Abstract: To improve the running efficiency of automated warehouse,numerous enterprises adopted the warehouse layout model which used double-crane on single roadway with two I/O station.For the problem of double-crane scheduling,the anti-collision principle was taken as the basic principle and the required operating time of two cranes as the evaluation criteria to present a new scheduling model based on mixed command sequence by analyzing the operating modes of double-crane in different tasks.On this basis,Improved Chemical Reaction Optimization (ICRO) was used to optimize the scheduling path of double-cranes.According to the analysis of simulation,the proposed crane scheduling model could adopt the warehouse operating condition and avoid the collision.Meanwhile,the optimization algorithm could improve the storage efficiency for double-crane on single roadway with two I/O station model.

Key words: automated warehouse, double-crane, scheduling modeling, anti-collision principle, chemical reaction optimization, path optimization

摘要： 大型立体仓库普遍存在巷道纵深过长的问题,为提高其存储效率,多采用两端式同轨双车运行模式。为解决该运行模式下双堆垛机碰撞及存储效率问题,对存储任务的分配方式和堆垛机的调度路径进行了研究。以两台堆垛机完成存储任务的运行时间为评价标准,在存储任务分配给两台堆垛机时,提出防碰撞原则,避免发生碰撞,在此基础上建立基于单一任务、复合任务并存的双堆垛机调度模型。运用改进的化学反应优化(ICRO)算法对双堆垛机的调度路径进行优化,通过在迭代过程中增加调整存储任务分配结果的步骤,获取同轨双车运行模式下双堆垛机调度模型的最优解,实现其存储效率的最优。仿真验证表明,该研究可以有效避免双堆垛机的碰撞,提高大型立体仓库的存储效率。

关键词: 立体仓库, 同轨双车, 调度模型, 防碰撞原则, 化学反应优化, 路径优化