GPS在轮胎式集装箱起重机上的应用外文文献翻译、中英文翻译、外文翻译

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关于安装包起重安全的文献翻译

Using a Containment Vessel Lifting Apparatus for Remote Operations of Shipping PackagesBradley Loftin and Richard KoenigSavannah River National LaboratoryPATRAM 2013ABSTRACTThe 9977 and the 9975 shipping packages are used in various nuclear facilities within the Department of Energy. These shipping packages are often loaded in designated areas with designs using overhead cranes or A-frames with lifting winches. However, there are cases where loading operations must be performed in remote locations where these facility infrastructures do not exist. For these locations, a lifting apparatus has been designed to lift the containment vessels partially out of the package for unloading operations to take place. Additionally, the apparatus allows for loading and closure of the containment vessel and subsequent pre-shipment testing. This paper will address the design of the apparatus and the challenges associated with the design, and it will describe the use of the apparatus.BACKGROUND AND APPLICATIONThe 9977 Shipping Package, Figure 1, was designed to replace the DOT 6M Specification Package. In doing so, it was designed to be user friendly, much like the 6M, but still had to be able to pass the requirements found within 10 CFR 71.73 for the hypothetical accident conditions. The 9975 Shipping Package, Figure 2, has been in service within the Department of Energy (DOE) complex for over 2 decades. The 9975 has been the workhorse for the DOE deinventory and consolidation efforts by shipping plutonium from DOE sites throughout the country to the Savannah River Site (SRS). The 9975 was designed to meet previous regulations that required double containment of plutonium. The 9975 design is extremely robust, but this attribute presents unique operational issues including: a requirement to lift heavy loads (the 9975 containment vessels (CVs), when nested and fully loaded, weigh more than 120 pounds), vessel closure torques over 100 ft-lbs, and a vertical lift of a minimum of 36.4 inches (0.93 meters) during CV extractions. The 9977 has similar operational challenges although it has only one containment vessel. Shipping package operations are typically performed in facilities with large overhead spaces and equipment available to handle the heights, weights, and torqueing needs. There are instances where the 9975 and the 9977 might be used in environments, such as remote areas, where there are no existing facilities to meet all of these needs. Operations performed in remote locations or in field locations would benefit from the use of a device that is attached to the drum to perform the lifting of the containment vessels in order to easily load and close either of these packages. DESIGNThe Pantex plant in Amarillo, TX uses the 9977 package for material shipments. One of the concerns at Pantex was introducing new tools and materials into their loading and unloading areas that required large areas for operation as they are space-limited. So, in order to alleviate the space concerns, Pantex designed a lifting device, shown in Figure 3, that attaches to the 9977 drum and has a boom for lifting the containment vessel out of the drum liner. The device also has a clamp mechanism for holding the CV, suspended, allowing for opening, loading, and closing of the CV. The lifting device can be used on other packages as well with the use of adapter plates. An adapter plate was designed to attach the lifting device to the 9975 Shipping Package. The lifting mechanism for the device is a screw housed within the vertical section of the device that when turned raises and lowers the CV.DESIGN CHALLENGESThere were a few challenges which were to be addressed when designing the lifting device. First, the lifting device should be portable and able to be lifted by one or two individuals. The device is constructed out of aluminum which allows it to be lightweight while also providing the structural robustness necessary to lift the CV out of the drum. The design is not too large as it is smaller than the drum in each dimension and thus can be transported along with drums to locations that cannot accommodate other lifting equipment. The design also has very few moving parts and is thus expected to last for as long as the drums may last with very little required maintenance. The utilization of the screw within the design provides a static safety-stop by using friction and gravity to prevent the CV from falling back into the drum. Additionally, the clamp that holds the CV in place had to be designed to provide the force for antirotation when closing the CV to the required torque. The design uses rubber on the inside of the clamp providing the necessary friction that prevents the CV from rotating during torqueing.OPERATION OF THE DEVICEThe operation of the lifting device is quite simple. Once it is attached to a drum the boom is lowered into place in order to pick up the CV using approved rigging tools. Figure 4 shows the lifting device attached to a 9975 utilizing the adapter plate.Once the CV is attached to the boom it is raised and tightened within the clamp on the device (also seen in Figure 4). The rigging is removed and the boom is then rotated 90° in order to allow for loading/unloading of the CV. In the case of the 9975, the lid on the outer CV, called the Secondary Containment Vessel (SCV) is only slightly loosened and then the boom is rotated back into place, the rigging is reattached, and the SCV is lowered. For the 9977 the CV lid is completely removed and loading/unloading can take place. For the 9975, once the SCV has been lowered back into the drum, the SCV lid is removed and the rigging is attached to the top of the Primary Containment Vessel (PCV). The PCV is raised up to the clamp and using adapters the clamp holds the PCV in place (Figure 5). The PCV lid is then removed and the loading/unloading can take place (Figure 6). Once the PCV is loaded, a post load leakage rate test is performed on the CV while it is still in position. After a successful test, the steps are reversed and the PCV is lowered back into the drum, the SCV is raised, a leakage rate test is performed on the SCV, the SCV is lowered, and the lifting device is removed from the drum.SUMMARY AND CONCLUSIONSThe design of the lifting device was completed in order to allow Pantex to perform the loading of a 9977 in place within their facility. The design has applications that give the device more flexibility than it was designed for by allowing it to be used in remote locations where large lifting tools and rigging is not available and it is adaptable for placement on other drum designs. The device is easy to use, portable, lightweight, and robust. Additionally, as an added benefit, use of the lifting device is ergonomically advantageous for the worker.使用远程操作的安全壳起重装置运输包装布拉德利刑事和理查德Koenig萨凡纳河国家实验室摘要9977年和9975年航运包被用于各种核设施内的能源部。

轮胎式集装箱龙门起重机节能及“油改电”技术应用综述

（深圳大铲湾现代港１：７发展有限公司，东深圳５８０）广１１２
摘要：文章对近年来专业集装箱码头轮胎式集装箱龙门起重机（简称场桥，ＴＣ在节能改造中所应用的主要术方案ＲＧ）技
进行了综述，出了具体的解决方案及方向，提为专业集装箱码头在进行相应节能改造项目时提供了参照思路和方向，同
技术开始往场桥上应用，Ｃ一Ｔ，系统构成原理图如图即Ｅ０ＲＧ该
时也为类似机电设备的技术改造提供了参照模型。
关键词：集装箱码头；轮胎式；门重机；龙起节能改造；油改电中图分类号：Ｈ１Ｔ２３文献标识码：Ａ文章编号：０９２７（０００－０１０１０－３４２１）６０９－３轮胎式集装箱龙门起重机（简称场桥，ＴＣ是目世界机械能储存；ＲＧ）前当场桥运行在峰值功率时，飞轮向执行马达提供各大港口集装箱码头堆场作业通用的机械，目前全世界在用的储存能量辅助驱动。通过这种方式可节能１％左右，目前５近７０台堆场集装箱装卸桥中，５００近９％是轮胎吊集装箱龙门起ＮＥＬ中国）国ＶＣＮＯＬ（与美ＹＯ有合作为国外一些项目配套这种重机。传统的场桥运行动力来自自其带柴油发电机组所提供的节能系统。
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电机组（输出功率１～５Ｗ）５２ｋ，正常作业时，场桥由主柴油发电机组提供运行动力；当场桥处于闲时等待时，通过ＰＣＪＬ￣，辅助柴油发电机组启动，此时场桥运行所需常规动力如空调及照明等由

【机械类文献翻译】GPS在轮胎式集装箱起重机上的应用

Application of GPS on Yard CranesAbstract：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 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 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 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 thestacking 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 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 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 skewphenomena; 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 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 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 ZPMC1．System configuration1). 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 etc.The whole GPS system is compact, simple and independent and it is easy to be1nstalled on RTG without imposing any influence on the mechanical design.2. Technical data* power supply：1 80—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±1 5mm (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 Interface3．Series of GPS products for easy selection1). 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 navigation2). 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 truckGPS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。

物流运输中的GPS定位与追踪系统

维护成本
为了保证系统的稳定运行和数据的准确性，物流企业需要定期对GPS定位与追踪系统进行维护和保养。这需要投入一定的资金和人力成本。
05
GPS定位与追踪系统的未来发展
物联网技术的融合
物联网技术将与GPS定位与追踪系统深度融合，实现物流运输过程中的实时监控、数据采集和智能调度。
通过物联网技术，可以连接各种运输设备和传感器，收集运输过程中的温度、湿度、压力等环境数据，为物流运输提供更准确、可靠的信息。
功能
实时监控运输工具的位置、速度、方向等动态信息；记录运输工具的行驶轨迹；提供预警和调度功能等。
工作原理
GPS接收器
安装在运输工具上的GPS接收器通过接收卫星信号，获取运输工具的经度、纬度、高度、时间等信息。
数据传输
通过无线通信技术（如GSM、GPRS、CDMA等），GPS接收器将获取的位置信息传输到数据中心或监控平台。
物流运输中的GPS定位与追踪系统
目录
• GPS定位与追踪系统概述 • GPS定位与追踪系统在物流运输中的应用 • GPS定位与追踪系统的技术实现 • GPS定位与追踪系统的优势与挑战 • GPS定位与追踪系统的未来发展
01
GPS定位与追踪系统概述
定义与功能
定义
GPS定位与追踪系统是一种利用全球定位系统（GPS）技术，对物流运输过程中的车辆、船舶、飞机等运输工具进行实时定位和追踪的现代化管理系统。
信息呈现
数据中心或监控平台对接收到的数据进行处理，以地图、表格、图表等形式展示运输工具的实时位置和轨迹，方便用户进行监控和管理。
GPS定位与追踪系统的重要性
提高运输效率
实时监控运输工具的位置和轨迹，优化调度和路线规划，减少运输时间和成本。

钢筋混凝土中英文对照外文翻译文献

中英文资料对照外文翻译目录1 中文翻译 (1)1.1钢筋混凝土 (1)1.2土方工程 (2)1.3结构的安全度 (3)2 外文翻译 (6)2.1 Reinforced Concrete (6)2.2 Earthwork (7)2.3 Safety of Structures (9)1 中文翻译1.1钢筋混凝土素混凝土是由水泥、水、细骨料、粗骨料（碎石或；卵石）、空气，通常还有其他外加剂等经过凝固硬化而成。

将可塑的混凝土拌合物注入到模板内，并将其捣实，然后进行养护，以加速水泥与水的水化反应，最后获得硬化的混凝土。

其最终制成品具有较高的抗压强度和较低的抗拉强度。

其抗拉强度约为抗压强度的十分之一。

因此，截面的受拉区必须配置抗拉钢筋和抗剪钢筋以增加钢筋混凝土构件中较弱的受拉区的强度。

由于钢筋混凝土截面在均质性上与标准的木材或钢的截面存在着差异，因此，需要对结构设计的基本原理进行修改。

将钢筋混凝土这种非均质截面的两种组成部分按一定比例适当布置，可以最好的利用这两种材料。

这一要求是可以达到的。

因混凝土由配料搅拌成湿拌合物，经过振捣并凝固硬化，可以做成任何一种需要的形状。

如果拌制混凝土的各种材料配合比恰当，则混凝土制成品的强度较高，经久耐用，配置钢筋后，可以作为任何结构体系的主要构件。

浇筑混凝土所需要的技术取决于即将浇筑的构件类型，诸如：柱、梁、墙、板、基础，大体积混凝土水坝或者继续延长已浇筑完毕并且已经凝固的混凝土等。

对于梁、柱、墙等构件，当模板清理干净后应该在其上涂油，钢筋表面的锈及其他有害物质也应该被清除干净。

浇筑基础前，应将坑底土夯实并用水浸湿6英寸，以免土壤从新浇的混凝土中吸收水分。

一般情况下，除使用混凝土泵浇筑外，混凝土都应在水平方向分层浇筑，并使用插入式或表面式高频电动振捣器捣实。

必须记住，过分的振捣将导致骨料离析和混凝土泌浆等现象，因而是有害的。

水泥的水化作用发生在有水分存在，而且气温在50°F以上的条件下。

轮胎式龙门起重机大车自动纠偏的应用

轮胎式龙门起重机大车自动纠偏的应用摘要：轮胎式集装箱龙门起重机（以下简称RTG）是广泛应用于集装箱码头堆场的集装箱装卸设备。

RTG大车采用的是橡胶轮胎，其灵活性好，也可以从一个堆场转场至另一个堆场。

但实际RTG的运行跑道一般较窄，如果跑偏严重的话RTG将会跑出跑道甚至撞箱。

而单纯依靠人工操作来纠偏的话受外围因素影响很大，所以配备自动纠偏的RTG将会越来越多，且与码头堆场的自动化潮流相融合。

关键词：RTG；自动纠编；堆场；撞箱；跑道1 引言在码头堆场的集装箱的装卸过程中，RTG扮演了极其重要的角色。

由于RTG只能沿着直线的跑道作业，其跑道左右两侧一般都有集装箱，而另一方面，RTG朝着大跨距的方向发展，单纯的依靠人工来操作定位难度不断增大，而且为了能够最大限度的提高码头堆场利用率，相邻箱区的间距都比较小，因此留给RTG运行作业的跑道空间就更小，如果大车控制不够准确，很有可能发生碰撞事故，从而造成巨大的经济损失，甚至会造成人员伤亡。

所以自动纠偏在RTG中的应用将显得越来越重要。

RTG 大车自动纠偏系统可实现 RTG 大车在行走过程中，车轮中心线与场地跑道线偏差的自动修正功能，提升 RTG 作业中的安全及效率。

该系统使 RTG 像在轨道上行驶一样，无需人工纠正行进方向，减轻司机的劳累程度，使司机更多精力关注车道上障碍物及其他突发情况，有效提高大车行进的安全性，提高 RTG作业效率。

2自动纠偏系统的选型当前用户市场上应用的比较多的RTG自动纠偏系统有以下几类：1）差分全球定位自动纠偏。

全球定位系统包含了GPS、GLNOSS和北斗。

差分全球定位技术其精度可达到厘米级。

但是全球定位系统对于周边环境要求较高，码头中有些设施高于RTG，如QC和灯塔等。

如果RTG靠其太近，遮挡物会严重影响GPS的收星、影响定位精度。

其优点是差分全球定位纠偏可以全天候的运行，受天气情况的影响不大，不需要依赖场内参照物。

2）电磁感应自动纠偏。

塔式起重机外文翻译、中英对照、英汉互译

外文资料翻译译文塔式起重机动臂装在高耸塔身上部的旋转起重机。

作业空间大，主要用于房屋建筑施工中物料的垂直和水平输送及建筑构件的安装。

由金属结构、工作机构和电气系统三部分组成。

金属结构包括塔身、动臂和底座等。

工作机构有起升、变幅、回转和行走四部分。

电气系统包括电动机、控制器、配电柜、连接线路、信号及照明装置等。

塔式起重机简称塔机，亦称塔吊，起源于西欧。

据记载，第一项有关建筑用塔机专利颁发于1900 年。

1905 年出现了塔身固定的装有臂架的起重机，1923 年制成了近代塔机的原型样机，同年出现第一台比较完整的近代塔机。

1930 年当时德国已开始批量生产塔机，并用于建筑施工。

1941 年，有关塔机的德国工业标准DIN8770 公布。

该标准规定以吊载(t)和幅度(m)的乘积(tm)一起以重力矩表示塔机的起重能力。

我国的塔机行业于20 世纪50 年代开始起步,相对于中西欧国家由于建筑业疲软造成的塔机业的不景气, 上海波赫驱动系统有限公司我国的塔机业正处于一个迅速的发展时期。

从塔机的技术发展方面来看，虽然新的产品层出不穷，新产品在生产效能、操作简便、保养容易和运行可靠方面均有提高，但是塔机的技术并无根本性的改变。

塔机的研究正向着组合式发展。

所谓的组合式，就是以塔身结构为核心，按结构和功能特点，将塔身分解成若干部分，并依据系列化和通用化要求，遵循模数制原理再将各部分划分成若干模块。

根据参数要求，选用适当模块分别组成具有不同技术性能特征的塔机，以满足施工的具体需求。

推行组合式的塔机有助于加快塔机产吕开发进度，节省产品开发费用，并能更好的为客户服务。

塔机分为上回转塔机和下回转塔机两大类。

其中前者的承载力要高于后者，在许多的施工现场我们所见到的就是上回转式上顶升加节接高的塔机。

按能否移动又分为：走行式和固定式。

固定式塔机塔身固定不转，安装在整块混凝土基础上，或装设在条形式X 形混凝土基础上。

在房屋的施工中一般采用的是固定式的。

GPS在及物流方面的应用

GPS在物流方面的应用陆尧 1335020034 2013中美地信河南大学摘要：GPS,即全球定位系统，在他被发明出来后就在各个方面有着广泛的应用，而本文着重介绍了GPS在物流方面的应用。

本文首先介绍了GPS在物流应用的核心，即最短路径算法.然后又分为五个方面，分别介绍了车辆上的GPS接收机,GPS在车辆管理方的应用，GPS在运输方的应用（规划路径）， GPS在接货方的应用，GPS在货物配送的应用。

关键词:GPS 物流最短路径车载GPS1、引言 (3)2、方法与原理 (3)（1）最短路径的算法 (3)（2）单点动态定位 (4)3、实例介绍 (5)（1)车辆上的GPS接收机 (5)（2)GPS在车辆管理方的应用 (7)（3） GPS在运输方的应用 (7)（4） GPS在接货方的应用 (9)（5) GPS在货物配送的应用 (10)4、总结 (11)参考文献： (11)1、引言GPS全球定位系统的简称.GPS起始于1958年美国军方的一个项目，1964年投入使用。

主要目的是为陆海空三大领域提供实时、全天候和全球性的导航服务,并用于情报搜集、核爆监测和应急通讯等一些军事目的。

GPS目前已经广泛应用于军事领域和民用领域，进入实用阶段。

GPS技术具有全球性、全能性(陆地、海洋、航空与航天)、全天候性优势的导航定位、定时、测速系统。

现代GPS由三大子系统构成：空间卫星系统、地面监控系统、用户接收系统。

随着网络购物的不断发展，物流业也随之进步。

更多的公司投身物流业，为了方便管理，物流公司将GPS引入物流管理系统。

用来方便管理物流公司的车辆、方便用户查询物流信息及有助于司机规划最短路径。

2、方法与原理（1）最短路径的算法对最短路问题的研究早在上个世纪60年代以前就卓有成效了，其中对赋权图的有效算法是由荷兰著名计算机专家E。

W.Dijkstra在1959年首次提出的，该算法能够解决两指定点间的最短路，也可以求解图G中一特定点到其它各顶点的最短路。

八绳单独缠绕系统在轮胎式集装箱起重机上的应用

图1 四绳缠绕系统
图2 八绳缠绕系统
但不管是四绳缠绕方式还是八绳缠绕方式，
轮胎吊都是通过一个卷筒进行钢丝绳缠绕，四绳或八绳钢丝绳只能在同时进行收放，一旦发生钢丝绳被拉伸的
需要人工调整绳长，将吊具调整至水平，
两种类型轮胎吊的倾转范围及方式受到限制。

2 轮胎吊起升钢丝绳八绳单独缠绕方式
寻求一种全新的起升机构，使其既能满足八绳的稳
又能使起升机构灵活、易操作。

基于这样的需求
图3 起升绕绳示意图
如果吊具不在零位状态，则通过对各卷筒的调整将吊具调整至零位位置。

由于此系统采用的都是同步电没有转差率，给定和输出之间几乎无偏差，控制性能卓越，因此，采用位置控制方式更为合理，而传统的轮胎吊起升机构都是采用力矩控制方式。

系统只要判断
/ 2019年第1期。

港口高精度GPS应用系统-PDS

数字量采集模块：采集状态信号和输出开关量信号模拟量采集模块：采集模拟量（电压、电流信号）。可接重量传感器。
YARDMAP开发工具
Smart Yardmap Developing Tools（SYDT）工具软件是为了更好更快地生成Yardmap而专门开发的，它是基于本公司自主知识产权的地理信息系统（GIS）平台开发而成。它具有以下特点：图形显示界面，可任意放大缩小显示界面。任何对Yardmap的修改都可通过图形化的方式立即显现出来。为Yardmap的场地测量、数据库文件生成、修改、维护度身订制提供交错检查工具，对每个Block，Stack，Lane的平行性以及交错进行检查，保证每个集装箱的位置不会有重叠部分。升级换代方便。可充分利用原有的数据。维护方便，成本低。由于大部分工作由软件完成，用户只需提供有限的信息就可由软件自动完成剩余的工作，成本低廉。减少场地测量的成本。本软件在设计中充分考虑场地特点，用最少的测点来生成YARDMAP ，从而减少测点数量，节省测量时间和费用
系统结构图
工作过程
在没有安装AGSS系统的轮胎吊上，司机操作时需要时刻注意黄色基准线，以免轮胎吊偏离轨道而撞车或撞箱。由于轮胎吊高 20多米，且场地上堆满集装箱，司机驾驶室下还有吊具，因此司机精神必须高度集中，稍不留神，就会发生事故。安装AGSS后，系统会根据基准线，通过高精度GPS数据和编码器数据，自动计算实际运行轨迹与基线的偏移量，并将偏差数据发给到PLC控制轮胎吊的变频电机进行纠偏。为了确保系统的安全性，AGSS系统在保证自动纠偏的同时也可以进行手动纠偏，且轮胎吊偏离基准线超过警戒值时通过声音和指示灯提醒司机注意。
图2－2－1监控中心站系统构成
如图2－2－1所示，电台资料通过专网RDS将GPS数据传回道监控中心，软件系统能以YARD MAP为数字地图基础，在地理信息系统平台GIS上显示出来。同时，监控中心也可将调度系统通过RDS 将系统传送给车载终端。调度中心系统以GIS为应用软件平台，在此平台上建立车辆定位管理、通信管理、调度管理三个软件模块。车辆定位管理模块以YARDMAP为背景，显示车辆位置、运行轨迹、事件报告等信息。系统的信息数据流如图2－2－2 所示：

一个控制器使门式起重机和减摇桥精确定位外文翻译、中英文翻译、外文文献翻译

A controller enabling precise positioning and sway reduction inbridge and gantry cranesKhalid L. Sorensen, William Singhose, Stephen DickersonThe George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, 813 Ferst Dr., MARC 257, Atlanta, GA 30332-0405, USAReceived 28 September 2005; accepted 30 March 2006Available online 5 June 2006一个控制器使门式起重机和减摇桥精确定位Khalid L. Sorensen, William Singhose, Stephen Dickerson, 乔治亚机械工程学院，乔治亚技术学院， Ferst博士813，MARC 257 ,亚特兰大，GA 30332-0405,美国，2005年9月28日收到，2006年3月30日接受，2006年6月5日可在线使用.一个控制器使门式起重机和减摇桥精确定位摘要起重机是很难精确操纵载荷的。

振荡,可以诱导成大桥或手推车的阻尼系统轻度运动,并且还对环境造成滋扰. 为解决上述两种振荡的来源,结合反馈和输入整形控制器的发展。

该控制器是由三个不同的模块组成，反馈模块的检测和定位误差补偿; 第二反馈模块侦测并拒绝振动; 使用塑料造填充的第三个模块,以减轻振荡。

一个使用精确的模型矢量驱动的交流感应马达，为典型的大型起重机, 用同一个褶分析技术,将非线性动力学起重机器分为对照设计。

在佐治亚技术学院实验10吨桥式起重机控制器。

该控制器具有良好的定位精度和性能以减少摆动.。

锂电池在轮胎式集装箱起重机(RTG)上应用

锂电池在轮胎式集装箱起重机(RTG)上的应用上海振华（集团）股份有限公司上海市200125摘要：随着全球集装箱运输业的快速发展，集装箱机械也得到了前所未有的跨越式发展。

对于，轮胎式集装箱起重机因通常使用柴油机驱动。

其能耗高、噪音大、废气污染大，严重影响当地环境。

本文介绍了新型锂电池在我集团轮胎式集装箱起重机上的应用现状。

关键词：锂电池；轮胎式集装箱起重机；节能；环保abstract: with the development of global shipping of containers, the container machines also get the great growing. for the power of rtg usually use diesel engine. the high energy consumption, noise, air pollution, the serious influence the local environment. this article introduces the status of the new type of lithium battery use on rtg, that on our company.keywords：lithium battery ;rubber tyre gantry container cranes; energy saving; environmental protection 随着集装箱运输业的快速发展，集装箱堆场用的轮胎式龙门集装箱起重机（rtg）使用量剧增。

由于经常转场的需要，无一例外的使用柴油发电机组为动力源。

这种rtg存在燃油高消耗，对环境造成严重污染问题。

如何在保持rtg原有的机动性和使用特点的前提下，实现节能rtg，绿色rtg，正是我们锂电池供电轮胎吊能解决的问题。

该锂电池供电rtg不仅保留了常规轮rtg的机动性和原有使用特点，而且其节能效果远远大于目前市场上其他的一些采用储能设备的节能rtg。

轮胎吊大车定位的技术方案

■机器人技术ROBOTTECHNOLOGY轮胎出人乍足位的技术方案青岛海西重机有限责任公司陈鹏元摘要在当前世界智能码头建设这一趋势下，性能优良、质量可靠、自动化程度高的港机产品需求量日益增加，国内集装箱码头堆场大多采用轮胎起重机（RTG）和轨道起重机（RMG）装卸集装箱，RTG与RMG机型最大的区别就在于RTG的大车运行机构采用的是轮胎，而轮胎存在的气压等因素造成的不确定性给整机的精确定位增加了困难。

针对这种情况，分析多种大车定位的方案，对比目前采用的各种技术，总体对大车的定位方案进行探讨。

关键词RTG；轮胎；定位1前言自动化集装箱码头的运作模式，对系统规划、科学布局和高效安全提出了更高的要求，安全智能的设备及自动化系统的重要性与日俱增。

轮胎吊的运行较为灵活，可跨堆场进行作业，因此RTG在国内外各集装箱码头的使用率较大。

轮胎吊随着自动化码头的不断发展，也需进行一系列自动化改造，而改造最棘手的问题就是大车的定位。

由于轮胎吊本身的特点，多种定位技术无法使用，但对空间绝对位置的精确程度有较高要求。

结合目前使用的各种技术，采用BTG磁钉天线定位技术、Flag板定位技术、编码器多点校验控制、格雷母线定位技术（本来主要针对磁钉定位技术进行探讨），配合轮胎吊转场时的GPS定位技术，可有效解决轮胎吊定位困难、精度低的问题。

2技术要求RTG大车定位系统需保证大车自动定位功能的可靠性、稳定性、耐久性、大车运行的平稳性，满足全天候作业要求。

在合适位置加装适应使用现场户外条件的可实时采集大车机构实际所在位置的电子装置，且该装置采集的位置数据需精确到毫米。

大车定位系统向自动控制系统反馈RTG大车在堆场内的精确位置信息，并接收自动控制系统提供的作业任务指令信息的大车目标位置信息。

该系统应能实现自动控制，RTG接收到系统发送的作业任务指令信息后，大车自动运行到目标位置，并精确定位。

由于大车较大的重量和惯性，大车在到达目标位置前，应有"智能减速系统”保证大车精度和平稳性。

工程起重机中英文翻译对照

To gain a certificate of competency for a cabin controlled bridge or gantry crane you must pass anassessment for a Bridge and gantry crane certificate conducted by an assessor registered by the WorkcoverAuthority.Before taking the assessment you must obtain a log book and learn the competencies required to pass theassessment. Applicants must be at least 18 years old to gain a certificate.It is illegal to operate a cabin controlled bridge or gantry crane without a Bridge and gantry cranecertificate or a log book (under the supervision of a certificated driver).A cabin controlled bridge or gantry crane driver must know:●how to safely operate a bridge or gantry crane●how to detect any mechanical faults●about slinging loads,sheaves and drums,rope terminations,anchors andattachmentsIt is the responsibility of the applicant to make sure that a bridge or gantry crane of the correct class isavailable for the assessment at their workplace or has permission to use a crane at another location.If you operate this type of crane and sling loads in connection with the operation of this type of crane youwill require a Dogging certificate in addition to being competent in its operation. See A guide for doggingavailable from the WorkCover Authority.桥梁合格证书起重机和龙门起重机为了获得一个龙门式起重机的合格证书，你必须通过操作龙门起重机进行评估，然后由劳保局注册管理局评估而得到的证书。

基于GPS的实时运输监控系统

报警功能
当出现异常情况（如超速、货物异常等）时，系统自动触发报警提示，通知相关人员处理。
数据报表
生成各类统计报表，如车辆运行报告、油耗分析报告等，方便管理者进行业务分析和优化。
03
系统功能
实时定位
实时获取运输车辆的位置信息，包括经度、纬度、海拔等详细坐标数据。
地图匹配技术将坐标数据与电子地图匹配，以更直观地展示车辆的实时位置。
100%
路线优化
根据实时路况信息和历史数据，系统自动为运输车辆规划最优路线，提高运输效率。
80%
异常预警
当运输车辆出现异常情况，如超速、偏离路线等，系统会及时发出预警，提醒管理人员采取相应措施。
公共交通监控
实时调度
基于GPS的实时运输监控系统能够实时获取公交车、出租车等公共交通工具的位置信息，为调度中心提供数据支持，实现高效调度。
监控中心对接收到的数据进行处理和分析，生成车辆的实时轨迹、速度曲线、停车时间等可视化信息。
系统优势与限制
优势
实时监控、提高运输效率、降低运输成本、保障运输安全、提供决策支持。
限制
依赖于GPS信号的稳定性，在信号弱或被遮挡的地区可能影响定位精度；数据传输费用可能较高，特别是在偏远地区。
02
系统组成
GPS模块
定位功能
通过GPS卫星信号接收器，实时获取车辆的位置信息，包括经度、纬度、高度和时间等。
导航功能
基于GPS模块的定位数据，结合地图数据，为车辆提供导航服务，包括最优路线规划和实时交通路况信息。
数据采集与传输模块
数据采集
通过车载传感器和设备，实时采集车辆的运行状态、货物温度、湿度等数据。

轮胎式集装箱门式起重机自动防风锚定功能的开发及应用

轮胎式集装箱门式起重机自动防风锚定功能的开发及应用作者：刘志阳徐峰李鹏飞来源：《科学导报·学术》2020年第43期摘; 要：本文介绍了青岛前湾集装箱码头股份有限公司（以下简称QQCT）轮胎式集装箱门式起重机自动防风锚定项目从立项分析到实际改造应用过程，并详细介绍了QQCT码头实际应用效果。

关键词：轮胎式集装箱门式起重机;防风锚定;瞬间大风第一章绪论1.1 研究背景及意义港口作为海洋运输的枢纽，多位于沿海地带，港口大型起重机（简称大型起重机）有效抵御风害，是促进安全生产和保证装卸作业顺利开展的一项重要工作。

沿海地区在春、夏季节易发强台风，这对码头上的大型起重机械设备造成严重的安全隐患，造成的经济损失也将是巨大的。

近年来，强台风或者突发性的阵风对港口大型设备造成灾难性损毁的事故日趋增多，如2003年9月，台风“鸣蝉”正面袭击了韩国釜山港，造成6台岸边装卸桥被吹倒，2台场地起重机塌陷，多台起重机脱轨，该码头随即处于瘫痪[1];其风灾破坏现场如图1.1所示。

2015年，第22号台风“彩虹”吹翻了湛江某码头的3台大型卸船机，严重影响了整个港口的正常运作;2017年，受台风“天鸽”影响，广东珠海某码头的4台岸桥和3台轮胎吊倒塌。

由台风引发的港口事故还有很多，在此不在赘述。

由于强台风或者强阵风造成的港口毁坏设备有很多，主要可以分为以下几种类型：（1）港口设备在自然风的不断作用下造成整机的局部结构来回晃动，这容易引起设备结构风振，从而造成港口设备以及防风装置的局部损坏或失效。

（2）设备抗倾覆力不足，设备在风载作用下直接脱轨。

（3）现有的防滑装置防风效果不佳，在强台风作用下容易失效，导致港口设备被迫滑行后倾覆。

（4）人手力量不足，当发生瞬间大风时，还没来得及设置防风装置时，大风顷刻把设备吹翻。

其中防滑装置的失效以及人工力量不足而引发的港口设备毁坏在整个港口事故中占绝大多数，最主要的原因是港口设备在风载作用下被迫滑行，由于港口设备非常大，巨大的动能在短时间内释放会导致设备损毁。

集装箱轮胎吊运行防撞及自动纠偏定位系统

集装箱轮胎吊运行防撞及自动纠偏定位系统朱加双;李民航;戴添成;黄智;杜松;陈宇;陆荣国【摘要】研发了基于激光扫描技术的集装箱轮胎吊吊运防撞、行走防撞及自动纠偏定位系统,介绍了系统组成和功能实现,可提高集装箱吊运的安全性,保障集装箱轮胎吊行走安全和大车定位.【期刊名称】《港口装卸》【年(卷),期】2018(000)006【总页数】4页(P26-29)【关键词】轮胎吊;防撞;纠偏;定位;激光【作者】朱加双;李民航;戴添成;黄智;杜松;陈宇;陆荣国【作者单位】连云港新东方集装箱码头有限公司;连云港新东方集装箱码头有限公司;连云港新东方集装箱码头有限公司;连云港新东方集装箱码头有限公司;连云港新东方集装箱码头有限公司;连云港新东方集装箱码头有限公司;上海海镭激光科技有限公司【正文语种】中文1 引言随着国际海运物流的发展，基于集约、环保、节能、高效的理念，货物运输不断趋向集装箱化，集装箱码头迅速发展，集装箱起重机得以广泛应用。

港口集装箱轮胎吊(RTG)在吊运集装箱过程中，时有发生直接碰撞集装箱(俗称打保龄球)、小车运行晃动(惯性)碰撞集装箱以及集卡被吊起等情况，导致发生箱损或人身伤亡事故。

为防止吊运中撞箱事故发生，大多数码头规定司机在操作时，必须走“门框型”吊运路径，这种操作方式既增加油耗，又影响装卸效率。

此外，集装箱轮胎吊行走纠偏、防撞和大车定位，一般采用GPS定位的纠偏法、单点激光测距仪结合反射板纠偏法、图像处理纠偏、电磁线纠偏、人工纠偏等，这些方法各有缺点。

譬如GPS定位数据容易被人为篡改，导致数据出错，且需定期校正；单点激光测距仪结合反射板纠偏法则需要在一旁安装长反射板；图像处理纠偏容易受天气光线影响，稳定性差；电磁线纠偏成本高，安装工程量大[1-2]。

经上海海镭激光科技有限公司和连云港新东方国际集装箱有限公司共同探索研究，采用激光扫描技术解决轮胎吊吊运防撞、行走防撞和自动纠偏，以及大车定位，效果令人满意。

轮胎吊装卸作业防撞箱系统设计与实现

轮胎吊装卸作业防撞箱系统设计与实现王飞;周强;柳广良;单宇【摘要】根据轮胎吊装卸作业的实际工况,采用激光测距预判距离的方式,设计了轮胎吊作业防撞箱保护程序,给出了系统设计方案和安装调试方案,实践证明可有效避免轮胎吊司机操作失误引起的撞箱事故.【期刊名称】《港口装卸》【年(卷),期】2016(000)003【总页数】4页(P12-15)【关键词】轮胎吊;防撞箱;保护程序;码头损失【作者】王飞;周强;柳广良;单宇【作者单位】青岛前湾集装箱码头有限责任公司;青岛前湾集装箱码头有限责任公司;青岛前湾集装箱码头有限责任公司;青岛前湾集装箱码头有限责任公司【正文语种】中文轮胎式集装箱起重机(以下简称“轮胎吊”)是集装箱码头堆场作业的主力设备。

由于集装箱业务发展迅猛，轮胎吊堆箱的层数也随之增高。

轮胎吊司机由于疲劳、注意力不集中等导致误判断、误操作，集装箱起升高度不到位，起吊的集装箱与运动路线上的其他集装箱发生碰撞，造成箱损、货损，导致交货延迟，甚至影响港口声誉。

2．1 集装箱作业流程集装箱作业的流程见图1。

当拖车进入相应的作业位置后，轮胎吊如果不在作业位置，则需首先移动大车到作业位置；如果轮胎吊已经在作业位置上，则可以直接作业。

轮胎吊作业时，放下吊具，吊具4个锁头放进集装箱顶的4个锁眼中，然后吊具锁头旋转，锁头到位后，锁住集装箱顶的4个锁眼，吊起集装箱到相应的贝位和层高。

以图1为例，要将拖车上的集装箱调运至D贝位3层高，则吊具调运此集装箱必须要越过A、B、C3个贝位的集装箱。

2.2 设计思路撞箱事故的发生，主要是因为轮胎吊所吊的集装箱低于运动方向上的集装箱高度。

因此，为防止撞箱事故，需要实现轮胎吊所吊的集装箱不能低于运动方向上的集装箱高度。

因此根据集装箱顶部的特点，在轮胎吊小车平台前后各安装一个漫反射激光检测开关,位置见图2，具有一路4-20 MA电流模拟量输出，轮胎吊司机室PLC 柜增加模拟量输入模块一个，在PLC程序中将起升高度H1、小车速度J及激光测距仪感应的集装箱实际高度H2进行运算和比较(见图3)。

机设专业智能化的物流搬运机器人-AGV毕业论文外文文献翻译及原文

毕业设计（论文）外文文献翻译文献、资料中文题目：智能化的物流搬运机器人－AGV文献、资料英文题目：文献、资料来源：文献、资料发表（出版）日期：院（部）：专业：机设专业班级：姓名：学号：指导教师：翻译日期： 2017.02.14本科毕业外文翻译Intelligent logistics handling robot--AGVHandling the logistics function is one of the elements of the logistics systems have a high rate, logistics occupy an important part of the cost. United States industrial production process Handling costs account for 20-30% of the cost. German logistics enterprises Material handling costs account for one-third of the turnover. Japan logistics handling costs account for the GNP 10.73%,and China production logistics handling costs account for about 15.5% of the manufacturing cost. All of the world have been seeking mechanization and intelligent handling technology and equipment. AGV, a flexible and intelligent logistics handling robots, from the 1950s, storage industry begans to use. now in the manufacturing sector, ports, terminals and other areas of universal application.AGV notable feature is unmanned, the AGV is equipped with an automatic guidance system, system can be protected in no artificial pilot circumstances can be scheduled along the route will automatically, goods or materials from the threshold automatically delivered to the destination. Another feature of the AGV is good flexibility and a high degree of automation and a high level of intelligence, AGV according to the route of storage spaces, such as changes in the production process and the flexibility to change, running path and the cost of change with the traditional carousels and rigid transmission line compared to low. AGV is equipped with the general handling agencies, equipment and other logistics automatic interface, Implementation of goods and material handling and the removal process automation. Moreover, the AGV is also cleaner production characteristics, AGV rely on the built-in battery powered. running process without the noise, pollution-free, and can be applied to many of the requirements in the working environment cleaner place.ⅠAGV typesAGV it has been since the invention of a 50-year history, with the expansion of areas of application, of the types and forms of diversity has become. Often under the AGV will automatically process the way of AGV navigation divided into the following categories :1.Electromagnetic Induction-guided AGVElectromagnetic Induction general guide is on the ground, along a predetermined routeof the buried cable, when the high-frequency currents flowing through wires, Traverseelectromagnetic field generated around, AGV symmetrical installed two electromagnetic sensors, they receive the electromagnetic signal intensity differences reflect AGV deviated from the path degree. AGV control system based on this bias to control the vehicle's steering, Continuous dynamic closed-loop control to ensure AGV path for the creation of a stable tracking. This guide electromagnetic induction method of navigation in the vast majority of the AGVS commercial use, particularly applies to the large and medium-sized AGV.2. Laser-guided AGVThe AGV species can be installed on a rotating laser scanner, running path along the walls or pillars installed a high reflective of positioning signs, AGV rely on the laser scanner fired a laser beam, followed by the reflective signs around the positioning of the laser beam back, on-board computer to calculate the current vehicle position and the direction of movement, adopted and built-in digital maps correction compared to the position, thus achieving automatic removal.Currently, the types of AGV increasingly prevalent. And the basis of the same guiding principles, if the laser scanner replacement for infrared transmitters, ultrasonic transmitters. is laser-guided AGV can become infrared-guided AGV and ultrasound-guided AGV.3. Vision-guided AGVVision-guided AGV is under rapid development and maturity of the AGV. The species AGV is equipped with a CCD camera and sensors. on-board computer equipped with AGV wishes to the route of the surrounding environment image database. AGV moving process, dynamic access to traffic cameras around environmental information and images and image databases, thus determine the current location of the next stage will make a decision.AGV such as setting up does not require any physical path, in theory, has the best guide Flexible, With the computer image acquisition, storage and processing of the rapid development of technology, the kinds of practical AGV is growing.In addition, there are ferromagnetic gyro inertial-guided AGV, optical-guided AGV variety of forms of AGV.Ⅱ Application of AGV1. WarehousingWarehousing AGV is the first application of the place. In 1954 the first to AGV in the United States state of South Carolina Mercury M otor Freight company's operational warehouse for storage of goods from achieving automatic removal. At present the world is about 2 million operation in a wide range of AGV 2,100 large and small warehouses. Videocon Group in 2000, running the operation zone warehouse, 9 AGV Taiwan formed asoft bank automatic handling system, successfully completed the 23,400 daily conveying goods and parts handling tasks.2. ManufacturingAGV production in the manufacturing sector in line to succeed, efficient, accurate and flexible materials to complete the task of handling. And may be composed of multiple AGV Flexible handling of the logistics system Along with handling the production line can process adjustments and timely adjustment make a production line to produce more than 10 types of products, greatly improving production flexibility and the competitiveness of enterprises. 1974 Sweden's V olvo Kalmar car assembly plants in order to improve the transport system flexibility AGVS based tools to carry automatic car assembly line, from the assembly line more than capable of carrying the body of car components AGVS use of the assembly line. reduced assembly time by 20% and 39% decrease assembly fault, the investment recovery period decreased 57% labor decreased by 5%. Currently, AGV in the world's major car manufacturers, such as General Motors, Toyota, Chrysler, public works, such as automobile manufacturing and assembly line is being widely used.In recent years, as the basis for CIMS removal tool, the AGV to the mechanical application of in-depth processing, production of home appliances, microelectronics manufacturing, tobacco and other industries, production and processing areas to become the most widely AGV areas.3. Post office, library, port and airportAt post offices, libraries, and airport terminals occasions, the delivery of the existence of operational changes, dynamic nature, processes recurring adjustments, and removal processes in a single, features AGV concurrent operations, automation, Intelligent and flexible to the characteristics of a good occasion to meet on-removal requirements. Sweden in 1983 in Stockholm offices Slovakia, Japan in 1988 in Tokyo, Tama offices, China in 1990 in Shanghai started to use postal hub AGV complete removal products work. Port of Rotterdam in the Netherlands. 50 known as the "yard tractors" AGV completed container from the side of the delivery of several hundred yards from the The repeatability warehouse work.4. Tobacco, medicine, food, chemicalsFor the removal operation is clean, safe, non-polluting emissions, and other special requirements of the tobacco, pharmaceutical, food, chemical and other industries, AGV application also be in focus. Many cigarette enterprises laser-guided AGV completed pallet cargo handling work such as Philip Morris tobacco company 、Royal tobacco company etc.5. Dangerous places and special servicesMilitarily, the AGV to the automatic driving-based Integrated detection and other demolition equipment, Mine can be used for battlefield reconnaissance and position, the British military is developing a MINDER Recce is a reconnaissance vehicle, with mine detection, destruction and the ability to route automatically verify type reconnaissance vehicles. In the steel plant, AGV Charge for delivery, reducing the labor intensity. In nuclear power plants and the use of nuclear radiation preservation of the storage sites, AGV used for the delivery to avoid the danger of radiation. In the film and film storage, AGV be in the dark environment, accurate and reliable transportation of materials and semi-finished products.Ⅲ AGV routes and scheduling methodAGV use of a route optimization and real-time scheduling AGV is the current field of a hotspot. Practical, it was the methods used are :1.Mathematical programmingAGV to the task of choosing the best and the best path can be summed up as a task scheduling problem. Mathematical programming methods to solve scheduling problems is the optimal solution to the traditional method. The method of solving process is actually a resource constraint to the optimization process. Practical methods of the main integer programming, dynamic programming, petri methods. Scheduling of the small-scale cases, such methods can get better results, but with the increased scale of operation, Solving the problem of time-consuming exponential growth, limitations of the method in charge,mass-line optimization and scheduling application.2.SimulationSimulation of the actual scheduling environment modeling, AGV thereby to a scheduling program for the implementation of computer simulation. Users and researchers can use simulation means to scheduling program for testing, monitoring, thereby changing the selection and scheduling strategy. Practical use of a discrete event simulation methods, object-oriented simulation and three-dimensional simulation technology, Many AGV software can be used for scheduling simulation, which, Lanner Group Witness software can quickly build simulation models, Implementation of 3D simulation and demonstration of the results of the analysis.3.ARTIFICIAL INTELLIGENCEA way for the activation process AGV described as a constraint in meeting the solution set Search optimal solution process. It said the use of knowledge of the technical knowledge included, Meanwhile the use of search technology seeks to provide a satisfactory solution. Specific methods of expert system, genetic algorithms, heuristics, neural network algorithm.Within this total, the expert system in which more practical use. It will dispatch experts abstract experience as a system can understand and implement the scheduling rules, and using conflict resolution techniques to solve large-scale AGV scheduling rules and the expansion of the conflict.Because neural network with parallel computing, distributed storage knowledge, strong adaptability, and therefore, for it to become a large-scale AGV Scheduling is a very promising approach. At present, the neural network method for a successful TSP-NP problem solving. Neural networks can optimize the composition of the solution into a discrete dynamic system of energy function, through minimizing the energy function to seek optimization solution.Genetic algorithm simulates natural process of biological evolution and genetic variation and the formation of an optimal solution. Genetic algorithm for the optimization of the AGV scheduling problem, First through the coding of a certain number of possible scheduling program into the appropriate chromosome, and the calculation of each chromosome fitness (such as running the shortest path), through repeated reproduction, crossover, Find fitness variation large chromosomes, AGV scheduling problem that is the optimal solution.Using a single method to solve scheduling problems, there were some flaws. Currently, a variety of integration methods to solve the scheduling problem AGV is a hotspot. For example, expert system integration and genetic algorithm, expert knowledge into the chromosome of the initial formation of the group, Solution to accelerate the speed and quality.智能化的物流搬运机器人－AGV装卸搬运是物流的功能要素之一，在物流系统中发生的频率很高，占据物流费用的重要部分。

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