中英文文献翻译-GPS在轮胎式集装箱起重机上的应用

太原科技大学 2008 届毕业设计说明书- 1 -Application of GPS on Yard CranesSchool of Machine electronics engineering The machine automation 041201 Shu Yunfeng Director： Zhuang WenjunAbstract：GPS is a satellite navigation and positioning system developed by America. 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 MachineryGPS is a satellite navigation and positioning system developed by America. 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 round15mm 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 CranesApplication of GPS on Yard CranesIt 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 太原科技大学 2008 届毕业设计说明书- 2 -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 RMGQC 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 degraded.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 autosteering of RTG could be realized thus the RTG Could travel very straight like an RMG and potential gantry collision with other RTGvehicles 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) 太原科技大学 2008 届毕业设计说明书- 3 -5. Automatic container management with gantrytro1eyhoist 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 largespan 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 managementThe 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 cant 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 required.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 ZPMC1System configuration1). The whole project of RTGs will be equipped with one GPS base station it consists of a dualfrequency 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. 太原科技大学 2008 届毕业设计说明书- 4 -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 etc.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：1 80264VAC 5060Hz* initialization time3 min* measurement precision of GPS：around15mm (for twin GPS system);for single GPS system， the precision could be1 5mm (recommended)or 0.5m;* radio application range：3 km* frequency：450470MHz 223.025235MHz or others;* signal output：discrete IO 8 pts，optically isolated* RS232 Interface3Series of GPS products for easy selection1). Twin GPS systemAccuracy around15mm for following application：* auto-steering of RTG* gantry autotraveling of RTG* automatic container management for RTG* fault-free operation of RTG* “emap” function for RTG* synchronous control of gantry for largespan RMG* AGV navigation2). single GPS system-accuracy available at15mm or 0.5m for following function* “e-map” function for RTG* automatic container management for RTG* faultfree operation of RTG* position monitoring for container truck 太原科技大学 2008 届毕业设计说明书- 5 -上海振华的新技术GPS在轮胎式集装箱起重机上的应用机械电子工程学院 机自 041201班 舒云峰 指导老师 张文军摘要：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 太原科技大学 2008 届毕业设计说明书- 6 -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, LANESTACK, 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。 太原科技大学 2008 届毕业设计说明书- 7 -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