AGV material handling analysis

Terms:

vc - AGV average speed (c = conveyor, carrier, cart, etc.) Ew - Worker efficiency

ve - AGV empty speed Rdv - rate of deliveries per vehicle
Th - load handling time nc - number of carriers required
Ld - destination distance Rf - specified flow rate of system (del/hr)
Le - empty move distance Tc - delivery cycle time (min/del)
Tf - traffic factor (<= 1) TL - time to load at load station (min)
Eh - handling system efficiency TU - time to unload at load station (min)
A - Proportion of time vehicle is operational WL - workload (total work in min per hour)
AT- available time in min/hr/veh

𝐿𝐿𝑑𝑑 𝐿𝐿𝑒𝑒
𝑇𝑇𝑐𝑐 = 𝑇𝑇𝐿𝐿 + + 𝑇𝑇𝑈𝑈 + delivery cycle time (min/del)
𝑣𝑣𝑐𝑐 𝑣𝑣𝑐𝑐

𝐴𝐴𝐴𝐴 = 60. 𝐴𝐴. 𝐹𝐹𝑡𝑡 . 𝐸𝐸𝑤𝑤 available time in min/hr/veh

𝐴𝐴𝐴𝐴
𝑅𝑅𝑑𝑑𝑑𝑑 = rate of deliveries per vehicle
𝑇𝑇𝑐𝑐

𝑊𝑊𝑊𝑊 = 𝑅𝑅𝑓𝑓 𝑇𝑇𝑐𝑐 workload (total work in min per hour)

𝑊𝑊𝑊𝑊 𝑅𝑅𝑓𝑓
𝑛𝑛𝑐𝑐 = 𝑛𝑛𝑐𝑐 = number of carriers required
𝐴𝐴𝐴𝐴 𝑅𝑅𝑑𝑑𝑑𝑑
 AS/RS material handling analysis
Terms:
v - vertical speed (m/min, ft/min)
C – Capacity per aisle z

x - Width of unit load v - horizontal speed (m/min, ft/min)

y
y - Length of unit load (in horizontal direction) t - vertical travel time (min)
z
z - Height of unit load (in vertical direction)
t - horizontal travel time (min)
n - number of vertical compartments y
z
Tcs - single command cycle time (min/cycle)
n - number of horizontal compartments
y
Tcd - dual command cycle time (min/cycle)
U - System utilization per hr
W - Width of AS/RS rack Tpd – pickup and deposit time (min)
H - Height of AS/RS rack Rcs - num of single commands per hr
L - Length of AS/RS rack
Rcd - num of dual commands per hr
Rc - total cycle rate in cycles/hr
Rt - num transactions per/hr

Capacity per aisle = 2 𝑛𝑛𝑦𝑦 𝑛𝑛𝑧𝑧

𝑊𝑊 = 3(𝑥𝑥 + 𝑎𝑎) 𝐿𝐿 = 𝑛𝑛𝑦𝑦 . (𝑦𝑦 + 𝑏𝑏) 𝐻𝐻 = 𝑛𝑛𝑧𝑧 . (𝑧𝑧 + 𝑐𝑐)

The single-command cycle time can be expressed by

0.5𝐿𝐿 0.5𝐻𝐻 𝐿𝐿 𝐻𝐻
𝑇𝑇𝑐𝑐𝑐𝑐 = 2 𝑀𝑀𝑀𝑀𝑀𝑀 � , � + 2𝑇𝑇𝑝𝑝𝑝𝑝 = 𝑀𝑀𝑀𝑀𝑀𝑀 � , � + 2𝑇𝑇𝑝𝑝𝑝𝑝
𝑣𝑣𝑦𝑦 𝑣𝑣𝑧𝑧 𝑣𝑣𝑦𝑦 𝑣𝑣𝑧𝑧

Where
Tcs = cycle time of a single-command cycle, min/cycle;
L = length of the AS/RS rack structure, m (ft);
vy = velocity of the S/R machine along the length of the AS/RS, m/min (ft/min);
H = height of the rack structure, m (ft);
vz = velocity of the S/R machine in the vertical direction of the AS/RS, m/min (ft/min); and
Tpd = pickup-and-deposit time, min.
Two P&D times are required per cycle, representing load transfers to and from the S/R machine.
For a dual-command cycle,

0.75𝐿𝐿 0.75𝐻𝐻 1.5𝐿𝐿 1.5𝐻𝐻

𝑇𝑇𝑐𝑐𝑐𝑐 = 2 𝑀𝑀𝑀𝑀𝑀𝑀 � , � + 4𝑇𝑇𝑝𝑝𝑝𝑝 = 𝑀𝑀𝑀𝑀𝑀𝑀 � , � + 4𝑇𝑇𝑝𝑝𝑝𝑝
𝑣𝑣𝑦𝑦 𝑣𝑣𝑧𝑧 𝑣𝑣𝑦𝑦 𝑣𝑣𝑧𝑧

Where
Tcd = cycle time for a dual-command cycle, min/cycle; and the other terms are defined earlier.

RcsTcs + RcdTcd = 60U

Rc = Rcs + Rcd

Rt = Rcs + 2Rcd