多车同轨技术在巷道堆垛式自动化立体车库的应用研究

发布时间：2018-12-14 20:26

【摘要】：随着自动化立体车库的发展与普及,传统的运作模式已然不能满足特定时段下的存取需求。多车同轨技术作为一门新兴发展的技术,可以很有效的提高自动化立体车库的存取效率。在多台堆垛机存取调度的过程中,时时刻刻都要考虑避让的情况,因此,需要设计合理的避让方案,以确保堆垛机系统的安全运行,从而保证所有客户在相对合理的等待时间内存取完成所有的车辆。本论文就多车同轨技术在巷道堆垛式自动化立体车库的应用进行了相关研究,其主要研究内容概括如下:通过相关文献的学习,概括归纳出了多车同轨巷道堆垛式自动化立体车库的特点、调度原则以及存取模式。在分析了该种立体车库结构特点和存取任务特点的基础上,总结了调度原则为以下四类:就近原则、使用均衡原则、客户满意度原则和VIP原则。在存取模式方面,根据某时间段内任务数量的多少,确定所需使用堆垛机的数量,将运行模式设定为单堆垛机存取模式和双堆垛机存取模式两种。在双堆垛机存取调度时,根据两堆垛机行走路线是否交叉,再次将双堆垛机存取模式细化为分区存取模式以及全程存取模式。此外,构建了多车同轨模式下的避让方案。在全程存取模式下,由于堆垛机运行时会有路径的交叉,因而会产生避让情况。根据避让情况的分析,比较了现阶段几种避让方案的特点,并且根据本文多车同轨模型以及存取任务的特性,构建了一种适合该模式下的捆绑任务避让方案。建立了存车模式、取车模式以及存取交叉模式的数学模型,并且使用Visual C++软件计算并比较了单堆垛机存取、双堆垛机分区存取以及双堆垛机捆绑避让的全程存取这三种存取模式的工作时间以及社会等待时间,得出在全程存取模式下各项时间参数最小,从而验证了捆绑任务避让方法的有效性以及全程存取模式的必要性。接着,采用动态规划算法对任务列进行了优化设计。当堆垛机系统处于全程存取模式时,采用传统的任务完成所需时间从小到大的顺序进行排列,可能会产生堆垛机在从分区存取到全程存取衔接过程中处于闲置的状态。采用动态规划,对分区存取的任务列表以及全程捆绑存取任务组列表进行优化调整,避免堆垛机停滞等待的现象发生,保证了系统运行的流畅性,提高了存取效率,推动该领域的发展。
[Abstract]:With the development and popularization of automated stereoscopic garage, the traditional mode of operation can not meet the access requirements of a specific period of time. As a newly developed technology, multi-vehicle-same-track technology can effectively improve the access efficiency of automatic stereo garage. In order to ensure the safe operation of the stacker system, the situation of avoiding should be considered all the time in the process of multiple stacker access scheduling. This ensures that all customers access and complete all vehicles within a relatively reasonable waiting time. This paper has carried on the related research to the application of the multi-vehicle same track technology in the roadway stacking type automatic stereoscopic garage, its main research content is summarized as follows: through the related literature study, In this paper, the characteristics, scheduling principles and access mode of multi-vehicle-same track roadway stacking automatic stereoscopic garage are summarized. Based on the analysis of the structural characteristics and access task characteristics of the stereo garage, the scheduling principles are summarized as follows: the nearest principle, the use balance principle, the customer satisfaction principle and the VIP principle. In access mode, according to the number of tasks in a certain period of time, the number of stacker is determined, and the operation mode is set to single stacker access mode and dual stacker access mode. In the double stacker access scheduling, according to whether the two stacker routes cross, the dual stacker access mode is further refined into the partition access mode and the whole access mode. In addition, the avoidance scheme of multi-vehicle-same-track mode is constructed. In the whole access mode, the stacker will run with the path crossing, so it will avoid the stacker. According to the analysis of the situation of avoidance, this paper compares the characteristics of several avoidance schemes at the present stage, and constructs a bundled task avoidance scheme which is suitable for this mode according to the characteristics of the multi-vehicle-in-orbit model and the access task. The mathematical models of car-storing mode, car-fetching mode and access cross-mode are established, and the single stacker access is calculated and compared by using Visual C software. The working time and the social waiting time of the three access modes, the partition access of double stacker and the whole access of bundling and avoiding by double stacker, and the social waiting time are obtained, and the minimum time parameters are obtained in the whole access mode. The validity of the bundled task avoidance method and the necessity of the whole access mode are verified. Then, the dynamic programming algorithm is used to optimize the task list design. When the stacker system is in the whole access mode, the traditional task completion time is arranged in order from small to large, which may cause the stacker to be idle in the process from partition access to full access connection. By using dynamic programming, the task list of partition access and the task group list of whole process bundled access are optimized to avoid stacker stalling, which ensures the smooth running of the system and improves the access efficiency. To promote the development of this field.
【学位授予单位】：兰州交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD67

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