; if not, end the process.

[0153] Step E7: The vehicle controller adjusts the handle opening according to the , obtain the parameters, calculate the real-time spreader height change value .

[0154] Step E8: Judgment Is it less than ; If so, go to step E9; if not, end the process.

[0155] Step E9: The vehicle controller controls the lifting proportional valve according to The small opening allows for slow and constant lifting.

[0156] Step E10: The controller calculates the total weight and weight pressure change of the containers at the two sampling points based on the data of the lock pressure sensor ( 、 and ).

[0157] Step E11: Determine whether and ; If so, go to step E12; if not, end the process.

[0158] Step E12: The vehicle controller controls the lifting proportional valve opening to 0, the buzzer alarm sounds, and a text warning pops up through the instrument.

[0159] This embodiment proposes a container reach stacker F-TR lock anti-hooking control system and method that combines the calculation of total weight and individual lock head pressure changes. The controller determines the state of the F-TR lock when lifting the container based on the total weight value of the container cargo and the pressure values of the individual lock heads obtained by the pressure sensors installed on the four lock heads of the spreader. The controller determines the state of the F-TR lock when lifting the container according to the changes in the total weight and individual lock head pressure within different lifting height variation ranges. Based on the calculation results, it is comprehensively determined whether the F-TR lock is detached from the container and the corresponding safety control strategy is executed.

[0160] This embodiment introduces the F-TR lock function trigger height value , by comprehensively considering the height of the flatbed trailer , rail height Determined by the height of a 9-foot container (2.89m), only the spreader height is The system will trigger the F-TR lock anti-hook function. When the value is set, it means that the vehicle is not in the F-TR lock unloading condition and the F-TR lock anti-coupling function is not triggered. This control method can avoid triggering the anti-coupling function in non-flat car unloading conditions, ensuring that the work efficiency is not affected when the vehicle lifts more than two rows of containers.

[0161] This embodiment introduces an F-TR lock engagement determination method that combines the total cargo weight and the change in pressure of a single lock head. Only when both values exceed the specified range is the F-TR lock engagement determined, ensuring safety while minimizing false alarms. Compared to the conventional multi-stage inching lifting control method, when the F-TR function is triggered, this embodiment automatically divides the lifting section into a speed-limited section and a non-speed-limited section during unloading. Unless the system determines that the F-TR is engaged, the lifting operation will not stop midway, reducing the impact caused by the frequent starts and stops of conventional inching lifting control.

[0162] This embodiment incorporates the spreader's container-loaded operating conditions. A new sampling and calculation cycle begins only when the spreader controller detects the spreader is in the container-loaded state. This eliminates the need for driver input, significantly simplifying operation compared to existing solutions on the market that require the driver to actively trigger the inching lift function. In this embodiment, the container weight is automatically calculated by the controller, eliminating the need for driver input, significantly improving operational convenience.

[0163] An embodiment of the present application provides an anti-hooking control system for a container reach stacker. The spreader of the container reach stacker is provided with a plurality of spreader locks. Each of the spreader locks is provided with a pressure sensor. The pressure sensor is used to detect the force applied to the spreader lock. The anti-hooking control system for the container reach stacker includes:

[0164] a spreader height determination module, configured to set the spreader height of the container front hoist at the current moment as the current spreader height;

[0165] The lifting control module is used to determine whether a container-locking signal is received if the current spreader height is less than a first threshold value; wherein the container-locking signal is a signal generated when the spreader lock head completes locking the container; if so, the spreader is controlled to lift in response to the lifting instruction, and the pressure detection results of the pressure sensor in the first lifting state and the second lifting state are determined respectively; wherein, the first lifting state is a state in which the current spreader height is equal to a first preset height, and the second lifting state is a state in which the current spreader height is equal to a second preset height, the first preset height is a height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is a height at which the lower corner fitting of the container is separated from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fitting of the container cooperates with the locking device of the flatbed trailer to lock;

[0166] The connection detection module is used to determine the force change information of the spreader lock according to the pressure detection result, and judge whether the lower corner piece of the container is connected with the locking device of the flatbed trailer according to the force change information; if so, the spreader is controlled to stop lifting and an alarm message is generated.

[0167] This embodiment determines the current spreader height of a container reach stacker and controls the spreader to raise when the current spreader height is less than a first threshold and a container landing signal is received. The spreader of the container reach stacker is equipped with multiple spreader locks, each equipped with a pressure sensor. The spreader locks can lock the container for lifting. During the spreader lifting process, the pressure sensors can detect the pressure exerted by the container on each spreader lock. This embodiment obtains pressure detection results from the pressure sensors in a first lifting state (when the lower surface of the container is separated from the flatbed trailer) and a second lifting state (when the lower corner fitting is disengaged from the locking device). During the container lifting process, the force applied between the locking device and the lower corner fitting can significantly vary depending on whether there is any interlocking. This embodiment analyzes the pressure detection results to determine the force variation on each spreader lock between the first and second lifting states. Based on this force variation information, it is then determined whether the lower corner fitting of the container is interlocked with the locking device of the flatbed trailer, allowing appropriate action to be taken if interlocking is detected. Therefore, this embodiment can accurately determine whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer, thereby improving the operational safety of the container reach stacker.

[0168] Furthermore, the process of the hook detection module determining the force change information of the sling lock according to the pressure detection result includes: determining a first pressure value of each of the sling locks in the first lifting state, and calculating a first total force value of the sling in the first lifting state according to the first pressure values of all the sling locks; determining a second pressure value of each of the sling locks in the second lifting state, and calculating a second total force value of the sling in the second lifting state according to the second pressure values of all the sling locks; calculating the pressure difference of each of the sling locks in the first lifting state and the second lifting state according to the first pressure value and the second pressure value, and setting the maximum value of all the pressure difference values as the maximum pressure difference of the lock; calculating the total force difference of the sling according to the first total force value and the second total force value; and setting the maximum pressure difference of the lock and the total force difference of the sling as the force change information.

[0169] Furthermore, the process of the connection detection module judging whether the lower corner fitting of the container and the locking device of the flatbed trailer are connected based on the force change information includes: judging whether the maximum pressure difference of the lock head is greater than a second threshold value, and obtaining a first judgment result; judging whether the total force difference of the sling is greater than a third threshold value, and obtaining a second judgment result; if both the first judgment result and the second judgment result are yes, it is determined that the lower corner fitting of the container and the locking device of the flatbed trailer are connected.

[0170] Furthermore, the process of the hook detection module calculating the first total force value of the sling in the first lifting state based on the first pressure values of all the sling locks includes: adding the first pressure values of all the sling locks to obtain the first total force value of the sling in the first lifting state; correspondingly, calculating the second total force value of the sling in the second lifting state based on the second pressure values of all the sling locks includes: adding the second pressure values of all the sling locks to obtain the second total force value of the sling in the second lifting state.

[0171] Furthermore, the process of the lifting control module controlling the lifting of the sling in response to the lifting instruction includes: setting the sling height when the box landing signal is received as the initial sling height; if the lifting instruction is received, setting the difference between the current sling height and the initial sling height as the sling height change value; if the sling height change value is less than a fourth threshold, controlling the sling to be lifted at a preset speed; if the sling height change value is greater than or equal to the fourth threshold, controlling the sling to be lifted according to the opening of the handle.

[0172] Furthermore, it also includes:

[0173] The threshold setting module is used to set the fourth threshold according to the height of the locking device of the flatbed trailer.

[0174] Furthermore, it also includes:

[0175] a height value determination module, configured to set the sling height upon receiving the landing signal as the initial sling height before determining the pressure detection results of the pressure sensor in the first lifting state and the second lifting state, respectively; and to add the initial sling height to a first height change value to obtain the first preset height; and to add the initial sling height to a second height change value to obtain the second preset height; wherein the first height change value is less than the second height change value.

[0176] Furthermore, the spreader height determination module is also used to collect the extension distance and lifting angle of the container reach crane before setting the spreader height of the container reach crane at the current moment to the current spreader height; and is also used to calculate the distance between the lower edge of the spreader lock and the ground based on the extension distance, the lifting angle and structural parameters; wherein the structural parameters include the horizontal distance of the hinge point, the vertical distance of the hinge point, the first height and the second height, the horizontal distance of the hinge point is the distance between the upper hinge point and the rear hinge point in the horizontal direction, the vertical distance of the hinge point is the distance between the upper hinge point and the rear hinge point in the vertical direction, the first height is the distance between the upper hinge point and the lower edge of the spreader lock, and the second height is the distance between the rear hinge point and the ground; the upper hinge point is the hinge point between the telescopic arm of the container reach crane and the spreader, and the rear hinge point is the hinge point between the boom of the container reach crane and the vehicle body; and is also used to set the distance between the lower edge of the spreader lock and the ground as the spreader height of the container reach crane at the current moment.

[0177] Furthermore, it also includes:

[0178] A threshold setting module is used to calculate the first threshold according to the height of the flatbed trailer, the track height and the container height.

[0179] 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, and will not be repeated here.

[0180] This application also provides a storage medium having a computer program stored thereon. When executed, the computer program can implement the steps provided in the above embodiments. The storage medium may include: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, or other medium capable of storing program code.

[0181] The present application also provides an electronic device that may include 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 provided in the above embodiment can be implemented. Of course, the electronic device may also include various network interfaces, a power supply, and other components.

[0182] 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 this application, and these improvements and modifications also fall within the scope of protection of this application.

[0183] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A method for preventing hooking of a container reach stacker, characterized in that: The container reach stacker is provided with a plurality of spreader locks, each of which is provided with a pressure sensor, and the pressure sensor is used to detect the force applied to the spreader lock. The anti-hooking control method of the container reach stacker includes: Setting the spreader height of the container front hoist at the current moment to the current spreader height; If the current spreader height is less than the first threshold, determining whether a container-locking signal is received; wherein the container-locking signal is a signal generated when the spreader lock head completes locking the container; If so, the spreader is controlled to rise in response to the lifting instruction, and the pressure detection results of the pressure sensor in the first lifting state and the second lifting state are determined respectively; wherein, the first lifting state is a state in which the current spreader height is equal to a first preset height, and the second lifting state is a state in which the current spreader height is equal to a second preset height, the first preset height is a height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is a height at which the lower corner fittings of the container are separated from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fittings of the container cooperate with the locking device of the flatbed trailer to lock; Determining force variation information of the spreader lock according to the pressure detection result, and judging whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer according to the force variation information; if so, controlling the spreader to stop lifting and generating an alarm message; Wherein, determining the force change information of the sling lock head according to the pressure detection result includes: Determine a first pressure value of each of the spreader lock heads in the first lifting state, and calculate a first total force value of the spreader in the first lifting state based on the first pressure values of all the spreader lock heads; Determining a second pressure value of each of the spreader lock heads in the second lifting state, and calculating a second total force value of the spreader in the second lifting state based on the second pressure values of all the spreader lock heads; Calculate the pressure difference of each of the sling lock heads in the first lifting state and the second lifting state according to the first pressure value and the second pressure value, and set the maximum value of all the pressure differences as the maximum pressure difference of the lock head; Calculating a total force difference of the spreader according to the first total force value and the second total force value; The maximum pressure difference of the lock head and the total force difference of the spreader are set as the force change information.

2. The anti-hooking control method for a container reach crane according to claim 1, characterized in that: Determining whether the lower corner fitting of the container is connected to the locking device of the flatbed trailer according to the force change information includes: Determine whether the maximum pressure difference of the lock head is greater than a second threshold value, and obtain a first judgment result; Determine whether the total force difference of the spreader is greater than a third threshold value, and obtain a second determination result; If both the first judgment result and the second judgment result are yes, it is determined that the lower corner fitting of the container is hooked with the locking device of the flatbed trailer.

3. The anti-hooking control method for a container reach crane according to claim 1, characterized in that: Calculating a first total force value of the spreader in a first lifting state according to the first pressure values of all the spreader locks includes: Adding the first pressure values of all the spreader locks to obtain a first total force value of the spreader in the first lifting state; Accordingly, calculating the second total force value of the spreader in the second lifting state according to the second pressure values of all the spreader locks includes: The second pressure values of all the sling locks are added together to obtain a second total force value of the sling in the second lifting state.

4. The anti-hooking control method for a container reach crane according to claim 1, characterized in that: Controlling the spreader to lift in response to a lifting instruction includes: Setting the spreader height upon receiving the box landing signal as the initial spreader height; If the lifting instruction is received, the difference between the current spreader height and the initial spreader height is set as the spreader height change value; If the height change value of the spreader is less than a fourth threshold, controlling the spreader to rise at a preset speed; If the height change value of the spreader is greater than or equal to the fourth threshold, the spreader is controlled to be lifted according to the opening degree of the handle.

5. The anti-hooking control method for a container reach crane according to claim 4, characterized in that: Also includes: The fourth threshold is set according to the height of the locking device of the flatbed trailer.

6. The anti-hooking control method for a container reach crane according to claim 1, characterized in that: Before determining the pressure detection results of the pressure sensor in the first lifting state and the second lifting state respectively, the method further includes: Setting the spreader height upon receiving the box landing signal as the initial spreader height; Adding the initial spreader height to the first height change value to obtain the first preset height; The initial spreader height is added to the second height change value to obtain the second preset height; wherein the first height change value is smaller than the second height change value.

7. The anti-hooking control method for a container reach crane according to claim 1, characterized in that: Before setting the spreader height of the container reach stacker at the current moment to the current spreader height, the method further includes: collecting the reach distance and lifting angle of the container reach stacker; The distance between the lower edge of the spreader lock head and the ground is calculated based on the extension distance, the lifting angle and the structural parameters; wherein the structural parameters include the horizontal distance of the hinge point, the vertical distance of the hinge point, the first height and the second height, the horizontal distance of the hinge point is the distance between the upper hinge point and the rear hinge point in the horizontal direction, the vertical distance of the hinge point is the distance between the upper hinge point and the rear hinge point in the vertical direction, the first height is the distance between the upper hinge point and the lower edge of the spreader lock head, and the second height is the distance between the rear hinge point and the ground; the upper hinge point is the hinge point between the telescopic arm of the container reach crane and the spreader, and the rear hinge point is the hinge point between the boom of the container reach crane and the vehicle body; The distance between the lower edge of the spreader lock and the ground is set as the spreader height of the container reach stacker at the current moment.

8. The anti-hooking control method for a container reach crane according to claim 1, characterized in that: Also includes: The first threshold is calculated based on the height of the flatbed trailer, the height of the track, and the height of the container. 9.An anti-hooking control system for a container reach stacker, characterized in that: The spreader of the container reach stacker is provided with a plurality of spreader locks, each of which is provided with a pressure sensor, and the pressure sensor is used to detect the force applied to the spreader lock. The anti-hooking control system of the container reach stacker includes: a spreader height determination module, configured to set the spreader height of the container front hoist at the current moment as the current spreader height; The lifting control module is used to determine whether a container-locking signal is received if the current spreader height is less than a first threshold value; wherein the container-locking signal is a signal generated when the spreader lock head completes locking the container; if so, the spreader is controlled to lift in response to the lifting instruction, and the pressure detection results of the pressure sensor in the first lifting state and the second lifting state are determined respectively; wherein, the first lifting state is a state in which the current spreader height is equal to a first preset height, and the second lifting state is a state in which the current spreader height is equal to a second preset height, the first preset height is a height at which the lower surface of the container leaves the flatbed trailer, and the second preset height is a height at which the lower corner fitting of the container is separated from the locking device of the flatbed trailer; when the container is placed on the flatbed trailer, the lower corner fitting of the container cooperates with the locking device of the flatbed trailer to lock; a hook detection module, configured to determine force variation information of the spreader lock head based on the pressure detection result, and determine whether the lower corner fitting of the container is hooked to the locking device of the flatbed trailer based on the force variation information; if so, control the spreader to stop lifting and generate an alarm message; Among them, the process of the hook detection module determining the force change information of the sling lock according to the pressure detection result includes: determining a first pressure value of each of the sling locks in the first lifting state, and calculating a first total force value of the sling in the first lifting state according to the first pressure values of all the sling locks; determining a second pressure value of each of the sling locks in the second lifting state, and calculating a second total force value of the sling in the second lifting state according to the second pressure values of all the sling locks; calculating the pressure difference of each of the sling locks in the first lifting state and the second lifting state according to the first pressure value and the second pressure value, and setting the maximum value of all the pressure differences as the maximum pressure difference of the lock; calculating the total force difference of the sling according to the first total force value and the second total force value; and setting the maximum pressure difference of the lock and the total force difference of the sling as the force change information.

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