GPS在轮胎式集装箱起重机上的应用外文翻译@中英文翻译@外文文献翻译.docx
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Application of GPS on Yard Cranes
Abstract：
GPS is a satellite navigation and positioning system developed by Americ
A.
Through 24 satellites evenly distributed in the air，the system ensures that positioning
information could be well received all over the world at any time.Since the system
was put into operation，it has been widely applied to uses such as oil surveying，ship
and aircraft navigation，construction positioning and military operation.
Key Words:
GPS , cranes, Port Machinery
GPS is a satellite navigation and positioning system developed by Americ
A.Through
24 satellites evenly distributed in the air，the system ensures that positioning
information could be well received all over the world at any time.Since the system
was put into operation，it has been widely applied to uses such as oil surveying，ship
and aircraft navigation，construction positioning and military operation.
ZPMC began the study of GPS application on yard cranes two years ago with the
purpose of providing the RTG with functions such as reliable straight traveling of
gantry and automatic container management like RMG （Rail Mounted Crane） while
keeping the RTG of its flexibility on yard changing（through longitudinal traveling）.
The GPS products developed by ZPMC have a positioning accuracy a round±15mm
and could be widely applied on yard cranes for functions like gantry auto-steering，
gantry auto-traveling and automatic container management More than 50 sets of GPS
products have been operating on ports in Hong Kong，Oman and Shanghai.
Application of GPS on Yard Cranes
Application of GPS on Yard Cranes
It has been long known that the RTG，due to its ability of changing operation
yard easily via wheel turning and longitudinal travel，is the favorite choice of many
ports when ordering new equipment Due to the fact that RTG has no fixed rail
however，the function of the gantry steering and position tracking are not well solved，
which brings the following drawback：
1.Gantry steering work is becoming more difficult following that the RTG is
becoming large r and quicker；
2.Rapid growth of international trade and container transshipment are making the
stacking arrangement and operation management of containers more difficult；if the
RTG is not tracked，it is inevitable that the container may be misplaced--such a
mistake will result in expensive loses;
3.Automation development of RTG is being hindered due to the shortcoming of
gantry it now becomes critical to developing gantry automation while trolley and hoist
of RTG has been automated to some extent；
4.Synchronous control of gantry usually is difficult to reach for large span RMG／
QC In the case that gantry on seaside and landside don t travel at same speed，the
crane will present skew phenomena and its performance will be degrade
D.
such as “critical path method”to manage the operation more efficiently.
2.Auto-steering of gantry for RTG No maker how high and quick the RTG is，by
making use of the “vitual rail”from GPS，excellent gantry auto—steering of RTG
could be realized thus the RTG Could travel very straight like an RMG and potential
gantry collision with other RTG／ vehicles is eliminated; operators also could be
relieved from the fatigue of manual steering.
3.Gantry auto traveling of RTG with position data （initial and destination position）
from the GPS system the RTG could have gantry auto traveling function at the same
lane.
4.Fault free operation of RTG By combining gantry position from GPS and
positions from trolley and hoist an “e-map”of containers on the yard could be set up
The RTG could be so designed that its operation is only possible when the directed
container from control center is coincide with the real container（by comparing the
positions）．
5.Automatic container management with gantry／ tro1ey／ hoist position
information of the RTG messages including the operation status，current position etc
could be sent all the time to the control center；In that way stacking profile of the yard
could be continuously updated and manual operation statistics could be reduced to a
minimum；
6.Synchronous control for large—span RMG or QC large span RMG or QC is liable
to having slipping problem during gantry t raveling which in turn resents skew
phenomena; then the performance of the crane will decrease.With position
monitoring on both seaside and land side Synchronous control could be used to
remove this problem；
7.AGV navigation traveling of AGV could be remotely controlled with the help
from GPS data；
8.Position monitoring for container truck the GPS product could also be applied on
container trucks for position monitoring.
Application of GPS on container operation management
The traditional mode of container operation in many ports is：
firstly，in the
operation department，information on the containers to be operated would be stored in
a main computer；Secondly，the operation message for a certain container with
container ID and its position will be sent via radio to an RTG Thirdly the RTG
operator will drive the RTG t finish the operation；Finally，the completion of the
operation will be acknowledged by the operator in that sequence, some potential
problem may occur:
1.the positions of the RTGS are not clearly indicated and RTG
having optimal path can’t be selected；the cost then increases；2.there is no
monitoring of the container，then the container may be misplaced：
3.manual
interference for acknowledgement is require
D.
However the whole operation could be made in a closed loop by computers without
any potential mistake involved by equipping RTGs with GPS.Also the efficiency
could be raised greatly See the charts for details.
Technical data of the GPS from ZPMC
1．System configuration
1）.The whole project of RTGs will be equipped with one GPS base station it consists
of a dual—frequency GPS receiver and a modulating radio transmitter.The function
of the base station is to send correction data of GPS position to each crane station.
2）.Each crane will be equipped with a GPS rover station which consists of two GPS
receivers and a common radio receiver.This rover station will check the current
position of the RTG with a precision at centimeter level.The position signal will be
sent to the main PC to be dealt with for functions of container position and auto
steering control et
C.
The whole GPS system is compact, simple and independent and it is easy to be
1nstalled on RTG without imposing any influence on the mechanical design.
2.Technical data
* power supply：
—264VAC 50／ 60Hz
* initialization time<3 min
* measurement precision of GPS：
around±15mm （for twin GPS system）;for single
GPS system，the precision could be±mm （recommended）or 0.5m;
* radio application range：
3 km
* frequency：
450—470MHz 223.025—235MHz or others;
* signal output：
discrete I／ O 8 pts，optically isolated
* RS232 Interface
3．Series of GPS products for easy selection
1）.Twin GPS system—Accuracy around±15mm for following application：
* auto-steering of RTG
* gantry auto—traveling of RTG
* automatic container management for RTG
* fault-free operation of RTG
* “e—map”function for RTG
* synchronous control of gantry for large—span RMG
* AGV navigation
2）.single GPS system-accuracy available at±15mm or 0.5m for following function
* “e-map”function for RTG
* automatic container management for RTG
* fault—free operation of RTG
* position monitoring for container truck
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息显示在司机室监控屏上）把箱子代码和位置（如几号箱区几号位置等信息）告知某台RTG司机，司机再把车开到对应位置操作。
其中涉及的不足有:
1.RTG的位置不够清楚，调度上容易产生舍近求远问题，增加生产成本；
2.RTG实际吊具位置没有可靠监控,司机作业存在认为错误的可能性；3．司机作业完毕需要人工确认配备了RTG用GPS系统后，利用当前普遍的无线电系统，可以有效消除RTG作业中存在的各种人工因素．整个生产过程由系列电脑实现闭环控制极大地提高码头生产的正确性和信息化水平，实现无纸化管理。
此过程中每台RTG都将充分应用前述的箱位自动管理防误操作等功能。
RTG用GPS系统技术参数一、系统配置1整个项目配备一个GPS基准站，具体包括个GPS接收器和一个调制无线发射电台，用于提供基准位置信号给起重机上的GPS移动站；
2每台机配置一个GPS移动站，具体硬件包括两个GPS接收器和一个公共无线接收电台用于检测当前起重机所处位置，并接收基准站差分信号从而获得厘米级的检测精度位置信号将在主机运算后送至机上PLC进步进行箱位管理和自动纠偏等处理。
整个GPS系统结构精巧，安装简单，系统具有很强的独立性对RTG的设计不产生任何结构上的影响。
二、技术参数
* 工作电源输入电压：
AC220V±10％50Hz／60Hz
* 开机定位时间约3 min
* GPS定位精度:
±15mm（双GPS系统）:
（单GPS系统精度可选±mm或0.5
米，推荐±15mm）
* 电台有效范围：
3km
* 电台频率可选范围：
450-470MHz；223.025M-235M或其它用户申请频率
* 标准RS232接口输出，适用于各种PLC装置
* 状态量8位,24VDC光耦隔离输出三、为了方便用户选购，目前ZPMC可以提供两种类型的RTG用GPS系统：
1．双GPS系统——定位精度±15mm左右，主要应用于：
*
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