Front-end crane FTR lock anti-hooking point control system and working method thereof

Abstract

This invention relates to a jog control system for preventing hook-up of a front-end spreader's FTR lock and its operating method. The system uses a vehicle controller to determine the potential hook-up risk based on real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and the spreader's status parameters. If a risk is detected, a risk command is generated. Upon receiving the risk command, the execution module enters jog mode and sends control commands to the vehicle controller. The vehicle controller then controls the spreader's lifting and lowering according to the control commands sent by the execution module. This system automatically detects potential hook-up risks between the spreader and the FTR and automatically switches the spreader's lifting and lowering operation to a safe "jog mode" upon detection. A first jog is performed to force a fine adjustment, and a second jog is automatically performed after the risk is eliminated, causing the spreader's lock head to disengage from the FTR lock, thus effectively preventing hook-up accidents.

Description

Technical Field

[0001] This invention belongs to the technical field of port container crane machinery, specifically relating to a front-end crane FTR lock anti-snagging inching control system and its working method. Background Technology

[0002] A container reach stacker is a mobile loading and unloading machine widely used in ports and logistics parks, mainly for stacking and horizontal transport of containers. During operation, the reach stacker needs to frequently lift or lower containers from the FTR (freight truck trailer).

[0003] Currently, the alignment, container placement, and unloading of the spreader with the FTR rely primarily on the driver's visual observation and operational experience. Due to blind spots, poor lighting, driver fatigue, or misjudgment, risks are easily generated. For example, the FTR lock may become mechanically engaged with the container's gooseneck or other structural components if the spreader's twist lock is not fully aligned with the container's corner holes or if the container is slightly tilted. If the driver continues to lift the spreader, the container's lock holes may become mechanically engaged with the FTR's gooseneck or other structural parts. Once this occurs, the FTR may be forcibly dragged or even overturned during lifting, causing damage to the FTR vehicle, the container, cargo spillage, and even serious personal injury accidents, resulting in significant economic losses.

[0004] Therefore, due to the fact that the driver's operation may cause the FTR lock to become entangled, once entangled, the FTR may be forcibly dragged or even overturned during the lifting process, resulting in damage to the FTR vehicle, container damage, and cargo tipping, leading to safety hazards, it is necessary to design a front-end crane FTR lock anti-entanglement inching control system and its working method.

[0005] 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

[0006] This disclosure provides at least one front-mounted FTR lock anti-snagging inching control system and its working method.

[0007] In a first aspect, embodiments of this disclosure provide a front-mounted FTR lock anti-snagging inching control system, comprising: A vehicle controller, and a sensing module and an execution module electrically connected to the vehicle controller; The sensing module is adapted to acquire real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and the spreader status parameters; The execution module is adapted to generate control commands in jog mode; The vehicle controller is configured to determine whether there is a risk of linkage in the current operation of the spreader based on the real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and the status parameters of the spreader. If a risk is determined to exist, a risk command is generated. After receiving the risk command, the execution module enters the jog mode and sends a control command to the vehicle controller. The vehicle controller controls the lifting and lowering of the spreader according to the control command sent by the execution module.

[0008] In one alternative implementation, the sensing module includes: a vision sensor electrically connected to the vehicle controller; The vision sensor is mounted on the spreader to acquire real-time images of the FTR and container below the spreader; The vehicle controller is configured to recognize the gooseneck outline of the FTR and the container based on real-time images of the FTR and the container below the spreader, as well as the alignment of the spreader twistlock projection with the center of the container corner hole.

[0009] In one optional implementation, the sensing module includes: a plurality of ranging sensors electrically connected to the vehicle controller; The distance measuring sensors are installed on the end beams on both sides of the spreader to obtain the real-time distance between the spreader and the FTR component; The vehicle controller is configured to determine whether the distance between the spreader and the side of the FTR is less than a preset safety threshold based on the real-time distance between the spreader and the FTR component.

[0010] In one optional implementation, the sensing module includes: a status sensor electrically connected to the vehicle controller; The status sensor is suitable for detecting the status parameters of the lifting device, namely the twist lock status, tilt status, and load status of the lifting device.

[0011] In one optional implementation, the vehicle controller is configured to determine, based on the alignment of the spreader twistlock projection with the center of the container corner hole, that a container locking fault has occurred, and / or If the lifting device is continuously rising under eccentric loading or unbalanced weight and the distance to the side is less than the safety threshold, a risk is identified and a risk command is generated.

[0012] In one optional implementation, the execution module includes: a jog mode controller electrically connected to the vehicle controller; Upon receiving a risk command, the jog mode controller enters jog mode and performs the first jog operation, ensuring that the lifting speed and stroke of the spreader are within a preset range until the spreader is removed from the FTR and out of danger.

[0013] In one alternative implementation, the vehicle controller is configured to perform a second jog operation after the risk of the spreader disengaging from the FTR, and to acquire real-time images of the FTR and container below the spreader using a vision sensor, and to stop the jog mode when the lock head disengages from the FTR lock based on the real-time images.

[0014] In one optional implementation, the execution module further includes a human-machine interface module electrically connected to the vehicle controller; The human-computer interaction module is located in the driver's cab; The vehicle controller is configured to control the human-machine interface module to display alarm information when a risk is detected.

[0015] Secondly, this disclosure also provides a working method for the above-mentioned front-mounted FTR lock anti-snagging inching control system, including: The vehicle controller determines whether there is a risk of linkage during the current operation of the spreader by using real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and the status parameters of the spreader. If a risk is detected, a risk command is generated. After receiving the risk command, the execution module enters the jog mode and sends a control command to the vehicle controller. The vehicle controller then controls the lifting and lowering of the spreader according to the control command sent by the execution module.

[0016] In one optional implementation, the vehicle controller determines a container locking malfunction based on the alignment of the spreader twistlock projection with the center of the container corner hole, and / or If the lifting device is continuously rising under eccentric loading or unbalanced weight and the distance to the side is less than the safety threshold, a risk is identified and a risk command is generated.

[0017] The beneficial effects of this invention are that the anti-snagging inching control system for the front-end spreader FTR lock determines whether there is a risk of snagging during the current spreader operation based on real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and the spreader status parameters, using the vehicle controller. If a risk is detected, a risk command is generated. Upon receiving the risk command, the execution module enters inching mode and sends control commands to the vehicle controller. The vehicle controller controls the lifting and lowering of the spreader according to the control commands sent by the execution module. This achieves automatic detection of potential snagging risks between the spreader and the FTR. When a risk is detected, the lifting and lowering operation of the spreader is automatically switched to the safe "inching mode" for the first inching operation to force a fine adjustment. After the risk is eliminated, a second inching operation is automatically performed to disengage the spreader lock head from the FTR lock, thereby effectively preventing snagging accidents.

[0018] 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.

[0019] 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

[0020] 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.

[0021] Figure 1 A schematic block diagram of a front-mounted FTR lock anti-snagging inching control system provided in an embodiment of this disclosure; Figure 2 This is a flowchart illustrating the operation of a front-mounted FTR lock anti-snagging inching control system provided in an embodiment of this disclosure. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] Currently, the alignment, container placement, and unloading of the spreader with the FTR rely primarily on the driver's visual observation and operational experience. Due to blind spots, poor lighting, driver fatigue, or misjudgment, risks are easily generated. For example, the FTR lock may become mechanically engaged with the container's gooseneck or other structural components if the spreader's twist lock is not fully aligned with the container's corner holes or if the container is slightly tilted. If the driver continues to lift the spreader, the container's lock holes may become mechanically engaged with the FTR's gooseneck or other structural parts. Once this occurs, the FTR may be forcibly dragged or even overturned during lifting, causing damage to the FTR vehicle, the container, cargo spillage, and even serious personal injury accidents, resulting in significant economic losses.

[0025] 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.

[0026] 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.

[0027] At least one disclosed embodiment provides a forward-mounted spreader (FTR) lock anti-snagging inching control system, comprising: a vehicle controller, and a sensing module and an execution module electrically connected to the vehicle controller; the sensing module is adapted to acquire real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and spreader status parameters; the execution module is adapted to generate control commands in inching mode; the vehicle controller is configured to determine whether there is a risk of snagging in the current spreader operation based on the real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and the spreader status parameters; if a risk is determined to exist, a risk command is generated; the execution module... Upon receiving a risk instruction, the module enters a jog mode and sends control commands to the vehicle controller. The vehicle controller then controls the lifting and lowering of the spreader according to the commands sent by the execution module. This achieves automatic detection of potential linkage risks between the spreader and the FTR (Free Transmitter Lock). When a risk is detected, the lifting and lowering operation of the spreader is automatically switched to the safe "jog mode" for the first jog to force a fine adjustment. After the risk is eliminated, a second jog is automatically performed to disengage the spreader lock from the FTR lock. This effectively prevents linkage accidents, significantly reduces the accident rate, reduces downtime and maintenance costs caused by accidents, enhances the operator's confidence, and improves the overall safety level and operational efficiency of the port.

[0028] In this embodiment, the vehicle controller is a vehicle PLC controller. The vehicle controller is also electrically connected to the hydraulic actuator module, which is connected to the spreader to control the spreader.

[0029] In this embodiment, the vehicle controller is also electrically connected to the operating handle, which can output signals to the vehicle controller to control the hydraulic actuator module and the like.

[0030] In this embodiment, the vehicle controller unit adopts an industrial-grade PLC, which has anti-spoofing logic algorithm programmed into it.

[0031] In this embodiment, the sensing module can be used to collect the relative status information between the spreader and the FTR in real time.

[0032] like Figure 1 As shown, in one optional embodiment, the sensing module includes: a vision sensor electrically connected to the vehicle controller; the vision sensor is mounted on the spreader to acquire real-time images of the FTR and container below the spreader; the vehicle controller is configured to identify the gooseneck outline of the FTR and the alignment of the spreader twistlock projection with the center of the container corner hole based on the real-time images of the FTR and container below the spreader.

[0033] In this embodiment, a vision sensor is installed on or near the spreader to acquire real-time images of the FTR and container below the spreader.

[0034] In this embodiment, the visual sensor may be, but is not limited to, a binocular camera, which is installed in the middle of the upper frame of the gantry and is used to identify the outline of the FTR gooseneck.

[0035] like Figure 1 As shown, in one optional embodiment, the sensing module includes: a plurality of distance sensors electrically connected to the vehicle controller; the distance sensors are disposed on the end beams on both sides of the spreader to obtain the real-time distance between the spreader and the FTR component; the vehicle controller is configured to determine whether the distance between the spreader and the side of the FTR is less than a preset safety threshold based on the real-time distance between the spreader and the FTR component; this realizes the transformation from passive reliance on driver experience to active intelligent protection, providing early warning and intervention before an accident occurs, and fundamentally eliminating the possibility of accident collusion.

[0036] In this embodiment, the ranging sensor may be, but is not limited to, a proximity sensor, a lidar, etc.

[0037] In this embodiment, a distance sensor is installed on the side and / or end beam of the spreader to detect the real-time distance between the spreader and key components such as the FTR gooseneck and the frame.

[0038] In this embodiment, the ranging sensor can be four sets of ultrasonic proximity sensors respectively installed on the end beams on both sides of the lifting device to measure the distance to the side of the FTR.

[0039] like Figure 1As shown, in one optional embodiment, the sensing module includes: a status sensor electrically connected to the vehicle controller; the status sensor is adapted to detect the status parameters of the spreader, namely the spinlock status, tilt status, and load status of the spreader.

[0040] In this embodiment, the twist lock state of the lifting device is: open, closed, fully locked; the tilt state is: front-back, left-right tilt angle; and the load state is: loaded, unloaded.

[0041] In one optional implementation, the vehicle controller is configured to determine if there is a lock failure between the spreader spinlock projection and the center of the container corner hole based on the alignment of the spreader spinlock projection with the center of the container corner hole, and / or to determine if there is a risk and generate a risk command when the spreader is continuously rising under unbalanced load or unbalanced weight and the distance to the side is less than a safety threshold. This achieves high accuracy and strong anti-interference capability by combining multi-source information such as vision, distance and spreader status.

[0042] In this embodiment, the vehicle controller has a pre-set anti-hook logic algorithm for data processing: receiving and processing data from the sensing module, and determining the relative position of the spreader and the FTR through data analysis. Risk assessment: Based on the pre-set anti-hook logic algorithm, it determines in real time whether there is a risk of hooking during the current spreader movement. For example, when it is detected that the spreader is continuously rising under an unbalanced load or weight, and the distance to the critical components of the FTR is less than a safety threshold, it is determined to be a high risk. Command generation: When a hooking risk is determined to exist, a risk command is immediately generated and sent to the execution module.

[0043] like Figure 1 As shown, in one optional implementation, the execution module includes: a jog mode controller electrically connected to the vehicle controller; the jog mode controller enters jog mode after receiving a risk command, and performs a first jog operation to keep the lifting speed and stroke of the spreader within a preset range until the spreader is removed from the FTR; the jog mode ensures safety and gives the vehicle the ability to make fine adjustments under dangerous conditions, resulting in high lifting efficiency.

[0044] In this embodiment, the execution module may further include a relay group for switching control signals.

[0045] In this embodiment, after receiving a risk instruction, the jog mode controller forcibly overrides the driver's original handle operation signal and switches the lifting control of the spreader to jog mode.

[0046] In one alternative implementation, the vehicle controller is configured to perform a second jog operation after the risk of the spreader disengaging from the FTR, and to acquire real-time images of the FTR and container below the spreader using a vision sensor, and to stop the jog mode when the lock head disengages from the FTR lock based on the real-time images.

[0047] like Figure 1 As shown, in one optional embodiment, the execution module further includes: a human-machine interface module electrically connected to the vehicle controller; the human-machine interface module is located in the driver's cab; the vehicle controller is configured to control the human-machine interface module to display alarm information when a risk is determined to exist.

[0048] In this embodiment, the human-machine interaction module may include an audible and visual alarm (such as a buzzer or warning light) and a display screen, which are used to issue clear visual and auditory warnings to the driver and highlight the risk area and recommend the direction to be adjusted on the display screen.

[0049] In this embodiment, the display screen may be, but is not limited to, a 10-inch touchscreen.

[0050] like Figure 2 As shown, in this embodiment, the workflow of the front-end crane FTR lock anti-snagging inching control system can be as follows: After the front-end crane is started, the system performs a power-on self-test, the sensing module starts working continuously, the vehicle controller receives data from the sensing module in real time, and runs the anti-snagging logic algorithm to determine whether the FTR has entered the preset "monitoring area". Within the monitoring area, the relative position and attitude of the spreader and the FTR are analyzed in real time to determine whether there is a risk of snagging (such as too close distance, incorrect attitude, etc.). If there is no risk, the system does not intervene, and the spreader is operated normally by the driver. If there is a risk, the human-machine interaction module issues a strong audible and visual alarm and displays "Anti-snagging activated, inching adjustment" on the display screen. The vehicle controller simultaneously sends an instruction to the execution module to activate the inching mode. The inching mode controller intervenes to perform the first inching, limiting the lifting speed and stroke of the spreader, so that it can only perform short-distance, low-speed inching actions until the spreader and the FTR are out of the risk state and the alarm stops. After the vehicle controller detects that the risk has been eliminated, it automatically performs the second inching operation until the spreader lock head is disengaged from the FTR lock, and at the same time, the inching mode restriction is lifted, restoring the driver's normal operating rights.

[0051] In this embodiment, one specific implementation method is as follows: after the spreader locks the container and the lifting is initiated, the system starts. If the vehicle controller detects a lock failure between the spreader's twist lock projection and the center of the container's corner hole through the binocular camera, or if the ultrasonic sensor detects that the distance between the two sides of the spreader is greater than 100mm, it is determined to be a high risk. The vehicle controller immediately controls the jog mode controller to trigger the jog mode for the first jog, limiting the output signal of the operating handle to only 2-3 cm per second. At the same time, the touch screen displays an alarm message, flashing "The distance on the left is too close, continuous descent is prohibited!", accompanied by a rapid beeping sound. After the jog mode controller adjusts the spreader to a safe position, it performs a second jog. The jog mode stops when the binocular camera detects that the lock head has disengaged from the FTR lock. At this time, the system automatically recovers and restores the driver's normal operating rights.

[0052] At least one other disclosed embodiment also provides a working method for the above-mentioned front-end loader FTR lock anti-snagging inching control system, including: the vehicle controller determines whether there is a risk of snagging in the current operation of the spreader based on the real-time image of the FTR and container below the spreader, the real-time distance between the spreader and the FTR component, and the spreader status parameters; if a risk is determined to exist, a risk command is generated; after receiving the risk command, the execution module enters the inching mode and sends a control command to the vehicle controller; the vehicle controller controls the lifting and lowering of the spreader according to the control command sent by the execution module.

[0053] In one optional implementation, the vehicle controller determines that there is a lock failure between the spreader twistlock projection and the center of the container corner hole based on the alignment of the spreader twistlock projection with the center of the container corner hole, and / or determines that the spreader is continuously rising under unbalanced load or unbalanced weight and the distance to the side is less than a safety threshold, and then determines that there is a risk and generates a risk command.

[0054] In summary, this front-end loader FTR lock anti-snagging inching control system uses the vehicle controller to determine whether there is a risk of snagging during the current spreader operation based on real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and the spreader status parameters. If a risk is detected, a risk command is generated. Upon receiving the risk command, the execution module enters inching mode and sends control commands to the vehicle controller. The vehicle controller controls the raising and lowering of the spreader according to the control commands sent by the execution module. This achieves automatic detection of potential snagging risks between the spreader and the FTR. When a risk is detected, the system automatically switches the raising and lowering operation of the spreader to the safe "inching mode" to perform the first inching for a forced fine adjustment. After the risk is eliminated, the system automatically performs a second inching to disengage the spreader lock head from the FTR lock, thereby effectively preventing snagging accidents.

[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, are based on the orientation or positional relationships shown in the accompanying drawings and 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] 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: A vehicle controller, and a sensing module and an execution module electrically connected to the vehicle controller; The sensing module is adapted to acquire real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and the spreader status parameters; The execution module is adapted to generate control commands in jog mode; The vehicle controller is configured to determine whether there is a risk of linkage in the current operation of the spreader based on the real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and the status parameters of the spreader. If a risk is determined to exist, a risk command is generated. After receiving the risk command, the execution module enters the jog mode and sends a control command to the vehicle controller. The vehicle controller controls the lifting and lowering of the spreader according to the control command sent by the execution module.

2. The front-mounted crane FTR lock anti-snagging inching control system as described in claim 1, characterized in that, The sensing module includes: a vision sensor electrically connected to the vehicle controller; The vision sensor is mounted on the spreader to acquire real-time images of the FTR and container below the spreader; The vehicle controller is configured to recognize the gooseneck outline of the FTR and the container based on real-time images of the FTR and the container below the spreader, as well as the alignment of the spreader twistlock projection with the center of the container corner hole.

3. The front-mounted FTR lock anti-snagging inching control system as described in claim 2, characterized in that, The sensing module includes: a plurality of ranging sensors electrically connected to the vehicle controller; The distance measuring sensors are installed on the end beams on both sides of the spreader to obtain the real-time distance between the spreader and the FTR component; The vehicle controller is configured to determine whether the distance between the spreader and the side of the FTR is less than a preset safety threshold based on the real-time distance between the spreader and the FTR component.

4. The front-mounted FTR lock anti-snagging inching control system as described in claim 3, characterized in that, The sensing module includes: a status sensor electrically connected to the vehicle controller; The status sensor is suitable for detecting the status parameters of the lifting device, namely the twist lock status, tilt status, and load status of the lifting device.

5. The front-mounted FTR lock anti-snagging inching control system as described in claim 4, characterized in that, The vehicle controller is configured to determine whether a container locking fault has occurred based on the alignment of the spreader twistlock projection with the center of the container corner hole, and / or If the lifting device is continuously rising under eccentric loading or unbalanced weight and the distance to the side is less than the safety threshold, a risk is identified and a risk command is generated.

6. The front-mounted FTR lock anti-snagging inching control system as described in claim 1, characterized in that, The execution module includes: a jog mode controller electrically connected to the vehicle controller; Upon receiving a risk command, the jog mode controller enters jog mode and performs the first jog operation, ensuring that the lifting speed and travel of the spreader are within a preset range until the spreader is removed from the FTR and out of danger.

7. The front-mounted FTR lock anti-snagging inching control system as described in claim 6, characterized in that, The vehicle controller is configured to perform a second jog operation after the risk of the spreader disengaging from the FTR, and to acquire real-time images of the FTR and container below the spreader through a vision sensor. Based on the real-time images, it determines when the lock head disengages from the FTR lock and stops the jog mode.

8. The front-mounted FTR lock anti-snagging inching control system as described in claim 6, characterized in that, The execution module further includes: a human-machine interaction module electrically connected to the vehicle controller; The human-computer interaction module is located in the driver's cab; The vehicle controller is configured to control the human-machine interface module to display alarm information when a risk is detected.

9. A working method for the front-mounted crane FTR lock anti-snagging inching control system as described in any one of claims 1-8, characterized in that, include: The vehicle controller determines whether there is a risk of linkage during the current operation of the spreader by using real-time images of the FTR and container below the spreader, the real-time distance between the spreader and the FTR components, and the status parameters of the spreader. If a risk is detected, a risk command is generated. After receiving the risk command, the execution module enters the jog mode and sends a control command to the vehicle controller. The vehicle controller then controls the lifting and lowering of the spreader according to the control command sent by the execution module.

10. The working method as described in claim 9, characterized in that, The vehicle controller determines whether a container locking fault has occurred based on the alignment of the spreader twistlock projection with the center of the container corner hole. If the lifting device is continuously rising under eccentric loading or unbalanced weight and the distance to the side is less than the safety threshold, a risk is identified and a risk command is generated.

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