Fully Automated Control System for Gantry Cranes

This is a technology 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 with self-learning algorithms, endowing the equipment with adaptive grabbing capacity for material characteristics. Ultimately, through digital twins and collaborative networks, it upgrades traditional gantry cranes into a next-generation Intelligent Spatial Operation System with environmental perception, intelligent decision-making, precise control, and multi-machine collaboration capabilities.

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 + dual-axle coordinated control, ensuring the grab always tracks vertically during lifting, luffing, and slewing operations.
3D Perception and Collision Avoidance System : Multi-lidar + vision fusion + dual hardware and software anti-collision mechanism, which can detect the distance between the grab and the cabin wall and adjacent gantry cranes in real time to prevent collisions.

Collaborative Work System: Wireless networking, data interoperability, and path coordination, supporting collaborative operation among multiple devices such as gate cranes and loaders.
Intelligent grasping control system: Tension-torque control, machine vision, and self-learning algorithms work together to achieve precise control over grasping depth and grasping volume, with automatic adaptation of the full-bucket rate.

Monitoring and Decision-Making System: Panoramic video surveillance combined with digital twin simulation, supporting remote monitoring, simulation-based rehearsals, and security decision-making.
Key Features
Fully Closed-Loop High-Precision Anti-Sway Control
The motion state of the grab is calculated in real time based on a mathematical model, realizing anti-sway through the coordinated movement of the three axles—lifting, luffing, and slewing—thus ensuring that the grab always tracks vertically.
Supports dual-axle anti-rolling for both the Gantry and Trolley, making row-changing 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 positioning for the entire aircraft.
Lidar–vision fusion perception, enabling robust performance in challenging conditions such as rain, fog, and dust.

Integrated Hardware-Software Collision Prevention System
Software collision avoidance: Real-time calculation of the distance between the grab and the bulkhead and equipment room, with early warning and intervention.
Hardware collision avoidance: Full coverage of obstacle detection for the main gantry Rail and anti-collision mechanism for adjacent gantry cranes.
Intelligent capture and self-learning capacity
Precisely control the gripping depth through rope torque combined with visual perception, enabling rapid adaptation to varying cargo types and fill ratios.
Supports full-bin control for new materials within three bins, with a bin-tilt accuracy of ≤40 cm.

Performance Metrics:

Positioning accuracy
Vehicle travel: ±5 cm
Front end of the elephant’s trunk: ±10 cm
Rotational angle: ±0.1°
Meet the requirements of automation and precision operations
Anti-oscillation performance
Angular velocity is canceled out within one swing period.
The grab operates smoothly with no risk of collision.

Capture Control
Self-learning adaptation of full-bucket rate
Bucket swing control accuracy: ≤40 cm
Adapt to different materials and enhance operational efficiency.
Collaborative Accuracy
In-room positioning synchronization error < 10 cm
Supports multi-machine collaborative conflict-free operations
Environmental Adaptability
Supports complex weather conditions such as rain, fog, and dust.
The system has strong anti-interference capacity.