巷道堆垛式自动化立体车库存取策略研究
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摘要
为了解决停车难的实际问题,国家大力建设自动化立体车库,充分利用空中和地下资源,减少土地面积的占用,这在一定程度上缓解了停车难的窘境。但是,自动化立体车库的服务能力还有待于提高,这主要体现在尽量缩短存取车耗时方面。而车库存取策略是缩短存取车耗时的关键,因此存取策略成为现阶段车库研究中的一个热点。本文以泊车位布局不独立的巷道堆垛式立体车库为研究对象,就其存取策略做了探讨性研究。研究内容可以为车库选择合适的存取策略提供依据,提高车库服务能力。
本文所做的主要工作是：
(1)比较了自动化立体车库的结构与类型,总结出各类车库的优缺点。在此基础上,着重介绍了巷道堆垛式自动化立体车库中的主要设备堆垛机的存取车过程。通过分析发现,堆垛机存取车耗时对车库作业效率有重要影响,因此有必要对其做进一步研究。
(2)通过车库实体模型解释了泊车位布局不独立的含义。首先,在车库简化模型下,结合车库存车优先策略和原地待命策略,分析了堆垛机的存取车过程,并推导出堆垛机存取车耗时的数学计算表达式。其次,在原地待命策略的基础上,采用Delphi7编程,分别计算了就近存储原则和随机存储原则下堆垛机存取车所用时间,并在出入库车辆数目相同的条件下,计算出堆垛机存取车的总倒库次数、无需倒库的平均用时、需要倒库的平均用时及总出入库平均用时。根据这四项数据结果,分析了车位分配原则对车库作业效率的影响。最后,统计了就近存储原则下堆垛机存取车所用时间的概率特征。
(3)为了对车库存取策略进行更真实、更客观地评估,必须考虑车库服务对象的动态特性。因此,首先引入了排队系统的相关知识,根据车辆到达规律、堆垛机数量及其服务时间,采用χ2检验法验证了车库存取车过程属于M／D／1排队模型。其次,利用该排队模型下的衡量指标,结合车库周围车流量情况,对比了就近存储原则和随机存储原则下车库的作业性能。最后,针对M／D／1排队模型没有考虑车辆离开的情况,采用一种能同时考虑车辆到达和离开的M／G／1排队模型,利用其衡量指标分析了就近存储原则和随机存储原则下车库的作业性能。
论文的研究成果丰富了车库存取策略的研究内容。在分析车库存取策略时,若研究对象为泊车位布局不独立的巷道堆垛式自动化立体车库,本文将有一定的参考价值。
In order to solve the problem of difficult-to-park, our country strives to develop Automatic 3D-Park, making full use of the underground resources and outerspace resources, and reducing the occupied area of land resources, which, in a degree, alleviating the difficult predicament. However, the service capabilities of Automatic 3D-Park should be improved quickly which mainly reflected in shortening the time-consuming of taking-out and placing-in of cars. Then, how to choose appropriate Storage-retrieval Strategies becomes a hot topic in the present research of garage, for that it is the key of reducing time-consuming of cars accessing. This thesis regards Laneway-stow-typed Automatic 3D-Park which berth layout is not independent as the research objects, its Storage-retrieval Strategies are discussed detailedly. Both selecting a more appropriate Storage-retrieval Strategy for Automatic 3D-Park and providing an evidence to enhance its service capacity on the basis of this paper.
This paper mainly concerns about:
(1) The structure and the type of Automatic 3D-Park are compared. The advantages and disadvantages of all types of garage are summed up. Stacker as the main equipment of Laneway-stow-typed Automatic 3D-Park is especially recommended, including its structure, work principle and process of taking-out and placing-in of cars. The analysis shows that time-consuming of stacker is an important factor to Garage Storage-retrieval Strategies, it is necessary to study it in-depth.
(2) The layout of parking space which is not independent among rows can be explained wonderfully according to the entity model of solid garage. The aim of simplifying its model is in order to analysis its Storage-retrieval Strategies conveniently. Firstly, in the simplified model, the access process and time-consuming mathematical expression of stacker are narrated combining with two Storage-retrieval Strategies of garage. Then, under staying await orders strategy, two kinds of berth select rule are described and compared, including nearby access principle and random access principle. After many times of calculations for these two models by Delphi7 programming, the time spending on accessing cars by stacker is calculated, at the same time, its probability statistic character of nearby access principle is discussed.
(3) In order to evaluate the Garage Storage-retrieval Strategies more truly and more objectively, the dynamic nature of the garage must be considered. So the knowledge of Queuing System is put forward including system components, system model and system metrics and so on. The process of accessing cars is confirmed to subject to M/D/1 queuing model usingχ2 hypothesis testing method, according to the arrival rules of vehicles, quantity and servicing time of stockers. At first, the capability of Storage-retrieval Strategies has been analyzed based on this queuing model. Then the M/D/1 queuing model has been improved to a more perfect model considering with both the arrival and departure of vehicles. Finally, the Storage-retrieval Strategies have been analyzed referring to the efficiency of the stacker and the change of the traffic flow.
The results of this paper largely enrich the Storage-retrieval Strategies of garage contents, especially for the case of garage which berth layout is not independent.
本文所做的主要工作是：
(1)比较了自动化立体车库的结构与类型,总结出各类车库的优缺点。在此基础上,着重介绍了巷道堆垛式自动化立体车库中的主要设备堆垛机的存取车过程。通过分析发现,堆垛机存取车耗时对车库作业效率有重要影响,因此有必要对其做进一步研究。
(2)通过车库实体模型解释了泊车位布局不独立的含义。首先,在车库简化模型下,结合车库存车优先策略和原地待命策略,分析了堆垛机的存取车过程,并推导出堆垛机存取车耗时的数学计算表达式。其次,在原地待命策略的基础上,采用Delphi7编程,分别计算了就近存储原则和随机存储原则下堆垛机存取车所用时间,并在出入库车辆数目相同的条件下,计算出堆垛机存取车的总倒库次数、无需倒库的平均用时、需要倒库的平均用时及总出入库平均用时。根据这四项数据结果,分析了车位分配原则对车库作业效率的影响。最后,统计了就近存储原则下堆垛机存取车所用时间的概率特征。
(3)为了对车库存取策略进行更真实、更客观地评估,必须考虑车库服务对象的动态特性。因此,首先引入了排队系统的相关知识,根据车辆到达规律、堆垛机数量及其服务时间,采用χ2检验法验证了车库存取车过程属于M／D／1排队模型。其次,利用该排队模型下的衡量指标,结合车库周围车流量情况,对比了就近存储原则和随机存储原则下车库的作业性能。最后,针对M／D／1排队模型没有考虑车辆离开的情况,采用一种能同时考虑车辆到达和离开的M／G／1排队模型,利用其衡量指标分析了就近存储原则和随机存储原则下车库的作业性能。
论文的研究成果丰富了车库存取策略的研究内容。在分析车库存取策略时,若研究对象为泊车位布局不独立的巷道堆垛式自动化立体车库,本文将有一定的参考价值。
In order to solve the problem of difficult-to-park, our country strives to develop Automatic 3D-Park, making full use of the underground resources and outerspace resources, and reducing the occupied area of land resources, which, in a degree, alleviating the difficult predicament. However, the service capabilities of Automatic 3D-Park should be improved quickly which mainly reflected in shortening the time-consuming of taking-out and placing-in of cars. Then, how to choose appropriate Storage-retrieval Strategies becomes a hot topic in the present research of garage, for that it is the key of reducing time-consuming of cars accessing. This thesis regards Laneway-stow-typed Automatic 3D-Park which berth layout is not independent as the research objects, its Storage-retrieval Strategies are discussed detailedly. Both selecting a more appropriate Storage-retrieval Strategy for Automatic 3D-Park and providing an evidence to enhance its service capacity on the basis of this paper.
This paper mainly concerns about:
(1) The structure and the type of Automatic 3D-Park are compared. The advantages and disadvantages of all types of garage are summed up. Stacker as the main equipment of Laneway-stow-typed Automatic 3D-Park is especially recommended, including its structure, work principle and process of taking-out and placing-in of cars. The analysis shows that time-consuming of stacker is an important factor to Garage Storage-retrieval Strategies, it is necessary to study it in-depth.
(2) The layout of parking space which is not independent among rows can be explained wonderfully according to the entity model of solid garage. The aim of simplifying its model is in order to analysis its Storage-retrieval Strategies conveniently. Firstly, in the simplified model, the access process and time-consuming mathematical expression of stacker are narrated combining with two Storage-retrieval Strategies of garage. Then, under staying await orders strategy, two kinds of berth select rule are described and compared, including nearby access principle and random access principle. After many times of calculations for these two models by Delphi7 programming, the time spending on accessing cars by stacker is calculated, at the same time, its probability statistic character of nearby access principle is discussed.
(3) In order to evaluate the Garage Storage-retrieval Strategies more truly and more objectively, the dynamic nature of the garage must be considered. So the knowledge of Queuing System is put forward including system components, system model and system metrics and so on. The process of accessing cars is confirmed to subject to M/D/1 queuing model usingχ2 hypothesis testing method, according to the arrival rules of vehicles, quantity and servicing time of stockers. At first, the capability of Storage-retrieval Strategies has been analyzed based on this queuing model. Then the M/D/1 queuing model has been improved to a more perfect model considering with both the arrival and departure of vehicles. Finally, the Storage-retrieval Strategies have been analyzed referring to the efficiency of the stacker and the change of the traffic flow.
The results of this paper largely enrich the Storage-retrieval Strategies of garage contents, especially for the case of garage which berth layout is not independent.
引文
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[2]方二喜.立体车库控制器设计及其算法研究：(硕士学位论文).苏州：苏州大学,2006.
[3]任伯淼.机械式立体停车库.北京：海洋出版社,2001.
[4]Azadivar F. A Simulation Optimization Approach to Optimum Storage and Retrieval Policies in an Automated Warehouse System. Proceedings of the 1984 Winter Simulation Conference, Dallas, Texas, 1984.
[5]Roodbergen, K.J., Vis, I.F.A.. A survey of literature on automated storage and retrieval systems. European Journal of Operational Research, doi:10.1016/j.ejor.2008.01.038.
[6]Donald, Tepas. Workware decision support systems:a comprehensive methodological approach to work-scheduling problems. Theoretical Issues in Ergonomics Science,2003,4(3):319-326.
[7]潘耀芳.自动化立体车库的库位排列及成本优化.上海电力学院学报,2005,17(1)：27-30.
[8]杨冬梅,高炳学.立体车库的布局设计.起重运输机械,2003,(5)：9-10.
[9]汤伟.升降横移式立体车库结构优化及控制策略分析：(硕士学位论文).合肥：合肥工业大学,2008.
[10]周奇才,熊肖磊,任建强等.立体停车系统分析及流畅性计算.中国机械工程学报,2005,3(1)：41-45.
[11]周奇才,缪宁,熊肖磊.基于排队论的停车服务模型与效能探讨.中国机械工程学报,2005,3(2)：161-164.
[12]张伟中.智能立体车库设计方案优化及其监控管理系统研究：(硕士学位论文).西安：长安大学,2004.
[13]李浩.立体车库升降机构控制系统的设计及排队模型优化分析：(硕士学位论文).武汉：武汉理工大学,2005.
[14]王辉.机械式立体停车库的特点研究及其应用：(硕士学位论文).长沙：湖南大学,2008.
[15]杨晓芬,肖华.自动化立体车库存取策略的比较分析.电气技术与自动化,2004,33(5)：4-59.
[16]周雪松,田密,马幼捷等.自动化立体车库存取车优化调度策略的研究.制造业自动化,2008,10(30)：29-33.
[17]方二喜,陈小平.基于遗传算法的立体车库车位调度研究.计算机与数字工程,2007,35(12)：56-61.
[18]程红枚.垂直升降式立体车库作业调度与仿真研究：(硕士学位论文).太原：太原科技大学,2008.
[19]李建国,朱德桥,郭佑民等.基于排队论的立体车库特征分析及规划设计.起重运输机械,2009,(4)：38-40.
[20]朱德桥,李建国,郭佑民等.基于排队论的立体车库堆垛机效率分析.兰州交通大学学报,2009,28(3)：62-64.
[21]王文卿.城市汽车停车场(库)设计手册.北京：中国建筑工业出版社,2002.
[22]李振良.智能立体车库的研究：(硕士学位论文).武汉：武汉大学,2005.
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