A tilt angle detection-based stacker load platform balance control method and system

Abstract

The present application relates to the field of stacker detection, and discloses a kind of stacker load platform balance control method and system based on inclination detection, this method establishes ground coordinate system and base coordinate system by distance data, the absolute height of load platform relative to ground, the height variation of load platform relative to base, the absolute height of base relative to ground are calculated according to coordinate system, inclination is calculated according to the above conditions, and processing unit is warned and braked by the inclination value derived;The present application controls the incidence angle of emitter by adjusting assembly, so that it is aligned with receiver and receiving strip, and processing unit receives distance data in real time, and plane data of load platform, base and ground are fitted by data, processing unit integrates each data into the same coordinate system, and the inclination of load platform relative to base and the inclination of base relative to ground are compared by data, the balance of load platform itself and the inclination of stacker are monitored, and alarm and braking strategy can be formulated according to the comparison of inclination and threshold value.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacker detection, and in particular to a stacker load platform balance control method and system based on inclination detection. BACKGROUND

[0002] In the modern warehousing and logistics industry, the stereoscopic shelving system is widely used in various warehouses and distribution centers due to its efficient space utilization and automation characteristics. However, with the increase of stacker height and the improvement of storage density, the problems of load platform tilting, vibration and structural instability are increasingly prominent, which may cause the stacker to collapse, damage the goods, and even pose a threat to personnel safety. The stacker is one of the important transportation equipment in the automated logistics system, and the load platform needs to be balanced during operation, otherwise the tilt, collision and other faults may occur, which will seriously affect the equipment transportation and production efficiency. Therefore, real-time monitoring and protection of the load platform tilt is the key to ensure the normal operation of the equipment, and the detection device of the existing technical solution usually adopts a single detection method, which is difficult to realize high-precision and real-time monitoring, and is easy to cause big accidents due to small faults. The general inclination detection is only for the relationship between the load platform and the base of the stacker, and when the stacker is overturned, the load platform and the base of the stacker will not move relatively, and only considering the parallel relationship between the load platform and the base is unreliable, and the inclination detection of the load platform and the ground plane needs to be added to increase the safety. Therefore, a stacker load platform balance control method and system based on inclination detection are proposed to solve the above problems. SUMMARY

[0003] This section is intended to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, the abstract and the title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0004] In view of the above problems of the existing stacker load platform balance control method and system based on inclination detection, the present application is proposed.

[0005] Therefore, the purpose of the present application is to provide a stacker load platform balance control method and system based on inclination detection, which can realize real-time monitoring and protection of the load platform tilt.

[0006] To solve the above technical problems, the application provides the following technical scheme: a stacker load platform balance control method based on inclination detection, comprising: an emitter installed on the bottom surface of the load platform emits ranging light to the bottom; a beam splitter installed on the base of the stacker divides the laser emitted by the emitter into two beams, one of which is vertically emitted to the base of the stacker, and the other is a transmission beam emitted to the guide rail on the ground; a receiver installed on the base of the stacker and the guide rail on the ground receives the light beams split by the beam splitter, and obtains the distance between the load platform and the base and the distance between the load platform and the ground; a processing unit connected with the emitter and the receiver establishes a ground coordinate system and a base coordinate system through the distance data, calculates the absolute height of the load platform relative to the ground, the height change of the load platform relative to the base, and the absolute height of the base relative to the ground according to the coordinate systems, calculates the inclination according to the absolute heights, and the processing unit gives a warning and braking according to the inclination value obtained.

[0007] As a preferred scheme of the stacker load platform balance control method based on inclination detection, the emitter, the beam splitter and the receiver are provided in three groups in a triangular distribution, the ground coordinate system is determined by the planes where the three receivers on the ground are located, and the base coordinate system is determined by the planes where the three receivers on the base are located.

[0008] As a preferred scheme of the stacker load platform balance control method based on inclination detection, the absolute height of the load platform relative to the ground is determined according to the ranging of the emitter of the load platform and the receiver on the ground, and the height change of the load platform relative to the base is obtained by the change of the distance between the emitter of the load platform and the receiver on the base relative to the initial value.

[0009] As a preferred scheme of the stacker load platform balance control method based on inclination detection, the absolute height of the base relative to the ground needs to be fitted by the load platform measurement point data, the equation of the load platform plane in the base coordinate system is fitted by combining the absolute height of the load platform and the height change of the load platform relative to the base with the position data of the emitter, the height offset of the receiver on the base relative to the initial position plane is obtained by the relative position relationship between the emitter of the load platform and the receiver on the base and the fitted equation, and thus the equation of the base plane is calculated, and the absolute height of the base relative to the ground is obtained.

[0010] As a preferred scheme of the present application, the tilt angle calculation comprises the tilt angle of the load platform relative to the base and the tilt angle of the base relative to the ground; the tilt angle of the load platform relative to the base is calculated by fitting a plane from the ranging information of the transmitter and the receiver of the base and the position information of the transmitter, and the tilt angle of the plane relative to the plane on which the receiver of the base is located is the tilt angle of the load platform relative to the base; the tilt angle of the base relative to the ground is calculated by converting the equation of the plane of the base in the base coordinate system to the ground coordinate system, and the tilt angle of the plane relative to the plane on which the receiver is located on the ground is the tilt angle of the base relative to the ground.

[0011] As a preferred scheme of the present application, the processing unit giving the warning and brake according to the derived tilt angle value further comprises threshold setting, the tilt angle threshold of the base relative to the ground is derived according to the height of the center of gravity of the stacker, the wheel track and the rail track parameters, combined with the error range allowed by the guide rail; the tilt angle threshold of the load platform relative to the base is derived according to the design stiffness of the load platform and the allowed deformation amount; the warning and brake strategy is set by the threshold.

[0012] A stacker load platform balance control system based on tilt angle detection, which is implemented based on the above-mentioned stacker load platform balance control method based on tilt angle detection, wherein: it comprises: a main component, including a stacker, a base arranged on the stacker, a load platform arranged on the base, and a guide rail bearing the base; a ranging component, which is provided with three groups, including a transmitter arranged at the bottom of the base, a beam splitter fixedly arranged on the base, and a receiver, and a receiving strip arranged on the guide rail; an adjusting component connected with the transmitter, including the base, a first motor and a second motor arranged on the base, a worm fixedly connected to the output shafts of the first motor and the second motor, a first worm gear meshing with the worm of the first motor, a rotating rod fixedly connected with the first worm gear, a second worm gear meshing with the second motor, an inner rod fixedly connected with the second worm gear, a bevel gear arranged on the inner rod, a second bevel gear meshing with the bevel gear, and a cross rod fixedly connected with the second bevel gear.

[0013] As a preferred scheme of the present application, the transmitter is arranged in a triangular arrangement at the bottom of the load platform, the beam splitter is arranged below the transmitter, the beam splitter divides the light of the transmitter into two beams, which are directed to the receiver and the receiving strip; the receiving strip is laid along the guide rail.

[0014] As a preferred scheme of the present application, the base is fixed at the bottom of the load platform, the first motor and the second motor are fixed on the base, the rotating rod is rotatably arranged on the base, a support rod is fixedly arranged at the end of the rotating rod away from the first worm gear, the inner rod is rotatably arranged in the rotating rod, the bevel gear, the second bevel gear and the cross rod are arranged on the support rod, and the cross rod is rotatably arranged in the support rod.

[0015] As a preferred scheme of the present application, the emitter is fixedly connected with the cross bar.

[0016] The present application has the following advantages:

[0017] The present application has the following advantages: BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0019] Fig. 1 The present application has the following advantages:

[0020] Fig. 2 The present application has the following advantages:

[0021] Fig. 3 The present application has the following advantages:

[0022] Fig. 4 The present application has the following advantages:

[0023] Fig. 5 The present application has the following advantages:

[0024] Fig. 6 The present application has the following advantages:

[0025] Fig. 7 The present application has the following advantages:

[0026] 100, main body assembly; 101, stacker; 102, base; 103, loading platform; 104, guide rail; 200, distance measuring assembly; 201, emitter; 202, beam splitter; 203, receiver; 204, receiving strip; 300, adjusting assembly; 301, mounting seat; 302, first motor; 303, second motor; 304, worm; 305, first worm gear; 306, rotating rod; 306a, supporting rod; 307, second worm gear; 308, inner rod; 309, bevel gear; 310, second bevel gear; 311, cross rod. DETAILED DESCRIPTION

[0027] In order to make the above objectives, features and advantages of the present application more apparent, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0028] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details given herein. In other instances, well-known methods have not been described in detail in order to avoid unnecessarily obscuring the present application.

[0029] Secondly, the term "one embodiment" or "an embodiment" as used herein means that a particular implementation can include a particular feature, structure, or characteristic, but every embodiment can not necessarily include the particular feature, structure, or characteristic. Furthermore, the following claims can refer to "one embodiment" or "an embodiment" in the sense of claiming a particular feature, structure, or characteristic of more than one embodiment.

[0030] Thirdly, the present application is described in detail with reference to the accompanying drawings. In the detailed description of the embodiments of the present application, the sectional view of the device structure is partially enlarged without the general scale for the convenience of explanation, and the schematic view is only an example, which should not limit the scope of protection of the present application. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in the actual manufacture.

[0031] Embodiment 1

[0032] Reference Figs. 1-3For the first embodiment of the present application, a tilt angle detection based balance control method for a load platform of a stacker is provided, which comprises: a transmitter 201 installed on the bottom surface of the load platform 103 emits ranging light to the bottom; a beam splitter 202 installed on the base 102 of the stacker 101 splits the laser of the transmitter 201 into two beams, one of which is vertically directed to the base 102 of the stacker 101, and the other is a transmitted beam directed to the guide rail 104 on the ground; a receiver 203 installed on the base 102 of the stacker 101 and the guide rail 104 on the ground receives the split beams of the beam splitter 202 to obtain the distance between the load platform 103 and the base 102 and the distance between the load platform 103 and the ground; a processing unit connected with the transmitter 201 and the receiver 203 establishes a ground coordinate system and a base coordinate system through the distance data, calculates the absolute height of the load platform 103 relative to the ground, the height change of the load platform 103 relative to the base 102, and the absolute height of the base 102 relative to the ground according to the coordinate systems, calculates the tilt angle according to the above absolute heights, and issues a warning and brake according to the calculated tilt angle.

[0033] The transmitter 201, the beam splitter 202, and the receiver 203 are provided in three groups in a triangular distribution, the ground coordinate system is determined by the planes on the ground where the receivers 203 are located, and the base coordinate system is determined by the planes of the base 102 where the receivers 203 are located. The ground coordinate system takes an ideal horizontal plane as the XY plane, and the Z axis is vertically upward. In this coordinate system, the installation positions of the receivers 203 on the ground are known. The base coordinate system takes the installation plane of the base 102 as the XY plane, and the Z axis is vertically upward. In this coordinate system, the positions of the receivers 203 of the base 102 are known, and the initial position of the transmitter 201 of the load platform 103 is known.

[0034] Before the system is implemented, the initial calibration of each component should be ensured, that is, the initial positions of the transmitter 201, the receivers 203 of the base 102, and the receivers 203 on the ground in each coordinate system should be accurate; the distance readings in the level state of the load platform 103 are measured; after the initial data measurement is completed, the corresponding initial position of the transmitter 201 of the load platform 103 in the ground coordinate system can be calculated.

[0035] The above establishes the coordinate calculation initial module. The absolute height of the loading platform 103 relative to the ground and the real-time height change of the loading platform 103 relative to the base 102 are required for real-time detection of the inclination; the absolute height of the loading platform 103 relative to the ground is determined according to the ranging of the transmitter 201 of the loading platform 103 and the receiver 203 on the ground, and the height change of the loading platform 103 relative to the base 102 is obtained by comparing the distance of the transmitter 201 of the loading platform 103 and the receiver 203 of the base 102 relative to the initial value. The absolute height of the transmitter 201 of the loading platform 103 is the distance of the light beam of the transmitter 201 to the receiver 203 on the ground, and the real-time height change of the loading platform 103 relative to the plane of the base 102 is obtained by comparing the real-time data of the transmitter 201 to the receiver 203 of the base 102 with the initial data.

[0036] The absolute height of the receiver 203 of the base 102 is obtained from the above data, the receiver 203 of the base 102 is arranged on the base 102, that is, reflects the lifting or tilting of the base 102, the absolute height of the base 102 relative to the ground is fitted by the data of the measuring points of the loading platform 103, and the equation of the transmitter 201 in the base coordinate system is fitted by the absolute height and the real-time height change of the three transmitters 201 of the loading platform 103. The height offset of the receiver 203 on the base 102 relative to the initial data at the current time can be calculated according to the fitted plane equation of the transmitter 201 of the loading platform 103 and the relative position relationship between the transmitter 201 of the loading platform 103 and the receiver 203 of the base 102, and the plane equation of the base 102 is obtained by combining the real-time height offset and the initial plane of the base 102.

[0037] After obtaining the plane equation of the base 102 relative to the ground, the inclination can be calculated, which includes the inclination of the loading platform 103 relative to the base 102 and the inclination of the base 102 relative to the ground; the inclination of the loading platform 103 relative to the base 102 is calculated by fitting a plane with the ranging information of the transmitter 201 and the receiver 203 of the base 102 and the position information of the transmitter 201, and the inclination of the current loading platform 103 in the base coordinate system is represented by the plane, and the inclination of the plane relative to the plane where the receiver 203 of the base 102 is located is the inclination of the loading platform 103 relative to the base 102. The inclination of the loading platform 103 and the base 102 is mainly used for detecting the relative deformation or inclination of the loading platform 103 relative to the main structure of the stacker 101, such as deformation of the forks, loose installation, etc.

[0038] The inclination of the base 102 relative to the ground is obtained by converting the equation of the base plane in the base coordinate system to the ground coordinate system. The conversion relationship between the two coordinate systems can be obtained by the transformation relationship between the origins of the two coordinate systems. Since the coordinate systems are usually horizontal, the conversion relationship between the two coordinate systems can be easily obtained. The inclination of the plane relative to the plane on which the receiver 203 is located on the ground is the inclination of the base 102 relative to the ground. Detecting the distance between the loading platform 103 and the ground is not only for measuring the absolute height of the loading platform 103, but more importantly, for establishing the relative relationship between the base 102 (i.e., the whole machine) of the stacker 101 and the ground, so as to detect the inclination of the whole machine of the stacker 101.

[0039] The processing unit also includes threshold setting for warning and braking based on the inclination value. According to the center of gravity height of the stacker 101, the wheelbase and the track gauge parameters, and in combination with the allowable error range of the guide rail 104, the inclination threshold of the base 102 relative to the ground is obtained. According to the design stiffness of the loading platform 103 and the allowable deformation amount, the inclination threshold of the loading platform 103 relative to the base 102 is obtained. The warning and braking strategy is set by the threshold. The inclination of the base 102 relative to the ground exceeding the threshold indicates that the whole machine is at risk of overturning, and the highest priority response and the strictest threshold need to be set. The inclination of the loading platform 103 relative to the base 102 exceeding the threshold indicates that the connection mechanism of the loading platform 103 may have a fault.

[0040] The various threshold responses can be divided into:

[0041] Reaching the warning threshold: acoustic and light alarm;

[0042] Reaching the alarm threshold: strong alarm, automatically reducing the speed to a safe speed;

[0043] Reaching the emergency stop threshold: immediately triggering the safety brake.

[0044] Embodiment 2

[0045] Reference Figs. 1-7For the second embodiment of the application, which is different from the first embodiment, a stacker load platform balance control system based on inclination detection is provided, which applies a stacker load platform balance control method based on inclination detection. The system comprises a main component 100, including a stacker 101, a base 102 arranged on the stacker 101, a load platform 103 arranged on the base 102, and a guide rail 104 bearing the base 102. A distance measuring component 200 is arranged in three groups, including a transmitter 201 arranged at the bottom of the base 102, a beam splitter 202 fixedly arranged on the base 102, a receiver 203, a receiving strip 204 arranged on the guide rail 104. An adjusting component 300 is connected with the transmitter 201, including a mounting seat 301, a first motor 302 and a second motor 303 arranged on the mounting seat 301, a worm 304 fixedly connected with the output shafts of the first motor 302 and the second motor 303, a first worm gear 305 engaged with the worm 304 on the first motor 302, a rotating rod 306 fixedly connected with the first worm gear 305, a second worm gear 307 engaged with the second motor 303, an inner rod 308 fixedly connected with the second worm gear 307, a bevel gear 309 arranged on the inner rod 308, a second bevel gear 310 engaged with the bevel gear 309, and a cross rod 311 fixedly connected with the second bevel gear 310.

[0046] Compared with embodiment 1, further, the transmitter 201 is arranged in a triangular arrangement at the bottom of the load platform 103, the beam splitter 202 is arranged below the transmitter 201, the beam splitter 202 divides the light of the transmitter 201 into two beams, which are directed to the receiver 203 and the receiving strip 204; the receiving strip 204 is laid along the guide rail 104. The mounting seat 301 is fixed at the bottom of the load platform 103, the first motor 302 and the second motor 303 are fixed on the mounting seat 301, the rotating rod 306 is rotatably arranged on the mounting seat 301, a support rod 306a is fixedly arranged at the end of the rotating rod 306 away from the first worm gear 305, the inner rod 308 is rotatably arranged in the rotating rod 306, the bevel gear 309, the second bevel gear 310, and the cross rod 311 are arranged on the support rod 306a, and the cross rod 311 is rotatably arranged in the support rod 306a. The transmitter 201 is fixedly connected with the cross rod 311.

[0047] In use, the system establishes the need to align the light path of the emitter 201 with the receiver 203 and the receiving strip 204, the base 102 runs on the guide rail 104, the loading platform 103 vertically moves on the base 102, the receiver 203, the receiving strip 204 and the beam splitter 202 are fixedly arranged, and the light path of the emitter 201 needs to be calibrated when the emitter 201 is installed. By starting the first motor 302, the output shaft of the first motor 302 drives the worm 304 to rotate, the worm 304 is engaged with the first worm gear 305, the first worm gear 305 starts to rotate, and the second motor 303 can drive the second worm gear 307 to rotate in the same way. Taking the rotation of the first worm gear 305 as an example, the first worm gear 305 can drive the rotating rod 306 to rotate, a supporting rod 306a is arranged at the top of the rotating rod 306, and the supporting rod 306a can drive the emitter 201 above it to rotate horizontally. Taking the second worm gear 307 as an example, the second worm gear 307 drives the inner rod 308 to rotate, the bevel gear 309 on the inner rod 308 can drive the second bevel gear 310 to rotate, the second bevel gear 310 is arranged on the cross rod 311, and the rotation of the cross rod 311 can control the pitch angle of the emitter 201. Thus, the calibration of the emitter 201 can be performed. When the receiver 203 loses the light path signal, the motor can be controlled to start, so that the emitter 201 rotates spirally, and automatically attempts to calibrate with the receiver 203. When calibration cannot be performed for a long time, the emergency stop and safety brake are triggered.

[0048] Importantly, it should be noted that the constructions and arrangements of the present application shown in the various exemplary embodiments are by way of illustration only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily envision many modifications to the embodiments discussed with the herein-disclosed subject matter. For example, while processes and methods are described in terms of sequential actions, far-reaching parallel processing and other modifications are also possible. All such modifications and variations are considered appropriate and can be considered to form part of the various aspects and / or aspects described herein and are intended to be included herein. Thus, it is intended that the scope of the present application should not be limited by the particular embodiments described above, but should be determined only by a fair reading of the claims that follow. Any "device plus function" clauses are intended to cover the structures described herein, as well as equivalents thereof and equivalents of the structures. Other substitutions, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present application. Accordingly, the present application is not limited to the particular embodiments described above, but extends to various modifications, combinations and permutations of the described embodiments, and equivalents thereof, falling within the scope of the appended claims.

[0049] Furthermore, in the interest of providing a concise description of illustrative embodiments, not all features of an actual implementation can be described (that is, not all

[0050] It will be appreciated that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions can be made. Such development efforts might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the art having the benefit of this disclosure.

[0051] It should be noted that the above examples are only used to illustrate the technical solutions of the present application but not limit the present application, and although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A tilt angle detection based control method for balancing a load deck of a stacker, the method comprising: The application relates to a height measurement device for a stacker crane (101), which comprises: a transmitter (201) installed on the bottom surface of a loading platform (103) and emitting ranging light to the bottom; a beam splitter (202) installed on the base (102) of the stacker crane (101) and splitting the laser of the transmitter (201) into two beams, one of which is vertically emitted to the base (102) of the stacker crane (101) and the other of which is transmitted to the guide rail (104) on the ground; a receiver (203) installed on the base (102) of the stacker crane (101) and the guide rail (104) on the ground and receiving the light beams split by the beam splitter (202) to obtain the distance between the loading platform (103) and the base (102) and the distance between the loading platform (103) and the ground; a processing unit connected with the transmitter (201) and the receiver (203) and establishing a ground coordinate system and a base coordinate system through the distance data, calculating the absolute height of the loading platform (103) relative to the ground, the height change of the loading platform (103) relative to the base (102), and the absolute height of the base (102) relative to the ground according to the coordinate systems, and calculating the inclination angle according to the absolute heights and warning and braking according to the inclination angle values; the transmitter (201), the beam splitter (202) and the receiver (203) are provided with three sets of devices and are distributed in a triangular shape, the ground coordinate system is determined by the planes where the three receivers (203) on the ground are located, and the base coordinate system is determined by the planes where the three receivers (203) on the base (102) are located; the absolute height of the loading platform (103) relative to the ground is determined according to the distance measurement between the transmitter (201) of the loading platform (103) and the receiver (203) on the ground, and the height change of the loading platform (103) relative to the base (102) is obtained according to the change of the distance between the transmitter (201) of the loading platform (103) and the receiver (203) on the base (102) relative to the initial value; the absolute height of the base (102) relative to the ground needs to be fitted by the measurement point data of the loading platform (103) to obtain the equation of the loading platform plane in the base coordinate system by combining the absolute height of the loading platform (103) and the height change of the loading platform (103) relative to the base (102) and the position data of the transmitter (201); the height offset of the receiver (203) on the base (102) relative to the initial position plane is obtained by using the relative position relationship between the transmitter (201) of the loading platform (103) and the receiver (203) on the base (102) and the fitted equation, and thus the equation of the base plane is calculated to obtain the absolute height of the base (102) relative to the ground. ​ ​ ​ ​ ​ ​ ​ ​ 2. The tilt angle detection based load bed leveling control method of claim 1, wherein: The inclination calculation includes the inclination of the loading platform (103) relative to the base (102) and the inclination of the base (102) relative to the ground; the inclination of the loading platform (103) relative to the base (102) is calculated by fitting a plane through the ranging information of the transmitter (201) and the receiver (203) of the base (102) and the position information of the transmitter (201), and the inclination of the plane relative to the plane on which the receiver (203) of the base (102) is located is the inclination of the loading platform (103) relative to the base (102); the inclination of the base (102) relative to the ground is obtained by converting the equation of the base plane in the base coordinate system to the ground coordinate system, and the inclination of the plane relative to the plane on which the receiver (203) is located on the ground is the inclination of the base (102) relative to the ground.

3. The tilt angle detection based load bed leveling control method of claim 2, wherein: The warning and braking of the processing unit based on the obtained inclination value also includes threshold setting, and the inclination threshold of the base (102) relative to the ground is obtained according to the height of the center of gravity of the stacker (101), the wheel track and the track gauge parameters, combined with the allowable error range of the guide rail (104); the inclination threshold of the loading platform (103) relative to the base (102) is obtained according to the design stiffness of the loading platform (103) and the allowable deformation amount; the warning and braking strategy is set by the threshold.

4. A tilt detection based straddle carrier load platform balance control system, implemented based on the tilt detection based straddle carrier load platform balance control method of claim 3, characterized by: It comprises: The main body assembly (100) comprises a stacker (101), a base (102) arranged on the stacker (101), a loading platform (103) arranged on the base (102), and a guide rail (104) supporting the base (102); The ranging assembly (200) is provided with three groups, including a transmitter (201) arranged at the bottom of the base (102), a beam splitter (202) fixedly arranged on the base (102) and a receiver (203), and a receiving strip (204) arranged on the guide rail (104); The adjusting assembly (300) is connected with the transmitter (201) and comprises a mounting seat (301), a first motor (302) and a second motor (303) arranged on the mounting seat (301), a worm (304) fixedly connected with the output shafts of the first motor (302) and the second motor (303), a first worm gear (305) engaged with the worm (304) of the first motor (302), a rotating rod (306) fixedly connected with the first worm gear (305), a second worm gear (307) engaged with the second motor (303), an inner rod (308) fixedly connected with the second worm gear (307), a bevel gear (309) arranged on the inner rod (308), a second bevel gear (310) engaged with the bevel gear (309), and a cross rod (311) fixedly connected with the second bevel gear (310).

5. The tilt angle detection based load bed level control system for a palletizer as set forth in claim 4, wherein: The transmitter (201) is arranged in a triangular arrangement at the bottom of the loading platform (103), the beam splitter (202) is arranged below the transmitter (201), the beam splitter (202) divides the light of the transmitter (201) into two beams, which are directed to the receiver (203) and the receiving strip (204); the receiving strip (204) is laid along the guide rail (104).

6. The tilt angle detection based load bed level control system for a pallet lift truck of claim 5 wherein: The mounting base (301) is fixed at the bottom of the loading platform (103), the first motor (302) and the second motor (303) are fixed on the mounting base (301), the rotating rod (306) is rotatably arranged on the mounting base (301), one end of the rotating rod (306) away from the first worm wheel (305) is fixedly provided with a supporting rod (306a), the inner rod (308) is rotatably arranged in the rotating rod (306), the bevel gear (309), the second bevel gear (310) and the cross rod (311) are arranged on the supporting rod (306a), and the cross rod (311) is rotatably arranged in the supporting rod (306a).

7. The tilt angle detection based load bed level control system for a palletizer as set forth in claim 6, wherein: The transmitter (201) is fixedly connected with the cross rod (311).

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