【机械类文献翻译】GPS在轮胎式集装箱起重机上的应用

机械专业中英文文献翻译ApplicationofGPSonYardCranesAbstract：GPSisasatellitenavigationandpositioningsystemdevelopedbyAmerica.Through24satellitesevenlydistributedintheair，thesystemensuresthatpositioninginformationcouldbewellreceivedallovertheworldatanytime.Sincethesystemwasputintooperation，ithasbeenwidelyappliedtousessuchasoilsurveying，shipandaircraftnavigation，constructionpositioningandmilitaryoperation.KeyWords:GPS,cranes,PortMachineryGPSisasatellitenavigationandpositioningsystemdevelopedbyAmerica.Through24satellitesevenlydistributedintheair，thesystemensuresthatpositioninginformationcouldbewellreceivedallovertheworldatanytime.Sincethesystemwasputintooperation，ithasbeenwidelyappliedtousessuchasoilsurveying，shipandaircraftnavigation，constructionpositioningandmilitaryoperation.

ZPMCbeganthestudyofGPSapplicationonyardcranestwoyearsagowiththepurposeofprovidingtheRTGwithfunctionssuchasreliablestraighttravelingofgantryandautomaticcontainermanagementlikeRMG(RailMountedCrane)whilekeepingtheRTGofitsflexibilityonyardchanging(throughlongitudinaltraveling).TheGPSproductsdevelopedbyZPMChaveapositioningaccuracyaround±15mmandcouldbewidelyappliedonyardcranesforfunctionslikegantryauto-steering，gantryauto-travelingandautomaticcontainermanagementMorethan50setsofGPSproductshavebeenoperatingonportsinHongKong，OmanandShanghai.

ApplicationofGPSonYardCranesApplicationofGPSonYardCranesIthasbeenlongknownthattheRTG，duetoitsabilityofchangingoperationyardeasilyviawheelturningandlongitudinaltravel，isthefavoritechoiceofmanyportswhenorderingnewequipmentDuetothefactthatRTGhasnofixedrailhowever，thefunctionofthegantrysteeringandpositiontrackingarenotwellsolved，whichbringsthefollowingdrawback：

1.GantrysteeringworkisbecomingmoredifficultfollowingthattheRTGisbecominglargerandquicker；

2.Rapidgrowthofinternationaltradeandcontainertransshipmentaremakingthestackingarrangementandoperationmanagementofcontainersmoredifficult；iftheRTGisnottracked，itisinevitablethatthecontainermaybemisplaced--suchamistakewillresultinexpensiveloses;

3.AutomationdevelopmentofRTGisbeinghinderedduetotheshortcomingofgantryitnowbecomescriticaltodevelopinggantryautomationwhiletrolleyandhoistofRTGhasbeenautomatedtosomeextent；

4.SynchronouscontrolofgantryusuallyisdifficulttoreachforlargespanRMG／QCInthecasethatgantryonseasideandlandsidedonttravelatsamespeed，thecranewillpresentskewphenomenaanditsperformancewillbedegraded.suchas“criticalpathmethod”tomanagetheoperationmoreefficiently.

2.Auto-steeringofgantryforRTGNomakerhowhighandquicktheRTGis，bymakinguseofthe“vitualrail”fromGPS，excellentgantryauto—steeringofRTGcouldberealizedthustheRTGCouldtravelverystraightlikeanRMGandpotentialgantrycollisionwithotherRTG／vehiclesiseliminated;operatorsalsocouldberelievedfromthefatigueofmanualsteering.

3.GantryautotravelingofRTGwithpositiondata(initialanddestinationposition)fromtheGPSsystemtheRTGcouldhavegantryautotravelingfunctionatthesamelane.

4.FaultfreeoperationofRTGBycombininggantrypositionfromGPSandpositionsfromtrolleyandhoistan“e-map”ofcontainersontheyardcouldbesetupTheRTGcouldbesodesignedthatitsoperationisonlypossiblewhenthedirectedcontainerfromcontrolcenteriscoincidewiththerealcontainer(bycomparingthepositions)．

5.Automaticcontainermanagementwithgantry／tro1ey／hoistpositioninformationoftheRTGmessagesincludingtheoperationstatus，currentpositionetccouldbesentallthetimetothecontrolcenter；Inthatwaystackingprofileoftheyardcouldbecontinuouslyupdatedandmanualoperationstatisticscouldbereducedtoaminimum；

6.Synchronouscontrolforlarge—spanRMGorQClargespanRMGorQCisliabletohavingslippingproblemduringgantrytravelingwhichinturnresentsskewphenomena;thentheperformanceofthecranewilldecrease.WithpositionmonitoringonbothseasideandlandsideSynchronouscontrolcouldbeusedtoremovethisproblem；

7.AGVnavigationtravelingofAGVcouldberemotelycontrolledwiththehelpfromGPSdata；

8.PositionmonitoringforcontainertrucktheGPSproductcouldalsobeappliedoncontainertrucksforpositionmonitoring.ApplicationofGPSoncontaineroperationmanagement

Thetraditionalmodeofcontaineroperationinmanyportsis：firstly，intheoperationdepartment，informationonthecontainerstobeoperatedwouldbestoredinamaincomputer；Secondly，theoperationmessageforacertaincontainerwithcontainerIDanditspositionwillbesentviaradiotoanRTGThirdlytheRTGoperatorwilldrivetheRTGtfinishtheoperation；Finally，thecompletionoftheoperationwillbeacknowledgedbytheoperatorinthatsequence,somepotentialproblemmayoccur:1.thepositionsoftheRTGSarenotclearlyindicatedandRTGhavingoptimalpathcan’tbeselected；thecostthenincreases；2.thereisnomonitoringofthecontainer，thenthecontainermaybemisplaced：3.manualinterferenceforacknowledgementisrequired.

HoweverthewholeoperationcouldbemadeinaclosedloopbycomputerswithoutanypotentialmistakeinvolvedbyequippingRTGswithGPS.AlsotheefficiencycouldberaisedgreatlySeethechartsfordetails.

TechnicaldataoftheGPSfromZPMC

1．Systemconfiguration

1).ThewholeprojectofRTGswillbeequippedwithoneGPSbasestationitconsistsofadual—frequencyGPSreceiverandamodulatingradiotransmitter.ThefunctionofthebasestationistosendcorrectiondataofGPSpositiontoeachcranestation.2).EachcranewillbeequippedwithaGPSroverstationwhichconsistsoftwoGPSreceiversandacommonradioreceiver.ThisroverstationwillcheckthecurrentpositionoftheRTGwithaprecisionatcentimeterlevel.ThepositionsignalwillbesenttothemainPCtobedealtwithforfunctionsofcontainerpositionandautosteeringcontroletc.

ThewholeGPSsystemiscompact,simpleandindependentanditiseasytobe1nstalledonRTGwithoutimposinganyinfluenceonthemechanicaldesign.2.Technicaldata

*powersupply：180—264VAC50／60Hz

*

initializationtime<3min

*

measurementprecisionofGPS：around±15mm(fortwinGPSsystem);forsingleGPSsystem，the

precisioncouldbe±15mm(recommended)or0.5m;

*

radioapplicationrange：3km

*

frequency：450—470MHz223.025—235MHzorothers;

*

signaloutput：discreteI／O8pts，opticallyisolated

*RS232Interface3．SeriesofGPSproductsforeasyselection

1).TwinGPSsystem—Accuracyaround±15mmforfollowingapplication：

*auto-steeringofRTG

*gantryauto—travelingofRTG

*automaticcontainermanagementforRTG

*fault-freeoperationofRTG

*“e—map”functionforRTG

*synchronouscontrolofgantryforlarge—spanRMG

*AGVnavigation

2).singleGPSsystem-accuracyavailableat±15mmor0.5mforfollowingfunction

*“e-map”functionforRTG

*automaticcontainermanagementforRTG

*fault—freeoperationofRTG

*positionmonitoringforcontainertruck

GPS在轮胎式集装箱起重机上的应用摘要：GPS(全球卫星定位系统)，是由美国开发创建的卫星导航和定位系统。通过空中均匀分布的24颗导航卫星，保证了定位信号在全球任何地方任意时间全天候的可靠接收。自系统投入运行以来，已广泛应用于国民经济的各行各业如石油勘探，船舶和航空导航，土建工程定位和重大军事行动。关键词：GPS，起重机，港口机械GPS(全球卫星定位系统)，是由美国开发创建的卫星导航和定位系统。通过空中均匀分布的24颗导航卫星，保证了定位信号在全球任何地方任意时间全天候的可靠接收。自系统投入运行以来，已广泛应用于国民经济的各行各业如石油勘探，船舶和航空导航，土建工程定位和重大军事行动。

ZPMC于两年前开始进行GPS在场桥上的应用研究，使场桥既能保持原有灵活转场的功能，又能象RMG(轨道式集装箱起重机)一样保证大车可靠运行和箱位管理功能。ZPMC研制的场桥用GPS系统，定位精度达到±15mm左右，具有高度的自动化特征，可广泛用于场桥的自动大车行走，自动大车纠偏，自动箱位管理等功能。自开发成功，已有近50多套产品应用于香港、阿曼和上海的客户。GPS在场桥上的应用

长久以来，由于RTG能够通过轮胎转向功能，灵活地改变箱区位置而深受码头用户喜爱。然而也因为没有固定轨道，RTG在大车方向上的纠偏和定位功能一直没能很好解决，从而带来以下几方面的问题．

一、随着RTG变得越高越快．司机的大车运行日益变得困难，纠偏操作更加艰苦；

二、而随着国际贸易的发展和集装箱数量的迅猛增长，码头集装箱的堆放安排和作业统计管理也变得日益困难。成千上万集装箱的数据记录手工工作量是巨大的，另外RTG缺乏有效位置监控，难免造成集装箱的错误安放而无法跟踪——这种错误．对于繁忙的集装箱码头来说，造成的损失是严重的。

三、此外，RTG在大车方向上的不足．也严重阻碍了RTG在自动化功能上的发展。在当前RTG的小车和起升机构实行了相当程度自动化的情况下，如何解决大车机构的自动化变得更加迫切。

四、对于大跨距RMG和Qc．其大车同步控制是令人头疼的问题。同步控制不好，则会造成大车车轮打滑或“啃轨”现象，从而降低起重机的使用性能和寿命。机需要长时间低头进行手动纠偏的疲劳作业和RTG行大车时同集装箱或其它车辆相撞的隐患：从而使RTG具有同RMG一样的大车运行功能。

三．RTG大车自动行走利用RTG的当前位置和要求作业集装箱的目标位置，结合大车自动纠偏和位置监控功能，可实现RTG的大车自动行走。届时司机只要轻触按钮，就可以实现在同跑道上RTG大车位置的自动变换。

四.RTG防误操作功能利用RTG大车的精确位置，并结合小车和起升机构位置，组成RTG吊具的三维信息，根据码头堆场的实际布置，可转换成具体的集装箱大车箱位、小车堆位和起升层高(BERTH，BAY,LANE／STACK,TIER)等信息．此信息同要作业的集装箱比较．如不符则禁止吊具动作，只有信息致才允许作业。这样就保证了RTG无故障操作；

五．RTG箱位自动管理利用RTG的三维位置，可随时随地发布RTG的操作信息譬如作业箱量作业位置，RTG状态等信息。信息通过无线系统发送到中控室，由主机自动记录统计，实时获得RTG的各种操作数据，及时更新堆场集装箱分布情况．从而节省大量的人工登记工作，并消除各种误差，实现了自动信息化管理．有利于信息保存归档。

六．大跨距RMG和QC的同步控制大跨距的RMG或QC在大车运行过程中容易产生因车轮而引起的“啃轨”现象，从而降低起重机的使用性能和寿命。利用GPS系统可监测大车两侧打滑情况，以利于同步控制。

七．AGV自动导航在广阔的码头堆场上，可利用RTG用GPS移动站实现对AGV的自动行走控制。

八．集卡位置监控RTG用GPS移动站也可用于码头装卸设备如集卡等的位置监控，便于调度。GPS系统在码头管理上的应用

传统的码头堆场集装箱作业模式为理货操作部把当日要装卸的集装箱，根据原先计划安排好并储存在码头主机中的位置通过对讲机系统或理货员(有些码头通过无线电系统把信