Fully automated control system for the gate machine

This is a technological system centered on “high-precision spatial control, Intelligent anti-sway algorithms, and multi-source perception fusion.” It establishes a centimeter-level spatial reference through BeiDou/encoder redundant positioning, employs a multi‑axle coordinated anti-sway model to achieve vertical steady-state tracking of the grab during complex motions, and leverages LiDAR–vision fusion perception to enable real-time environmental modeling and proactive collision avoidance. The system further integrates rope torque sensing and self-learning algorithms, endowing the equipment with adaptive grasping capabilities tailored to material characteristics. Ultimately, through digital twins and collaborative networking, it upgrades conventional gantry cranes into next-generation Intelligent Spatial Operation Systems that feature environmental perception, intelligent decision-making, precise control, and multi‑machine collaboration.

Core System Architecture
High-Precision Positioning System: Beidou/GPS differential positioning plus absolute encoder redundancy
Intelligent Anti-Sway Control System: Electronic anti-sway mathematical model plus dual-axle coordinated control ensures that the grab remains vertically aligned during lifting, luffing, and slewing operations.
3D Perception and Collision Avoidance System : Multi-lidar plus vision fusion plus dual hardware-and-software anti-collision mechanisms, which detect in real time the distances between the grab and the cabin wall and adjacent gantry cranes, preventing collisions.

Collaborative Work System: Wireless networking, data sharing, and path coordination, supporting collaborative operation among multiple devices such as gate machines and loaders.
Intelligent Grabbing Control System: Tension‑torque control, machine vision, and a self‑learning algorithm work together to achieve precise regulation of gripping depth and grasping force, with automatic adaptation of the full‑bucket rate.

Monitoring and Decision-Making System: Panoramic video surveillance combined with digital twin simulation supports remote monitoring, simulation-based rehearsals, and security decision-making.
Key Features
Full closed-loop high-precision anti-sway control
Based on a mathematical model, the grab’s motion state is calculated in real time, enabling coordinated anti-sway control of the lifting, luffing, and slewing axes, ensuring that the grab remains vertically aligned at all times.
Supports dual-axle anti-sway for both the Trolley and the axle, making repositioning and cabin-changing operations safer and more efficient.
Multi-Redundancy Localization and Cooperative Perception

Beidou differential positioning, encoder, and RFID— a multi‑modal positioning system that achieves centimeter‑level accuracy across the entire machine.
Lidar–vision fusion perception adapts to complex environments such as rain, fog, and dust.

Integrated hardware-and-software collision-avoidance system
Software collision avoidance: Real-time calculation of the distance between the grab and the bulkhead and equipment, with early warning and intervention.
Hardware collision avoidance: Rail obstacle detection and full coverage of the adjacent gantry crane anti-collision mechanism.
Intelligent grasping and self-learning capacity
By leveraging rope torque and visual perception to precisely control gripping depth, the system achieves rapid adaptation to varying cargo types and maximizes bucket fill rates.
Supports full-bin control for new materials within three bins, with a bin‑shaking accuracy of ≤40 cm.

Performance Metrics:

Positioning accuracy
Carriage travel: ±5 cm
Front of the nose bridge: ±10 cm
Rotational angle: ±0.1°
Meet the requirements for automated precision operations
Anti-sway performance
Angular velocity is canceled out over one oscillation period.
The grab operates smoothly, with no risk of collision.

Grab Control
Self-learning adaptation of full-bucket rate
Bucket control accuracy: ≤40 cm
Adapts to various materials, enhancing operational efficiency.
Collaborative accuracy
The positioning synchronization error in the equipment room is less than 10 cm.
Supports multi-machine collaborative operations without conflicts.
Environmental adaptability
Supports complex weather conditions such as rain, fog, and dust.
The system has strong anti-interference capacity.