Hoisting equipment and reach stacker FTR lock anti-hooking inching control system and method
The sensing module, which combines a visual sensor with an inductive distance detection group, enables real-time and accurate assessment of the risk of linkage between the spreader and the FTR lock. This solves the problem of detecting linkage risks in the complex environment of the port and improves the continuity and reliability of the detection.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XUZHOU XCMG PORT MASCH CO LTD
- Filing Date
- 2026-02-06
- Publication Date
- 2026-05-12
AI Technical Summary
In port environments, existing technologies struggle to provide real-time, accurate assessment and rapid response to the risk of connection between spreader and FTR lock under complex operating conditions. Sensors are susceptible to high humidity, salt spray, large temperature differences, and mechanical vibration, leading to signal interference and information delays.
The sensing module combines a visual sensor with an inductive distance detection group. It acquires distance information through alternating high-frequency and low-frequency detection sensors, combines it with image information to determine the risk of collusion, and switches to a jog mode for automatic intervention when a risk is detected.
It improves the continuity and reliability of detection, avoids information delays and signal interference during traditional sensor switching, and ensures stability and safety in complex environments.
Smart Images
Figure CN122009975A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of container handling technology, specifically relating to equipment for lifting containers, and more particularly to a lifting device, a front-end lift FTR lock anti-snagging inching control system and method. Background Technology
[0002] A reach stacker is a mobile loading and unloading crane used in ports to move containers. During operation, a reach stacker needs to frequently lift or lower containers from a container truck trailer.
[0003] When aligning, engaging, or disengaging a container from an FTR lock, the driver's visual observation and operational experience are crucial. Due to blind spots, poor lighting, driver fatigue, or misjudgment, there is a high risk of the FTR lock becoming entangled. If this occurs, the lock may forcibly drag or even overturn the truck during lifting, causing vehicle damage, container damage, cargo spillage, and even serious personal injury accidents, resulting in significant economic losses.
[0004] In related technologies, in order to detect the relative status between the spreader and the container, as well as between the container and the FTR lock, a sensing module is installed on the spreader and automated judgment is used for status detection. However, ports have environments with high humidity, salt spray, large temperature variations, and frequent mechanical vibrations. In order to ensure the detection accuracy and reliability of the sensing module, two sensors are set up, one primary and one backup. When the primary sensor fails, the backup sensor will be activated, which will cause problems such as status information delay. If both sensors work at the same time, signal interference is likely to occur, increasing system power consumption and processing complexity, and it is still difficult to achieve real-time, accurate judgment and rapid response to the risk of cross-linking.
[0005] Therefore, improving the reliability of sensor detection under complex working conditions such as ports is a technical problem that urgently needs to be solved.
[0006] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Summary of the Invention
[0007] This disclosure provides at least one lifting device, a front-end crane FTR lock anti-snagging inching control system and method.
[0008] In a first aspect, embodiments of this disclosure provide a front-mounted FTR lock anti-snagging inching control system, comprising: The sensing module is used to collect relative status information between the spreader and the FTR lock; The control module is used to receive relative status information sent by the sensing module to determine whether there is a risk of the FTR lock being linked. If there is a risk of linkage, the control execution module will override the original handle operation signal and switch the lifting control of the spreader to the jog module; if there is no risk of linkage, the lifting will continue according to the original handle operation signal. The sensing module includes: Visual sensors and inductive distance detection units; The vision sensor is configured to acquire real-time image information of the FTR lock and the container; The two detection sensors in the inductive distance detection group work alternately according to a preset rule to obtain the distance information between the FTR lock and the lock hole of the container; The control module is configured to determine the risk of collusion based on the received real-time image information and distance information.
[0009] In one optional implementation, the two detection sensors of the inductive distance detection group are a high-frequency detection sensor and a low-frequency detection sensor, respectively. The high-frequency detection sensor and the low-frequency detection sensor work alternately to obtain distance information; Among them, the high-frequency detection sensor and the low-frequency detection sensor have the same temperature coefficient, the same gain drift, and the same response trend to noise; that is, each sensor has the same response trend to the data, and if they are different, maintenance information is sent for adjustment.
[0010] In one optional implementation, the alternating operation according to preset rules is as follows: When not being hoisted, the high-frequency detection sensor operates for twice as long as the low-frequency detection sensor to quickly detect the state at the start of hoisting; During hoisting, if there is no risk of entanglement, the system enters normal operating mode, and the working time of the low-frequency detection sensor is four times that of the high-frequency detection sensor; if there is a risk of entanglement, the system enters abnormal operating mode, and the working time of the high-frequency detection sensor is four times that of the low-frequency detection sensor.
[0011] In one optional implementation, the number of the inductive distance detection groups is multiple; Multiple inductive distance detection units are installed on the side and / or end beam of the spreader.
[0012] In one optional implementation, the control module is configured to determine the risk of collusion based on the received real-time image information and distance information, namely: Image information is processed using graphics algorithms to obtain the status information of the lifting device; The status information of the spreader is as follows: if the container continues to rise under uneven loading or unbalanced weight, and the distance between the FTR lock and the container body is less than the safety threshold, then there is a risk of hooking up; otherwise, there is no risk of hooking up.
[0013] In one optional implementation, the front-mounted FTR lock anti-snagging inching control system further includes an alarm module; The control module is also configured to send an alarm signal to the alarm module when there is a risk of collusion.
[0014] Secondly, this disclosure also provides a control method using the aforementioned front-mounted FTR lock anti-snagging inching control system, the control method comprising: The control module acquires real-time image information of the FTR lock and the container through a vision sensor; The control module obtains the distance information between the FTR lock and the lock hole of the container by having two detection sensors in the inductive distance detection group work alternately according to preset rules; The control module assesses the risk of collusion based on real-time image and distance information; If there is a risk of linkage, the control execution module will override the original handle operation signal and switch the lifting control of the spreader to jog mode; if there is no risk of linkage, the lifting will continue according to the original handle operation signal.
[0015] In one optional implementation, the two detection sensors in the inductive distance detection group are a high-frequency detection sensor and a low-frequency detection sensor, respectively. The high-frequency detection sensor and the low-frequency detection sensor work alternately to obtain distance information.
[0016] In one optional implementation, the alternating operation according to preset rules is as follows: When not being hoisted, the high-frequency detection sensor operates for twice as long as the low-frequency detection sensor to quickly detect the state at the start of hoisting; During hoisting, if there is no risk of entanglement, the system enters normal operating mode, and the working time of the low-frequency detection sensor is four times that of the high-frequency detection sensor; if there is a risk of entanglement, the system enters abnormal operating mode, and the working time of the high-frequency detection sensor is four times that of the low-frequency detection sensor.
[0017] Thirdly, this disclosure also provides a lifting device, including the aforementioned front-mounted FTR lock anti-snagging inching control system.
[0018] The beneficial effects of this invention are that the lifting equipment, the front-end crane FTR lock anti-snagging inching control system and method, by adopting a sensing module that combines a visual sensor and an inductive distance detection group, realizes the detection of image and distance fusion. The two detection sensors in the inductive distance detection group work alternately according to preset rules, which not only avoids the information delay problem when switching between the two main and backup sensors in the traditional way, but also prevents the signal interference that may be caused by the simultaneous operation of two sensors. This significantly improves the continuity and reliability of detection and overcomes the interference of complex environments such as high humidity, salt spray, large temperature difference and mechanical vibration in ports on a single sensor.
[0019] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.
[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description
[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0022] Figure 1 A schematic diagram of the structure of the front-mounted FTR lock anti-snagging inching control system provided in this embodiment of the disclosure; Figure 2 A flowchart of the anti-snagging inching control method for the front-mounted FTR lock provided in this embodiment of the disclosure. Detailed Implementation
[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0024] In this document, when it is mentioned that a first component is located on a second component, this can mean that the first component can be directly formed on the second component, or that a third component can be inserted between the first and second components. Furthermore, in the accompanying drawings, the thickness of the components may be exaggerated or reduced for the purpose of effectively describing the technical content.
[0025] In this document, when an element or layer is referred to as “located,” “joined to,” “connected to,” “attached to,” or “coupled to” another element or layer, it may be directly located, joined, connected, attached to, or coupled to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as “directly on another element or layer,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly coupled to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the related listed items.
[0026] In this document, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. As used herein, expressions such as “at least one of…” modify the entire list of elements when following a list of elements, rather than individual elements in the list. For example, the expression “at least one of a, b, and c” should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.
[0027] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise expressly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.
[0028] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.
[0029] Research has found that in order to detect the relative status between the spreader and the container, as well as between the container and the FTR lock, in real time, a sensing module is installed on the spreader in combination with automated judgment for status detection. However, ports have environments with high humidity, salt spray, large temperature variations, and frequent mechanical vibrations. To ensure the detection accuracy and reliability of the sensing module, two sensors are usually set up, one primary and one backup. When the primary sensor fails, the backup sensor will be activated, which will cause problems such as status information delay. If both sensors work at the same time, signal interference is likely to occur, increasing system power consumption and processing complexity, and it is still difficult to achieve real-time, accurate judgment and rapid response to the risk of cross-linking.
[0030] Based on the above research, the embodiments of this disclosure provide a lifting equipment, a front-end crane FTR lock anti-snagging inching control system and method. By adopting a sensing module that combines a visual sensor and an inductive distance detection group, image and distance fusion detection is achieved. The two detection sensors in the inductive distance detection group work alternately according to preset rules, which not only avoids the information delay problem when switching between the two sensors in the traditional main and backup mode, but also prevents signal interference that may be caused by the simultaneous operation of two sensors. This significantly improves the continuity and reliability of detection and overcomes the interference of complex environments such as high humidity, salt spray, large temperature difference and mechanical vibration in ports on a single sensor.
[0031] The shortcomings of the above solutions are the result of the inventor's practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure should be considered as the inventor's contribution to this disclosure.
[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0033] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0034] Please see Figure 1 At least one embodiment provides a forward-mounted gantry crane FTR lock anti-snagging jog control system, comprising: a sensing module for collecting relative status information between the spreader and the FTR lock; and a control module for receiving the relative status information sent by the sensing module to determine whether there is a risk of snagging on the FTR lock; if there is a risk of snagging, the control execution module overrides the original handle operation signal and switches the lifting control of the spreader to the jog module; if there is no risk of snagging, the lifting continues according to the original handle operation signal; wherein, the sensing module includes: a vision sensor and an inductive distance detection group; the vision sensor is configured to acquire real-time image information of the FTR lock and the container; the two detection sensors in the inductive distance detection group are configured to work alternately according to preset rules to acquire distance information between the lock holes of the FTR lock and the container; and the control module is configured to determine the risk of snagging based on the received real-time image information and distance information.
[0035] By employing a sensing module that combines a visual sensor with an inductive distance detection group, image and distance fusion detection is achieved. The two detection sensors in the inductive distance detection group work alternately according to preset rules, which not only avoids the information delay problem when switching between the two sensors in the traditional main and backup mode, but also prevents signal interference that may be caused by the simultaneous operation of two sensors. This significantly improves the continuity and reliability of detection and overcomes the interference of complex environments such as high humidity, salt spray, large temperature difference and mechanical vibration in ports on a single sensor.
[0036] Specifically, the inductive distance detection group has two detection sensors: a high-frequency detection sensor and a low-frequency detection sensor. The high-frequency and low-frequency detection sensors work alternately to acquire distance information. The high-frequency and low-frequency detection sensors have the same temperature coefficient, the same gain drift, and the same response trend to noise. That is, each sensor has the same response trend to the data. If they are different, maintenance information is sent for adjustment.
[0037] By ensuring that the high- and low-frequency detection sensors have the same temperature coefficient, gain drift, and noise response trend, the output signals of the two sensors are guaranteed to have good consistency and comparability under the conditions of large temperature difference and complex electromagnetic environment in the port. This avoids measurement errors and misjudgments caused by differences in sensor characteristics, and further improves the accuracy of distance detection and system stability.
[0038] Both the high-frequency detection sensor and the low-frequency detection sensor are inductive sensors.
[0039] The method for adjusting sensors when their response trends to data differs is as follows: The drive pulses of the high-frequency detection sensor and the low-frequency detection sensor synchronously trigger the ADC sampling, and the output amplitude of the high-frequency detection sensor and the low-frequency detection sensor are collected under no-load conditions. Calculate the gain difference between the high-frequency detection sensor and the low-frequency detection sensor; Adjust the auxiliary circuit gain using a DAC or digital potentiometer to make the outputs of the high-frequency detection sensor and the low-frequency detection sensor consistent. During operation, the gain difference between the high-frequency detection sensor and the low-frequency detection sensor is detected and monitored in real time.
[0040] In a preferred embodiment, the alternating operation according to preset rules is as follows: when not hoisting, the high-frequency detection sensor operates for twice the time of the low-frequency detection sensor to quickly detect the state at the start of hoisting; during hoisting, if there is no risk of entanglement, it enters normal working mode, and the low-frequency detection sensor operates for four times the time of the high-frequency detection sensor; if there is a risk of entanglement, it enters abnormal working mode, and the high-frequency detection sensor operates for four times the time of the low-frequency detection sensor.
[0041] By dynamically adjusting the working time ratio of high-frequency and low-frequency detection sensors at different stages (un-hoisted / hoisted) and under different risk conditions (no risk / risky), the high-frequency detection sensors can respond quickly at critical nodes (such as when hoisting begins or when there is risk), while power consumption can be reduced under normal conditions (extending the usage time of the low-frequency detection sensors). This achieves the best balance between detection efficiency and system energy efficiency. At the same time, the alternating operation of the high-frequency and low-frequency detection sensors extends the sensor lifespan.
[0042] If one of the high-frequency detection sensors or the low-frequency detection sensor fails, the system switches to single-sensor detection mode to continue operation without affecting the normal hoisting process, thus ensuring the stability of the hoisting.
[0043] To accurately detect the status of multiple FTR locks and the container, in a preferred embodiment, the number of inductive distance detection groups is multiple; these multiple inductive distance detection groups are installed on the side and / or end beams of the spreader. By setting multiple inductive distance detection groups and arranging them appropriately on the side and / or end beams of the spreader, the distance between multiple key points between the spreader and the FTR locks can be monitored simultaneously, effectively eliminating blind spots that may exist in single-point detection, and is particularly suitable for detecting the risk of localized linkage caused by container off-center loading.
[0044] It should be noted that the control module is configured to determine the risk of linkage based on the received real-time image information and distance information. That is, the image information is processed by the image algorithm to obtain the status information of the spreader. The status information of the spreader is that if the container is continuously rising under unbalanced load or unbalanced weight, and the distance between the FTR lock and the container body is less than the safety threshold, then there is a risk of linkage; otherwise, there is no risk of linkage.
[0045] The specific process by which the graphics algorithm processes image information is a conventional technical means, and how it is implemented will not be described in this embodiment.
[0046] In a preferred embodiment, the front-mounted FTR lock anti-snagging inching control system further includes an alarm module; the control module is also configured to send an alarm signal to the alarm module when there is a risk of snagging.
[0047] The alarm module alerts operators to the risk of splicing during hoisting. On the other hand, the inching mode provides automatic intervention to prevent splicing from occurring.
[0048] Specifically, in jog mode, the control module controls the spreader's execution module to perform the first jog, limiting the spreader's lifting speed and stroke, so that it can only perform short-distance, low-speed jog actions until the spreader and FTR lock are no longer in a state of linkage risk and the alarm stops. Then, the linkage risk is detected again. After detecting that there is no linkage risk, a second jog operation is performed until the container is disengaged from the FTR lock, the jog mode is released, and the handle operation is restored.
[0049] Please see Figure 2 This disclosure also provides a control method for the front-mounted crane FTR lock anti-snagging inching control system as described above. By using a sensing module that combines a visual sensor and an inductive distance detection group, image and distance fusion detection is achieved. The two detection sensors in the inductive distance detection group work alternately according to preset rules, which avoids the information delay problem when switching between the two sensors in the traditional main and backup mode, and prevents signal interference that may be caused by the simultaneous operation of two sensors. This significantly improves the continuity and reliability of detection and overcomes the interference of complex environments such as high humidity, salt spray, large temperature difference and mechanical vibration in ports on a single sensor.
[0050] Specifically, the control method includes: S110: The control module acquires real-time image information of the FTR lock and the container through a vision sensor; S120: The control module obtains the distance information between the FTR lock and the lock hole of the container by having two detection sensors in the inductive distance detection group work alternately according to preset rules; S130: The control module determines the risk of cross-linking based on real-time image information and distance information; S140: If there is a risk of linkage, the control execution module will override the original handle operation signal and switch the lifting control of the spreader to the inching mode; if there is no risk of linkage, the lifting will continue according to the original handle operation signal.
[0051] The inductive distance detection group includes a high-frequency detection sensor and a low-frequency detection sensor; the high-frequency detection sensor and the low-frequency detection sensor work alternately to obtain distance information.
[0052] It should be noted that the method of alternating operation according to preset rules is as follows: when not hoisting, the high-frequency detection sensor operates for twice the time of the low-frequency detection sensor to quickly detect the state at the start of hoisting; during hoisting, if there is no risk of entanglement, it enters normal operation mode, and the low-frequency detection sensor operates for four times the time of the high-frequency detection sensor; if there is a risk of entanglement, it enters abnormal operation mode, and the high-frequency detection sensor operates for four times the time of the low-frequency detection sensor.
[0053] This disclosure also provides a lifting device, including the front-mounted FTR lock anti-snagging inching control system as described above.
[0054] In summary, this invention provides a lifting device, a jog control system and method for preventing the FTR lock from hooking up, wherein the jog control system for preventing the FTR lock from hooking up includes: a sensing module, which is used to collect relative status information between the spreader and the FTR lock; a control module, which is used to receive the relative status information sent by the sensing module to determine whether there is a risk of hooking up with the FTR lock; if there is a risk of hooking up, the control execution module overrides the original handle operation signal and switches the lifting control of the spreader to the jog module; if there is no risk of hooking up, the lifting continues according to the original handle operation signal; wherein, the sensing module includes: a visual sensor and an inductive distance detection group; the visual sensor is configured to acquire real-time image information of the FTR lock and the container; the two detection sensors in the inductive distance detection group are configured to work alternately according to preset rules to acquire distance information between the lock hole of the FTR lock and the container; the control module is configured to determine the risk of hooking up based on the received real-time image information and distance information. By employing a sensing module that combines a visual sensor with an inductive distance detection group, image and distance fusion detection is achieved. The two detection sensors in the inductive distance detection group work alternately according to preset rules, which not only avoids the information delay problem when switching between the two sensors in the traditional main and backup mode, but also prevents signal interference that may be caused by the simultaneous operation of two sensors. This significantly improves the continuity and reliability of detection and overcomes the interference of complex environments such as high humidity, salt spray, large temperature difference and mechanical vibration in ports on a single sensor.
[0055] In the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.
[0056] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence unless expressly indicated herein. Therefore, without departing from the teachings of the exemplary embodiments, the first element, component, region, layer, or segment discussed above may be referred to as a second element, component, region, layer, or segment.
[0057] Spatially relative terms, such as “inside,” “outside,” “below,” “below,” “down,” “above,” “up,” etc., may be used herein to describe the relationship between one element or feature illustrated in the figures and another element or feature. In addition to the orientations depicted in the figures, spatially relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is flipped, an element described as “below” or “below” other elements or features would be oriented as “above” other elements or features. Thus, the example term “below” can cover both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.
[0058] In the above discussion, unless otherwise stated, when used to describe numerical values, the terms “about,” “approximately,” “basically,” etc., indicate a change of + / - 10% in that value.
[0059] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.
Claims
1. A front-mounted FTR lock anti-snagging inching control system, characterized in that, include: The sensing module is used to collect relative status information between the spreader and the FTR lock; The control module is used to receive relative status information sent by the sensing module to determine whether there is a risk of the FTR lock being linked. If there is a risk of cross-contamination, the control execution module will override the original handle operation signal and switch the lifting control of the spreader to the jog module. If there is no risk of collapsing, continue the hoisting operation according to the original handle operation signals; The sensing module includes: Visual sensors and inductive distance detection units; The vision sensor is configured to acquire real-time image information of the FTR lock and the container; The two sensors in the inductive distance detection group are configured to work alternately according to preset rules to obtain distance information between the FTR lock and the lock hole of the container; The control module is configured to determine the risk of collusion based on the received real-time image information and distance information.
2. The front-mounted crane FTR lock anti-snagging inching control system as described in claim 1, characterized in that, The inductive distance detection group has two detection sensors, namely a high-frequency detection sensor and a low-frequency detection sensor. The high-frequency detection sensor and the low-frequency detection sensor work alternately to obtain distance information; Among them, the high-frequency detection sensor and the low-frequency detection sensor have the same temperature coefficient, the same gain drift, and the same response trend to noise; that is, each sensor has the same response trend to the data, and if they are different, maintenance information is sent for adjustment.
3. The front-mounted FTR lock anti-snagging inching control system as described in claim 2, characterized in that, The method of alternating operation according to preset rules is as follows: When not being hoisted, the high-frequency detection sensor operates for twice as long as the low-frequency detection sensor to quickly detect the state at the start of hoisting; If there is no risk of entanglement during hoisting, it enters normal working mode, and the working time of the low-frequency detection sensor is four times that of the high-frequency detection sensor. If there is a risk of cross-contamination, it will enter an abnormal working mode, and the working time of the high-frequency detection sensor is four times that of the low-frequency detection sensor.
4. The front-mounted crane FTR lock anti-snagging inching control system as described in claim 1, characterized in that, The number of inductive distance detection groups is multiple; Multiple inductive distance detection units are installed on the side and / or end beam of the spreader.
5. The front-mounted crane FTR lock anti-snagging inching control system as described in claim 1, characterized in that, The control module is configured to determine the risk of collusion based on the received real-time image information and distance information, namely: Image information is processed using graphics algorithms to obtain the status information of the lifting device; The status information of the spreader is as follows: if the container continues to rise under uneven loading or unbalanced weight, and the distance between the FTR lock and the container body is less than the safety threshold, then there is a risk of hooking up; otherwise, there is no risk of hooking up.
6. The front-mounted FTR lock anti-snagging inching control system as described in claim 1, characterized in that, The front-mounted FTR lock anti-snagging inching control system also includes an alarm module; The control module is also configured to send an alarm signal to the alarm module when there is a risk of collusion.
7. A control method employing the front-mounted crane FTR lock anti-snagging inching control system as described in claim 1, characterized in that, The control method includes: The control module acquires real-time image information of the FTR lock and the container through a vision sensor; The control module obtains the distance information between the FTR lock and the lock hole of the container by having two detection sensors in the inductive distance detection group work alternately according to preset rules; The control module assesses the risk of collusion based on real-time image and distance information; If there is a risk of linkage, the control execution module will override the original handle operation signal and switch the lifting control of the spreader to jog mode; if there is no risk of linkage, the lifting will continue according to the original handle operation signal.
8. The control method of the front-mounted crane FTR lock anti-snagging inching control system as described in claim 7, characterized in that, The two detection sensors in the inductive distance detection group are a high-frequency detection sensor and a low-frequency detection sensor, respectively. The high-frequency detection sensor and the low-frequency detection sensor work alternately to obtain distance information.
9. The control method of the front-mounted crane FTR lock anti-snagging inching control system as described in claim 8, characterized in that, The method of alternating operation according to preset rules is as follows: When not being hoisted, the high-frequency detection sensor operates for twice as long as the low-frequency detection sensor to quickly detect the state at the start of hoisting; If there is no risk of entanglement during hoisting, it enters normal working mode, and the working time of the low-frequency detection sensor is four times that of the high-frequency detection sensor. If there is a risk of cross-contamination, it will enter an abnormal working mode, and the working time of the high-frequency detection sensor is four times that of the low-frequency detection sensor.
10. A lifting device, characterized in that, Including the front-mounted FTR lock anti-snagging inching control system as described in any one of claims 1-6.