機械專業中英文文獻翻譯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在輪胎式集裝箱起重機上的應用摘要：GPS(全球衛星定位系統)，是由美國開發創建的衛星導航和定位系統。通過空中均勻分布的24顆導航衛星，保證了定位信號在全球任何地方任意時間全天候的可靠接收。自系統投入運行以來，已廣泛應用于國民經濟的各行各業如石油勘探，船舶和航空導航，土建工程定位和重大軍事行動。關鍵詞：GPS，起重機，港口機械GPS(全球衛星定位系統)，是由美國開發創建的衛星導航和定位系統。通過空中均勻分布的24顆導航衛星，保證了定位信號在全球任何地方任意時間全天候的可靠接收。自系統投入運行以來，已廣泛應用于國民經濟的各行各業如石油勘探，船舶和航空導航，土建工程定位和重大軍事行動。

ZPMC于兩年前開始進行GPS在場橋上的應用研究，使場橋既能保持原有靈活轉場的功能，又能象RMG(軌道式集裝箱起重機)一樣保證大車可靠運行和箱位管理功能。ZPMC研制的場橋用GPS系統，定位精度達到±15mm左右，具有高度的自動化特征，可廣泛用于場橋的自動大車行走，自動大車糾偏，自動箱位管理等功能。自開發成功，已有近50多套產品應用于香港、阿曼和上海的客戶。GPS在場橋上的應用

長久以來，由于RTG能夠通過輪胎轉向功能，靈活地改變箱區位置而深受碼頭用戶喜愛。然而也因為沒有固定軌道，RTG在大車方向上的糾偏和定位功能一直沒能很好解決，從而帶來以下幾方面的問題．

一、隨著RTG變得越高越快．司機的大車運行日益變得困難，糾偏操作更加艱苦；

二、而隨著國際貿易的發展和集裝箱數量的迅猛增長，碼頭集裝箱的堆放安排和作業統計管理也變得日益困難。成千上萬集裝箱的數據記錄手工工作量是巨大的，另外RTG缺乏有效位置監控，難免造成集裝箱的錯誤安放而無法跟蹤——這種錯誤．對于繁忙的集裝箱碼頭來說，造成的損失是嚴重的。

三、此外，RTG在大車方向上的不足．也嚴重阻礙了RTG在自動化功能上的發展。在當前RTG的小車和起升機構實行了相當程度自動化的情況下，如何解決大車機構的自動化變得更加迫切。

四、對于大跨距RMG和Qc．其大車同步控制是令人頭疼的問題。同步控制不好，則會造成大車車輪打滑或“啃軌”現象，從而降低起重機的使用性能和壽命。機需要長時間低頭進行手動糾偏的疲勞作業和RTG行大車時同集裝箱或其它車輛相撞的隱患：從而使RTG具有同RMG一樣的大車運行功能。

三．RTG大車自動行走利用RTG的當前位置和要求作業集裝箱的目標位置，結合大車自動糾偏和位置監控功能，可實現RTG的大車自動行走。屆時司機只要輕觸按鈕，就可以實現在同跑道上RTG大車位置的自動變換。

四.RTG防誤操作功能利用RTG大車的精確位置，并結合小車和起升機構位置，組成RTG吊具的三維信息，根據碼頭堆場的實際布置，可轉換成具體的集裝箱大車箱位、小車堆位和起升層高(BERTH，BAY,LANE／STACK,TIER)等信息．此信息同要作業的集裝箱比較．如不符則禁止吊具動作，只有信息致才允許作業。這樣就保證了RTG無故障操作；

五．RTG箱位自動管理利用RTG的三維位置，可隨時隨地發布RTG的操作信息譬如作業箱量作業位置，RTG狀態等信息。信息通過無線系統發送到中控室，由主機自動記錄統計，實時獲得RTG的各種操作數據，及時更新堆場集裝箱分布情況．從而節省大量的人工登記工作，并消除各種誤差，實現了自動信息化管理．有利于信息保存歸檔。

六．大跨距RMG和QC的同步控制大跨距的RMG或QC在大車運行過程中容易產生因車輪而引起的“啃軌”現象，從而降低起重機的使用性能和壽命。利用GPS系統可監測大車兩側打滑情況，以利于同步控制。

七．AGV自動導航在廣闊的碼頭堆場上，可利用RTG用GPS移動站實現對AGV的自動行走控制。

八．集卡位置監控RTG用GPS移動站也可用于碼頭裝卸設備如集卡等的位置監控，便于調度。GPS系統在碼頭管理上的應用

傳統的碼頭堆場集裝箱作業模式為理貨操作部把當日要裝卸的集裝箱，根據原先計劃安排好并儲存在碼頭主機中的位置通過對講機系統或理貨員(有些碼頭通過無線電系統把信