Abstract: Rail Guided Vehicle (RGV) stack is a key part of intelligent warehouse,which collapse during movement will not only reduce efficiency,but also bring safety hazards such as cargo damage and rail deformation.To improve the efficiency o intelligent warehouse system,a method to calculate the tolerable acceleration (i.e.the maximum acceleration with no boxes ever collapse) of RGV stack was proposed from the perspective of box position and rigid body force.Based on the acceleration direction and the position of the boxes in the stack,the boxes were divided into multiple rigid bodies,and each rigid body contained boxes that would collapse together;then the rigid body tree was constructed according to the position of rigid bodies,and the resisting force transmitted between the rigid bodies through the tree was analyzed;the tolerable acceleration of the RGV stack was calculated according to the resisting force.The proposed tolerable acceleration could be used to limit the acceleration of RGV motion,and could also be used to quantitatively evaluate the dynamic stability of the stack.The experimental results showed that there was a very strong linear correlation between tolerable acceleration and the dynamic stability of the Unity simulation stack,with a Pearson correlation coefficient >0.8,which was better than the existing stack dynamic stability evaluate methods.

Key words: intelligent warehouse, rail guided vehicle stack, dynamic stability, tolerable acceleration, resisting force

摘要： 有轨制导车(RGV)堆垛是智能仓储的关键一环,运动时倒塌不仅会降低工作效率,还可能带来货物损坏、轨道变形等安全隐患。为提高智能仓储系统的工作效率,从箱子位置和刚体受力的角度,提出一种RGV堆垛的可承载加速度(即不使任何箱子倒塌的最大加速度值)计算方法。首先,根据加速度方向和箱子的位置,将堆垛中箱子划分为多个刚体,每个刚体包含会一起倒塌的多个箱子;然后,根据堆垛中刚体的位置构建刚体树,分析刚体之间的通过树传递的阻倒力;最后根据阻倒力计算RGV堆垛的可承载加速度。提出的可承载加速度不仅可用于限制RGV运动加速度,还可用于定量评估堆垛的动态稳定性。实验结果表明,可承载加速度计算结果与Unity仿真堆垛的动态稳定性之间,呈现皮尔逊相关系数>0.8的极强线性相关性,优于现有的堆垛动态稳定性评估方法。

关键词: 智能仓储, 有轨制导车堆垛, 动态稳定性, 可承载加速度, 阻倒力