CN-122009975-A - Lifting equipment, and anti-hooking point-to-point control system and method for front-mounted FTR lock

CN122009975ACN 122009975 ACN122009975 ACN 122009975ACN-122009975-A

Abstract

The invention belongs to the technical field of container handling, in particular to equipment for container lifting, and particularly relates to lifting equipment, a front-mounted FTR lock anti-hooking click control system and a method, wherein detection of image and distance fusion is realized by adopting a perception module combining a visual sensor and an inductive distance detection group, two detection sensors in the inductive distance detection group work alternately according to a preset rule, the method not only avoids the problem of information delay when the traditional main sensor and the traditional standby sensor are switched, but also prevents signal interference possibly caused by simultaneous operation of the two sensors, obviously improves the continuity and reliability of detection, and overcomes the interference of complex environments such as high humidity, salt fog, large temperature difference, mechanical vibration and the like of ports on a single sensor.

Inventors

LI XIAOMENG
CHAO JIE
LIU JINGXIAO
YANG JIADI
LI SHIJIE

Assignees

徐州徐工港口机械有限公司

Dates

Publication Date: 20260512
Application Date: 20260206

Claims (10)

1. The utility model provides a prevent hooking point action control system of FTR lock of openly hanging which characterized in that includes: the sensing module is used for collecting relative state information between the lifting appliance and the FTR lock; the control module is used for receiving the relative state information sent by the sensing module and judging whether the FTR lock has a hooking risk or not; If the hooking risk exists, the control execution module covers the original handle operation signal, and the lifting control of the lifting appliance is switched to the inching module; Wherein, the perception module includes: a visual 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 acquire distance information between the FTR lock and a lock hole of the container in an alternating working mode according to a preset rule; The control module is configured to judge the risk of hooking according to the received real-time image information and the distance information.
2. The overhead FTR lock anti-hooking click control system of claim 1, The two detection sensors of the inductive distance detection group are respectively 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 acquire distance information; 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, namely the sensors have the same response trend to data, and if the sensors are different, maintenance information is sent for adjustment.
3. The overhead FTR lock anti-hooking click control system of claim 2, The mode of alternately working according to the preset rule is as follows: When the hoisting is not performed, the working time of the high-frequency detection sensor is twice that of the low-frequency detection sensor, so that the state at the beginning of the hoisting is rapidly detected; When in hoisting, if the hooking risk is not found, the hoisting machine enters a normal working mode, the working time of the low-frequency detection sensor is four times that of the high-frequency detection sensor, and if the hooking risk is found, the hoisting machine enters 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 overhead FTR lock anti-hooking click control system of claim 1, The number of the inductive distance detection groups is a plurality of; A plurality of inductive distance sensing sets are mounted on the spreader sides and/or end beams.
5. The overhead FTR lock anti-hooking click control system of claim 1, The control module is configured to judge the hooking risk according to the received real-time image information and the distance information, namely: Processing the image information through a graphic algorithm to obtain the state information of the lifting appliance; The state information of the lifting appliance is that the container continuously rises in an unbalanced load or unbalanced load state, and the distance information between the FTR lock and the container body of the container is smaller than a safety threshold, so that the risk of hooking exists, and otherwise, the risk of hooking does not exist.
6. The overhead FTR lock anti-hooking click control system of claim 1, The front-mounted FTR lock anti-hooking point-movement control system also comprises an alarm module; the control module is further configured to send an alarm signal to the alarm module for alarming when the hooking risk exists.
7. A control method of a front mounted FTR lock anti-hooking click control system according to claim 1, wherein the control method comprises: the control module acquires real-time image information of the FTR lock and the container through the visual sensor; The control module acquires distance information between the FTR lock and a lock hole of the container in an alternating working mode according to a preset rule through two detection sensors in the inductive distance detection group; the control module judges the hooking risk according to the real-time image information and the distance information; if the hooking risk exists, the control execution module covers the original handle operation signal, the lifting control of the lifting appliance is switched to the inching mode, and if the hooking risk does not exist, the lifting is continued according to the original handle operation signal.
8. The front mounted FTR lock of claim 7 a control method of an anti-hooking click control system, it is characterized in that the method comprises the steps of, The two detection sensors in the inductive distance detection group are respectively a high-frequency detection sensor and a low-frequency detection sensor; the high-frequency detection sensor and the low-frequency detection sensor alternately work to acquire distance information.
9. The front mounted FTR lock of claim 8 a control method of an anti-hooking click control system, it is characterized in that the method comprises the steps of, The mode of alternately working according to the preset rule is as follows: When the hoisting is not performed, the working time of the high-frequency detection sensor is twice that of the low-frequency detection sensor, so that the state at the beginning of the hoisting is rapidly detected; When in hoisting, if the hooking risk is not found, the hoisting machine enters a normal working mode, the working time of the low-frequency detection sensor is four times that of the high-frequency detection sensor, and if the hooking risk is found, the hoisting machine enters 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. Hoisting device, characterized in that it comprises a frontal hoisting FTR lock anti-hooking click control system according to any one of claims 1-6.

Description

Lifting equipment, and anti-hooking point-to-point control system and method for front-mounted FTR lock Technical Field The invention belongs to the technical field of container handling, in particular to equipment for lifting a container, and particularly relates to lifting equipment, and a front-mounted FTR lock anti-hooking click control system and method. Background The front lift is a mobile handling crane for handling containers at ports, and during operation, the front lift is required to frequently lift or replace the containers from the truck trailer. When the container is aligned with the FTR lock, is in the case of being put on or taken off, the visual observation and operation experience of a driver are mainly relied on. Because of the factors such as visual blind area, poor light, fatigue of a driver or misjudgment, the risk of hooking the FTR lock is very easy to occur, once hooking occurs, the collector-card trailer can be forcibly dragged and even turned over in the hoisting process, so that the vehicle is damaged, the container is damaged, goods are dumped, even serious personal safety accidents are caused, and huge economic losses are brought. In the related art, in order to detect the relative state between a lifting appliance and a container as well as between the container and an FTR lock in real time, state detection is performed by setting a sensing module on the lifting appliance and combining automatic judgment, but a port has high-humidity salt fog, large temperature change and frequent mechanical vibration environments, in order to ensure the detection precision and detection reliability of the sensing module, a main sensor and a standby sensor are arranged, when the main sensor breaks down, the standby sensor is started to delay state information and the like, if the two sensors work simultaneously, signal interference is easy to generate, the system power consumption and the processing complexity are increased, and real-time, accurate judgment and quick response to the hooking risk are still difficult to realize. Therefore, how to improve the reliability of sensor detection under complex working conditions such as ports is a technical problem to be solved in the present day. It should be noted that the above information disclosed in this background section is only for understanding the background of the inventive concept and therefore the above description is not to be construed as constituting prior art information. Disclosure of Invention The embodiment of the disclosure at least provides hoisting equipment, and a front-mounted FTR lock anti-hooking inching control system and method. In a first aspect, an embodiment of the present disclosure provides a front-mounted FTR lock anti-hooking inching control system, including: the sensing module is used for collecting relative state information between the lifting appliance and the FTR lock; the control module is used for receiving the relative state information sent by the sensing module and judging whether the FTR lock has a hooking risk or not; If the hooking risk exists, the control execution module covers the original handle operation signal, and the lifting control of the lifting appliance is switched to the inching module; Wherein, the perception module includes: a visual 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 method comprises the steps that two detection sensors in an inductive distance detection group acquire distance information between an FTR lock and a lock hole of a container in an alternating working mode according to a preset rule; The control module is configured to judge the risk of hooking according to the received real-time image information and the distance information. In an alternative embodiment, 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 acquire distance information; 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, namely the sensors have the same response trend to data, and if the sensors are different, maintenance information is sent for adjustment. In an alternative embodiment, the mode of alternately working according to the preset rule is that: When the hoisting is not performed, the working time of the high-frequency detection sensor is twice that of the low-frequency detection sensor, so that the state at the beginning of the hoisting is rapidly detected; When in hoisting, if the hooking risk is not found, the hoisting machine enters a normal working mode, the working time of the low-frequency detection sensor is four times that of the high-frequency detec