【作者】 陈国仁；

【导师】 岳秀江；

【作者基本信息】 机械科学研究院 ， 控制理论与控制工程， 2004， 硕士

【摘要】 基于现代物流技术的应用和发展要求，介绍自动化立体仓库系统(Automated Storage／Retrieval System，i．e．AS／RS)的应用及其功能和作用，结合现代科技的发展，着重研究自动化立体仓库输送系统的控制技术。课题主要包含以下内容： 1．以现代物流为背景，介绍一些概念，阐述自动化立体仓库与现代物流的关系，介绍自动化立体仓库发展历史以及趋势，及自动化立体仓库在现代物流系统中的作用、功能，提出基于现代物流的自动化立体仓库规划、设计的基本要求。 2．重点研究自动化立体仓库物流输送系统的控制原理，围绕提高自动化立体仓库的控制技术水平，结合现代计算机及其相关技术的发展，提出新的控制算法及程序设计原理，为指导实际应用提供理论依据。 3．提出自动化立体仓库系统运行的若干控制形式和实现控制技术方法以及人工智能等新技术的应用。在分析仓库各种复杂出入库系统的基础上，根据贝尔曼的最优化原理，提出堆垛机运行作业的优化控制模型，使其运行路径最短。着重分析了机上拣选作业路径调度，提出了以吞吐量为目标的解决方案。在比较了多种算法之后，设计一种新型的启发式算法——聪明蚁群算法来进行作业路径调度。 4．在仓储输送系统中，针对柔性智能输送设备——自动导引车(AGV)，应用启发式算法对AGV进行路径规划研究，给出路径解决方案。 5．结合立体仓库结构特点，分析立体仓库故障机理，构建立体仓库故障自诊断系统的总体框架，并在分析研究其数据采集处理系统、实时监控系统以及自诊断专家系统的基础上，实现立体仓库的输送设备故障自诊断功能。更多还原

【Abstract】 The paper introduces application and performance of Automated Storage/Retrieval System (AS/RS) basing on application and developing requirement of modern logistics. The emphasis of the paper is researching the control and 1. The first section is profile - introductions of fundamental concepts on modern logistics and AS/RS and their relationship. The requirement on AS/RS projection is promoted basing on modern logistics.2. The second section is research on modern logistics system-pay more attention to the control principles the conveyer system in AS/RS. Combing modern computer and relative technique development, A new control algorithm and programming design principle is brought up, which provides a theoretic reference to guide practice to improve AS/RS’s control level.3. The applications of new technologies of AS/RS are brought forward here, such as controlling form, realizing control method, artificial intelligence, etc. According to R. Bellman’s optimization principle, an optimum control model, which describes stacker’s operating, is submitted to realize the stacker’s shortest traveling distance basing on the work of Analyzing various kinds of complicated input/output work in AS/RS. A solution scheme aiming at the most throughput is put forward as the result of analyzing route dispatching for selecting work. By means of comparing many kinds of algorithms, a new heuristic algorithm ?Clever Ants Colony Algorithm is designed for the route dispatching.4. In the conveyer system of AS/RS, the solution of the route dispatching for the flexible and intelligent conveyer equipment -Automated Guided Vehicle(AGV) is provided using the heuristic algorithm.5. According to study and analysis the mechanical fault of AS/RS, a framework of self-diagnosis system is established. By using of data acquisition system, online monitoring system and expert system, a self-diagnosis system of AS/RS can be realized.更多还原