Research and application of key technology system for intelligent gantry crane in hydraulic operation scenarios

Aiming at the problems of low operating efficiency and high safety risks of traditional gantry cranes, a concept and key technical system architecture of intelligent gantry cranes for hydraulic operation scenarios are proposed. This system includes intelligent perception of human-machine environment, intelligent planning of "task path trajectory" of gantry cranes, automatic threading and withdrawing pin of grasping beams underwater, intelligent anti-collision and anti-roll control of gantry cranes, gantry crane fault diagnosis and safety situation perception, intelligent gantry crane system control platform, etc. The case of intelligent gantry crane renovation at GZB hydropower station shows that the proposed method has high practicality.