Automatic three-dimensional storing and taking warehouse

Abstract

The invention discloses an automatic three-dimensional storing and taking warehouse which comprises a high-precision linear guide rail embedded in a stand column of a gantry lifting guide frame. The transverse conveying pick-and-place table drives a second chain through a servo motor, and the second chain drives the moving plate to move; the conveying, taking and placing platform is located between the gantry lifting guide frames, and the conveying, taking and placing platform moves up and down through the two symmetrical gantry lifting guide frames. In the using process, the dynamic avoiding module carries out calculation through data of a radar and infrared distance measuring sensors on the two sides of the conveying, taking and placing platform, so that the moving obstacle module is automatically monitored, and the situation of motion interference occurring when the conveying, taking and placing platform moves out a moving plate of a storage interlayer is avoided; collision accidents caused by the fact that the movable plate does not completely move out of the storage partition layer are avoided, and damage to the plates is avoided; and meanwhile, the optimal storage position and the fastest processing time are obtained according to the cooperation of the path planning module and the distribution of the collected plate quality.

Description

Technical Field

[0001] The present invention relates to the field of automated three-dimensional inventory storage and retrieval, and particularly to an automated three-dimensional storage and retrieval warehouse. Background Art

[0002] A three-dimensional sheet warehouse is generally used to store various sheets for processing. When it works, first, the sheets need to be stored for processing; then, when processing the stored sheets, the sheets need to be taken out for processing. Before the electrical cabinet body is processed, the production enterprise needs to store and retrieve the raw material metal sheets for processing the cabinet body at a fixed location.

[0003] In the existing automated three-dimensional sheet warehouse, generally, a traction driving device installed on a lifting tray drives a traction frame to hook on a sheet storage cart, so as to drag the sheet storage cart in and out of the sheet storage rack. When taking out the sheet storage cart, first, the lifting tray needs to be moved under the corresponding sheet storage cart, then the traction frame is driven directly below the sheet storage cart, and then the lifting tray is lifted to hook the traction frame on the sheet storage cart, and then the sheet storage cart is dragged out. When pushing in the sheet storage cart, the process is just the opposite. It has many working steps, there is a gap between the traction frame and the side wall of the storage rack during the moving process, and the collision accident rate caused by positioning errors or mechanical vibrations is relatively high; at the same time, in the prior art, the vertical position of the lifting tray needs to be adjusted multiple times for a single storage and retrieval, at least 3 positioning actions, and each positioning takes 5 - 10 seconds, resulting in an average single operation time exceeding 60 seconds. This multiple positioning of the position of the lifting tray has low efficiency, and its structure is complex, with high manufacturing costs. At the same time, collisions between the traction frame and the rack body or the storage cart will occur during picking and placing, resulting in damage to the sheets. Summary of the Invention

[0004] An object of the present invention is to provide an automated three-dimensional storage and retrieval warehouse that solves at least one aspect of the above technical problems.

[0005] A further object of the present invention is to avoid the situation of cumbersome operation and low efficiency.

[0006] Another further object of the present invention is to improve the operation efficiency and reduce the working steps.

[0007] In particular, the present invention provides an automated three-dimensional storage and retrieval warehouse, including sheet storage racks symmetrically arranged on the left and right, and each sheet storage rack has multiple horizontally arranged storage compartments;

[0008] A gantry lifting and guiding frame, the gantry lifting and guiding frame is vertically arranged between the two storage racks, and its columns are embedded with high-precision linear guides;

[0009] A transfer picking and placing platform, the horizontal transfer picking and placing table is driven by a servo motor; and the transfer picking and placing platform is located between the gantry lifting and guiding frames.

[0010] Further, a moving rack is arranged between the storage compartments. The moving rack includes a rack body, and rollers are arranged at the bottom of the rack body. An auxiliary rack is arranged on the rack body, and auxiliary wheels are arranged on both sides of the auxiliary rack. The number of the auxiliary wheels is the same as that of the rollers.

[0011] Further, the rollers face the rack body of the transfer platform, and the auxiliary wheels face both sides of the rack body.

[0012] Further, clamping members are arranged at both ends of the moving rack. The clamping members include upper clamping claws and lower clamping claws. The upper clamping claws are fixedly connected to the rack body, the lower clamping claws are hinged to the rack body, and a preset distance is arranged at the ends of the upper clamping claws and the lower clamping claws. A hinge shaft is arranged between the roots of the upper clamping claws and the lower clamping claws.

[0013] Further, first tracks are arranged in the storage compartments, and second tracks corresponding to the tracks are arranged on the transfer and picking platform.

[0014] Further, a driving motor is arranged at the top of the gantry lifting guide frame. The driving motor drives the transfer and picking platform to move up and down reciprocally along the linear guide rail through a first chain.

[0015] Further, it further includes a central control unit module. The central control unit has:

[0016] A path planning module and a motion control module. The path planning module calculates the optimal access path by using an improved AP algorithm, and its cost function is F(n) = α·G(n) + β·H(n) + γ·D(n);

[0017] where α, β, and γ are dynamically adjustable weight coefficients;

[0018] G(n) is the cost of the moved distance;

[0019] H(n) is the estimated cost of the remaining distance;

[0020] D(n) is the plate deformation compensation coefficient;

[0021] The motion control module realizes three-axis linkage through closed-loop PID control, where the positioning accuracy of the vertical axis reaches ±0.05 mm, and the repeat positioning accuracy of the horizontal axis is ±0.1 mm.

[0022] 9. Further, a matrix pressure sensing array is arranged in the storage compartment. Each sensing unit includes a weighing sensor and a photoelectric positioning sensor; the pressure sensing array is connected to the central control unit through a CAN bus to collect the plate mass distribution data in real time:

[0023]

[0024] where wi is the weight measured by the i-th sensing unit, and (xi, yi) are the corresponding coordinates; the central control unit dynamically adjusts the picking and placing strategy according to the mass distribution data, and automatically activates the picking and placing mode when it detects that the single-point load-bearing exceeds the threshold Q_max = 0.8W_total.

[0025] Furthermore, a dynamic obstacle avoidance module is set up, and the dynamic obstacle avoidance module includes:

[0026] A 3D lidar installed on the top of the gantry, with a scanning frequency ≥ 30Hz and a detection angle of 270°×90°;

[0027] Infrared ranging sensors on both sides of the horizontal transfer table, with a measuring range of 0 - 5m and a resolution of 1mm;

[0028] The obstacle avoidance algorithm adopts an improved RRT algorithm, and its collision detection function is defined as:

[0029]

[0030] where q is the device pose, oi is the obstacle coordinate, ri is the obstacle radius, and δ = 50mm is the safety margin. When it detects that the path conflict probability Pcollision > 0.3, the path planning module automatically generates an adjustment path, and the response time ≤ 200ms.

[0031] The technical effects and advantages of the present invention:

[0032] 1. The present invention sets up a sheet storage rack and a first guide rail. Through the first guide rail in the sheet storage rack, a gantry lifting guide frame is arranged between the sheet placement racks. By arranging sheet storage racks on both sides of the gantry lifting guide frame, and at the same time, a transfer picking and placing platform is arranged between the two gantry lifting guide frames. The transfer picking and placing platform picks and places the sheets between the storage compartments of each sheet storage rack. During use, the gantry lifting guide frame is controlled to move the transfer picking and placing platform, and the transfer picking and placing platform is positioned at the storage compartment where picking and placing are required. The transfer picking and placing platform controls the servo motor to drive the second chain, and the clamping block arranged on the second chain is buckled with the clamping part, so as to take out the moving frame from the storage compartment, move the moving frame to the upper part of the transfer picking and placing platform, then lower the moving frame through the gantry lifting guide frame, and finally transfer it by a forklift.

[0033] 2. During the use of the present invention, the dynamic avoidance module calculates based on the data from the radar and the infrared ranging sensors on both sides of the transfer and pick - place platform, thereby automatically monitoring the moving obstacle module, avoiding the situation of motion interference when the moving plate of the storage compartment is moved out by the transfer and pick - place platform, preventing the moving plate from not being completely moved out of the storage compartment and causing a collision accident, and avoiding damage to the plates. At the same time, according to the cooperation of the path planning module and the collection of the distribution of the quality of the plates, the optimal storage position and the fastest processing time are obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Some specific embodiments of the present invention will be described in detail hereinafter with reference to the drawings in an exemplary but not restrictive manner. The same reference numerals in the drawings denote the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0035] Figure 1 is a schematic structural diagram of the present invention.

[0036] Figure 2 is a schematic top - view structural diagram of the present invention.

[0037] Figure 3 is of the present invention Figure 2 a schematic cross - sectional structural diagram taken along the A - A direction in the present invention.

[0038] Figure 4 is of the present invention Figure 1 a schematic enlarged partial structural diagram of C in the present invention.

[0039] Figure 5 is a schematic structural diagram of the mobile rack of the present invention.

[0040] Figure 6 is a schematic front - view structural diagram of the mobile rack of the present invention.

[0041] Figure 7 is a schematic enlarged partial structural diagram of B in the figure of the present invention.

[0042] Figure 8 is of the present invention Figure 6 a schematic enlarged partial structural diagram of D in the present invention.

[0043] Figure 9 is a schematic diagram of the operation flow of the present invention.

[0044] In the figure: 100, sheet storage rack; 101, first track; 102, fixed crossbeam; 103, support beam; 104, storage compartment; 105, pressure sensing array; 200, gantry lifting guide frame; 201, drive motor; 202, frame body; 203, first chain; 204, first gear; 205, column; 206, linear guide rail; 207, lidar; 300, transfer and picking platform; 301, servo motor; 302, second chain; 3021, chuck; 303, moving platform; 304, infrared distance sensor; 4, sheet; 5, moving rack; 501, frame body; 502, roller; 503, clamping part; 5031, upper clamping jaw; 5032, lower clamping jaw; 5033, hinge shaft; 504, second track; 6, auxiliary frame; 601, auxiliary wheel. Detailed implementation manner

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] Figure 1 It is a structural schematic diagram of the present invention. Figure 2 It is a top view structural schematic diagram of the present invention. Figure 3 For the present invention Figure 2 A-A direction sectional structural schematic diagram in the present invention. Figure 4 For the present invention Figure 1 A partial enlarged structural schematic diagram of C in the present invention. Figure 5 It is a structural schematic diagram of the moving rack of the present invention. Figure 6 It is a front view structural schematic diagram of the moving rack of the present invention. Figure 7 It is a partial enlarged structural schematic diagram of B in the figure of the present invention. Figure 8 For the present invention Figure 6 A partial enlarged structural schematic diagram of D in the present invention. Figure 9 It is a schematic diagram of the operation process of the present invention.

[0047] The solution of this embodiment provides an automated stereoscopic storage and retrieval warehouse, such as Figure 1 Only Figure 4As shown in the figure, it includes a sheet storage rack 100, a gantry lifting guide rack 200, and a transfer picking platform 300 that are symmetrically arranged left and right. A support beam 103 is provided at the bottom of the sheet storage rack 100. The support beam 103 has a preset length, so that there is a preset distance between the sheet storage rack 100 and the ground, avoiding damage to the sheets 4 caused by moisture. At the same time, a fixed cross beam 102 is provided between the support beams 103, and the fixed cross beam 102 is used to reinforce the strength between the support beams 103. Each sheet storage rack 100 has multiple horizontally arranged storage compartments 104; the gantry lifting guide rack 200 is vertically arranged between the two storage racks, and a high-precision linear guide rail 206 is embedded in the column 205 of the gantry lifting guide rack 200; the horizontal transfer picking platform is driven by a servo motor 301 to drive a second chain 302, and the moving plate is driven to move through the second chain 302; and the transfer picking platform 300 is located between the gantry lifting guide racks 200, and the transfer picking platform 300 is displaced up and down by two symmetric gantry lifting guide racks 200. The transfer picking platform 300 includes a moving platform 303. Gears are provided at both ends of the moving platform 303, and the second chain 302 meshes with the gears.

[0048] It should be further noted that a moving rack 5 is provided between the storage compartments 104. The moving rack 5 includes a rack body 501. A roller 502 is provided at the bottom of the rack body 501. The roller 502 can move along the first track 101 and the corresponding second track 504 in the storage compartment 104. An auxiliary rack 6 is provided on the rack body 501. Auxiliary wheels 601 are provided on both sides of the auxiliary rack 6. The number of the auxiliary wheels 601 is the same as that of the rollers 502. The rollers 502 face the rack body 501 of the transfer platform, and the auxiliary wheels 601 face both sides of the rack body 501. The function of the auxiliary rack 6 is to enable the rack body 501 to move better and prevent the moving rack 5 from colliding with the storage compartment 104.

[0049] It should be further noted that, as Figures 5 to 8As shown in the figure, clamping members 503 are provided at both ends of the movable frame 5. The clamping member 503 includes an upper clamping claw 5031 and a lower clamping claw 5032. The upper clamping claw 5031 is fixedly connected to the frame body 501, and the lower clamping claw 5032 is hinged to the frame body 501. A preset distance is provided at the ends of the upper clamping claw 5031 and the lower clamping claw 5032. A hinge shaft 5033 is provided between the roots of the upper clamping claw 5031 and the lower clamping claw 5032. At the same time, a torsion spring is provided inside the hinge shaft 5033. Through the setting of the torsion spring, the lower clamping claw 5032 can be kept elastic and always in an open state. At the same time, when the clamping block 3021 of the second chain 302 enters the clamping member 503, it can enter more conveniently through the lower clamping claw 5032, preventing the clamping block 3021 from colliding hard with the clamping claw, avoiding wear of the clamping claw, and at the same time preventing hard collision, avoiding the clamping block 3021 from jacking up the entire frame body 501 when entering between the upper clamping claw 5031 and the lower clamping claw 5032, and avoiding the deviation of the track.

[0050] It should be further noted that first tracks 101 are provided in the storage compartments 104. The first guide rails are symmetrically arranged on the left and right in the storage compartments 104. Second tracks 504 corresponding to the tracks are provided on the transfer and pick - up platform 300. When the transfer and pick - up platform 300 is aligned with one of the storage compartments 104, the second track 504 is parallel to the first track 101 on the same line, facilitating the picking and placing of the movable frame 5.

[0051] It should be further noted that a driving motor 201 is provided at the top of the gantry lifting guide frame 200. The driving motor 201 drives the transfer and pick - up platform 300 to reciprocate up and down along the linear guide rail 206 through a first chain 203. The upper and lower ends of the first chain 203 are engaged with a first gear 204.

[0052] It should be further noted that it further includes a central control unit module. The central control unit has:

[0053] A path planning module and a motion control module. The path planning module calculates the optimal access path using an improved AP algorithm, and its cost function is F(n) = α·G(n)+β·H(n)+γ·D(n);

[0054] Where α, β, and γ are dynamically adjustable weight coefficients;

[0055] G(n) is the cost of the moved distance;

[0056] H(n) is the estimated remaining distance cost;

[0057] D(n) is the deformation compensation coefficient of the sheet 4;

[0058] The motion control module realizes three-axis linkage through closed-loop PID control, with the positioning accuracy of the vertical axis reaching ±0.05 mm and the repeat positioning accuracy of the horizontal axis being ±0.1 mm. When the system starts, the central control unit first scans the inventory status of the sheet storage rack 100 through the pressure sensing array 105 to generate a three-dimensional inventory heat map. When receiving a material fetching instruction (such as fetching a stainless steel sheet with specifications of 2500×1200×20 mm), the path planning module (410) calculates the optimal path using an improved AP algorithm:

[0059] S1: Initialize parameters: α = 0.6, β = 0.3, γ = 0.1; which can be automatically adjusted according to the stiffness coefficient of the sheet 4;

[0060] S2: Generate a path node sequence: First, lift the gantry lifting guide frame 200 to the target floor height, for example, H = 3.2 m, and rotate the second chain 302 of the transfer pick-and-place platform 300 to the target bin, for example, the coordinate X = 1250 mm;

[0061] S3: The transfer pick-and-place table rotates to fetch the material with an acceleration of 0.8 m / s 2 The servo motor 301 real-time feedbacks the position error Δ≤0.08 mm. After completing the material fetching, the system automatically updates the inventory database and sends a status update to the monitoring center through the MQTT protocol.

[0062] It should be further noted that the storage compartment 104 is provided with a matrix pressure sensing array 105, and each sensing unit includes a weighing sensor and an optoelectronic positioning sensor; the pressure sensing array 105 is connected to the central control unit through the CAN bus to collect the mass distribution data of the sheet 4 in real time:

[0063] where wi is the weight measured by the i-th sensing unit, and (x_i, y_i) is the corresponding coordinate; the central control unit dynamically adjusts the pick-and-place strategy according to the mass distribution data, and automatically starts the pick-and-place mode when it detects that the single-point load-bearing exceeds the threshold Q_max = 0.8W_total.

[0064] It should be further noted that a dynamic obstacle avoidance module is set, and the dynamic obstacle avoidance module includes:

[0065] A 3D lidar 207 installed on the top of the gantry, with a scanning frequency ≥30 Hz and a detection angle of 270°×90°;

[0066] Infrared ranging sensors 304 on both sides of the horizontal transfer table, with a range of 0 - 5 m and a resolution of 1 mm;

[0067] The obstacle avoidance algorithm adopts an improved RRT algorithm, and its collision detection function is defined as:

[0068] Where q is the device position, oi is the obstacle coordinate, ri is the obstacle radius, and δ = 50 mm is the safety margin

[0069] When the path conflict probability Pcollision>0.3 is detected, the path planning module automatically generates an adjustment path with a response time of ≤200ms. When the 3D laser radar (510) detects a temporary obstacle on the lifting path, the following steps are performed:

[0070] S1: The obstacle avoidance module generates a new path within 150ms.

[0071] S2: Real-time update of collision probability model: Pcollision = 1-exp(-λ·t) (λ = 0.02 is the obstacle movement coefficient)

[0072] S3: Acceleration towards the transport platform is limited to 0.4m / s 2 , maintain a safety distance of ≥80mm from obstacles throughout the process.

[0073] The specific control process is: first, through hardware self-check, check whether each matching hardware is in an online working state. After the self-check is completed, the overall environment is modeled through the laser radar 207 and the pressure sensor array 105, and then through data collection, the usage status of the storage compartments in the plate storage rack 100 is analyzed, and then the path with the best pick-up and placement time is generated, and then fed back to the central control unit to execute the movement, pick up and place the plate 4, and at the same time avoid obstacles and reduce the probability of collision according to the situation during pick-up and placement.

[0074] Technical effect verification table:

[0075]

[0076] It can be clearly seen from the above table that the improvement of the present invention is significant compared with the prior art. The improved A algorithm and dynamic obstacle avoidance (RRT) are used to coordinately optimize path planning, and the single pick-and-place time is shortened by 29%, from 45s to 32s, and the path conflict probability is reduced by 94%, from 1.2 times / thousand times to 0.07 times / thousand times. At the same time, remote AR inspection (positioning accuracy ≤ 0.5m) is realized through the MQTT / OPC UA protocol, the real-time monitoring coverage rate reaches 100%, and the operation and maintenance response speed is increased by 50%. It solves the problems of low efficiency, poor precision, high energy consumption, and insufficient reliability of traditional plate warehouses, and realizes a comprehensive upgrade of warehousing operations, which is suitable for high-precision industrial scenarios such as automobile manufacturing and aerospace.

[0077] Working principle of the present invention:

[0078] In use, by setting up the sheet storage rack 100 and the first guide rail, a gantry lifting guide rack 200 is arranged between the sheet placing racks through the first guide rail in the sheet storage rack 100. By arranging the sheet storage racks 100 on both sides of the gantry lifting guide rack 200, and at the same time, a transfer picking platform 300 is arranged between the two gantry lifting guide racks 200. The sheets 4 between the storage compartments 104 of each sheet storage rack 100 are picked and placed through the transfer picking platform 300. During use, the transfer picking platform 300 is moved by controlling the gantry lifting guide rack 200 to position the transfer picking platform 300 at the storage compartment 104 where picking and placing are required. The transfer picking platform 300 controls the servo motor 301 to drive the second chain 302. The clamping block 3021 arranged on the second chain 302 is buckled with the clamping part 503, so as to take out the moving rack 5 from the storage compartment, move the moving rack 5 to the upper part of the transfer picking platform 300, then lower the moving rack 5 through the gantry lifting guide rack 200, and finally transfer it by a forklift; during use, the dynamic avoidance module calculates through the data of the radar and the infrared distance sensors 304 on both sides of the transfer picking platform 300, so as to automatically monitor the moving obstacle module, avoid the situation of movement interference when the transfer picking platform 300 moves the moving plate out of the storage compartment 104, avoid the accident of collision when the moving plate has not been completely moved out of the storage compartment 104, and avoid the damage of the sheet 4; at the same time, according to the cooperation of the path planning module and the collection of the quality distribution of the sheet 4, the best storage position and the fastest processing time are obtained.

[0079] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automated three-dimensional storage and retrieval warehouse, characterized in that: include: Plate storage racks are arranged symmetrically on both sides, each of which has multiple storage compartments arranged horizontally; A gantry lifting guide frame, which is vertically arranged between two storage racks, and has a high-precision linear guide rail embedded in its column; The conveying and placing platform, the horizontal conveying and placing platform is driven by a servo motor; and the conveying and placing platform is located between the gantry lifting guide frames.

2. The automated three-dimensional storage and retrieval warehouse according to claim 1, characterized in that: A mobile frame is arranged between the storage compartments, the mobile frame comprises a frame body, rollers are arranged at the bottom of the frame body, an auxiliary frame is arranged on the frame body, auxiliary wheels are arranged on both sides of the auxiliary frame, and the number of the auxiliary wheels is the same as the number of the rollers.

3. The automated three-dimensional storage and retrieval warehouse according to claim 2, characterized in that: The rollers face the frame of the conveying platform, and the auxiliary wheels face two sides of the frame.

4. The automated three-dimensional storage and retrieval warehouse according to claim 2, characterized in that: Clamps are provided at both ends of the mobile frame, and the clamps include an upper clamping claw and a lower clamping claw. The upper clamping claw is fixedly connected to the frame body, and the lower clamping claw is hinged to the frame body. A preset distance is set between the ends of the upper clamping claw and the lower clamping claw, and a hinge axis is formed between the roots of the upper clamping claw and the lower clamping claw.

5. The automated three-dimensional storage and retrieval warehouse according to claim 4, characterized in that: A first track is arranged in each of the storage compartments, and a second track corresponding to the track is arranged on the conveying and placing platform.

6. The automated three-dimensional storage and retrieval warehouse according to claim 1, characterized in that: The top of the gantry lifting guide frame is provided with a driving motor, and the driving motor drives the conveying and placing platform to reciprocate up and down along the linear guide rail through a first chain.

7. The automated three-dimensional storage and retrieval warehouse according to claim 1, characterized in that: It also includes a central control unit module, the central control unit having: A path planning module and a motion control module, wherein the path planning module uses an improved AP algorithm to calculate an optimal access path, and its cost function is F(n)=α·G(n)+β·H(n)+γ·D(n); Among them, α, β, and γ are dynamic adjustment weight coefficients; G(n) is the cost of the distance moved; H(n) is the estimated remaining distance cost; D(n) is the plate deformation compensation coefficient; The motion control module achieves three-axis linkage through closed-loop PID control, with the vertical axis positioning accuracy reaching ±0.05mm and the horizontal axis repeat positioning accuracy reaching ±0.1mm.

8. The automated three-dimensional storage and retrieval warehouse according to claim 7, characterized in that: The storage compartment is provided with a matrix pressure sensor array, each sensor unit includes a weighing sensor and a photoelectric positioning sensor; the pressure sensor array is connected to the central control unit via a CAN bus to collect the plate mass distribution data in real time: Where wi is the weight measured by the i-th sensor unit, and (x_i, y_i) is the corresponding coordinate; the central control unit dynamically adjusts the pick-and-place strategy according to the mass distribution data, and automatically starts the pick-and-place mode when it detects that the single-point load exceeds the threshold Q_max=0.8W_total.

9. The automated three-dimensional storage and retrieval warehouse according to claim 7, characterized in that: A dynamic obstacle avoidance module is provided, wherein the dynamic obstacle avoidance module comprises: The 3D laser radar installed on the top of the gantry has a scanning frequency of ≥30Hz and a detection angle of 270°×90°; Infrared distance measuring sensors on both sides of the horizontal conveyor platform, with a range of 0-5m and a resolution of 1mm; The obstacle avoidance algorithm adopts the improved RRT algorithm, and its collision detection function is defined as: Where q is the device position, oi is the obstacle coordinate, ri is the obstacle radius, and δ = 50 mm is the safety margin When the path conflict probability Pcollision>0.3 is detected, the path planning module automatically generates an adjustment path with a response time of ≤200ms.

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