Abstract: In order to research the stacker convey system concisely and legibly in AS/RS，the colored timed petri net is adopted here to establish its dynamic model.At the same time，aimed at the shortcomings of the existing system，propose a stacker-control strategy based on dual buffers and a path-optimization strategy based on two-cycle operations，which not only reduce the clog that possible bring by the existing system greatly，but also enhance the efficiency in the stacker convey system and the input/output station.It has the vital significance to AS/RS with high efficiency，normally and orderly to carry out.

Key words: colored timed petri net, scheduling strategy, stacker, automated storage/retrieval system

摘要： 为了直观、简洁地研究AS/RS中的堆垛机运送系统，应用着色赋时Petri网（CTPN）建立了其动态模型。同时针对原有系统的不足，提出了基于双队列缓冲的堆垛机控制策略及双循环作业方式的路径优化策略，从而缓解了该系统中可能产生的阻塞现象，提高了堆垛机运送系统和出入库站台的效率，这对保证出入库的高效、正常、有序的进行有着重要的意义。

关键词: 着色赋时Petri网, 调度策略, 堆垛机, 自动化立体仓库