Abstract This paper presents analytical travel time models for the computation of cycle times and throughput performance of Automated Vehicles Storage and Retrieval Systems (AVS/RS) with multiple-tier shuttle vehicles. The proposed analytical travel time models consider the multiple-tier shuttle vehicle with the condition of simultaneously travelling in a horizontal and moving in a vertical direction in the storage rack. Travel time models for single and dual command cycles of the AVS/RS with multiple-tier shuttle vehicles have been specified assuming uniformly distributed storage rack locations in the ith level of the storage rack and the probability theory. The proposed analytical models enable the calculation of the expected cycle time for single and dual command cycles, from which the performance can be evaluated of AVS/RS with multiple-tier shuttle vehicles. A simulation model has been developed for evaluation of the proposed analytical travel time models. Analysis of various types of AVS/RS with multiple-tier shuttle vehicles showed good performance of the proposed analytical travel time models.

中文翻译：

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具有多层穿梭车辆的自动车辆存储和检索系统的吞吐量性能分析

摘要 本文提出了用于计算具有多层穿梭车辆的自动车辆存储和检索系统 (AVS/RS) 的循环时间和吞吐量性能的分析旅行时间模型。所提出的分析旅行时间模型考虑了多层穿梭车同时在货架上水平行驶和垂直移动的条件。假设在存储架的第 i 层和概率论中均匀分布的存储架位置，指定了具有多层穿梭车辆的 AVS/RS 的单命令和双命令循环的行程时间模型。建议的分析模型能够计算单指令和双指令周期的预期周期时间，从中可以评估具有多层穿梭车辆的 AVS/RS 的性能。已经开发了一个模拟模型来评估所提出的分析旅行时间模型。对具有多层穿梭车辆的各种类型的 AVS/RS 的分析表明，所提出的分析旅行时间模型具有良好的性能。