WO2024011955A1

WO2024011955A1 - Robotic fleet scheduling method for warehousing system, warehousing system, and scheduling device thereof

Info

Publication number: WO2024011955A1
Application number: PCT/CN2023/084166
Authority: WO
Inventors: 张乾; 袭开俣; 金贞主
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2022-07-11
Filing date: 2023-03-27
Publication date: 2024-01-18
Also published as: CN117416649A

Abstract

The present disclosure relates to a robotic fleet scheduling method for a warehousing system, a warehousing system, and a scheduling device thereof. The warehousing system comprises at least one robotic fleet, and each robotic fleet comprises a target robot and at least one queuing robot. The method comprises the following steps: S1, after the target robot completes a task at a current destination point, determining a target path along which the target robot travels to a next destination point; and S2, starting the target robot to travel to the next destination point along the target path, and when a starting condition is satisfied, starting a queuing robot behind the target robot to travel along with the target robot until the target robot reaches the next destination point, or to travel to a separation destination point where the queuing robot is separated from the target robot. When the warehousing system uses the method, the target robot and the queuing robot are started simultaneously, and in the traveling process, the queuing robots sequentially follow the target robot all the time, thereby improving the overall task execution efficiency of the robotic fleet.

Description

Robot queue scheduling method for warehousing system, warehousing system and its scheduling equipment

This application requires the priority of the Chinese patent application submitted to the State Intellectual Property Office of China on July 11, 2022, with the application number 202210810524.1 and the invention title "Robot Queue Scheduling Method for Warehousing System, Warehousing System and Scheduling Equipment", which The entire contents are incorporated herein by reference.

Technical field

The present disclosure relates to the technical field of warehousing system scheduling methods, and in particular to a robot queue scheduling method of a warehousing system, a warehousing system and its scheduling equipment.

Background technique

With the continuous development and advancement of science and technology, the logistics field has gradually realized the automated handling of materials. Under normal circumstances, the picking and handling of goods are automatically completed by robots.

When multiple robots arrive at the task point and receive the task start or start after encountering congestion during operation, the first robot receives the start command sent by the dispatching system and leaves the current position, and the second robot responds to the start command. Move forward. The following robot actions can be deduced in the same way.

That is to say, when the scheduling system sends task instructions to robots, the robot in front will vacate a grid after running, and the robot behind will move, resulting in a waste of time in the connection between robots. Such a startup method will reduce the business processing capabilities, thereby affecting the overall operating efficiency of the robot.

Contents of the invention

In order to solve the technical problems existing in the prior art, the present disclosure provides a robot queue scheduling method of a warehousing system, a warehousing system and its scheduling equipment.

The first aspect is the robot queue scheduling method of the warehousing system of the present disclosure. The warehousing system includes at least one group of robot queues. Each group of the robot queues includes a target robot and at least one queuing robot behind the target robot. The method includes the following steps:

S1. After the target robot completes the task at the current destination point, determine the target path for the target robot to travel to the next destination point;

S2. Start the target robot to travel along the target path to the next destination point, and when the starting conditions are met, start the queuing robot behind the target robot to follow the target robot until the target robot reaches the next destination. destination point, or travel to the queue machine The separation destination point where the human and the target robot are separated.

In one embodiment, the starting condition that needs to be met to start the queuing robot in step S2 is: maintaining a safe driving distance between two adjacent robots.

In one embodiment, in step S2, when the target robot reaches the next destination point and stops, the queuing robot following the target robot is controlled to also stop when the shutdown conditions are met, and the queuing robot is controlled to stop when the shutdown conditions are met. Condition: Maintain a safe driving distance between two adjacent robots.

In one embodiment, in step S1, when the task completed by the target robot at the current destination point is to receive goods, the next destination point of the target robot is a designated point of information about the received goods, or is a point for receiving goods. The designated transfer point for the target robot.

In one embodiment, in step S1, when the task completed by the target robot at the current destination point is to deliver goods, the next destination point of the target robot is a work station to which the target robot can return, or A designated staging point for the target robot.

In one embodiment, the prerequisite for executing step S2 is that both the target robot and the queuing robot satisfy synchronous operation conditions, and the synchronous operation conditions include at least one of the following conditions:

(1) The target path is an available path;

(2) Both the target robot and the queuing robot can operate normally.

In one embodiment, in step S2, the same acceleration is set to the target robot and the queuing robot when starting.

In one embodiment, in step S2, while the queuing robot is following the target robot, it detects that the target robot and the queuing robot, or the distance between two adjacent queuing robots is less than a preset value. When the safe running distance is reached, the queuing robot at the rear brakes until it reaches the safe running distance and then restarts to continue following up.

In one embodiment, when the warehousing system includes at least two groups of robot queues, in step S2, when at least two groups of robot queues run to the traffic control position and need to pass alternately, at least two groups of robot queues are first braked, and then Restart a group of robot queues with high priority and pass through the alternating area points, and then restart a group of robot queues with low priority and pass through the alternating area points.

In the second aspect, the warehousing system of the present disclosure includes:

At least one group of queue robots, including a target robot and at least one queue robot arranged behind the target robot, and the target robot is configured to perform a task at the current destination point;

a scheduling device configured to determine a target path for the target robot to travel to the next destination point, and start the target robot to travel along the target path to the next destination point, and start the queue when the start condition is met. The queuing robot behind the target robot follows the target robot until the target robot reaches the next destination point, or moves to a separation destination point where the queuing robot and the target robot are separated.

In one embodiment, the warehousing system includes at least two groups of robot queues;

The scheduling device is also configured to first brake at least two groups of robot queues when they reach a traffic control position and need to pass alternately, and then restart a high-priority group of robot queues to pass through the alternating area. point, and then restart a lower priority group of the robots in queue through alternating zone points.

In one embodiment, the target robot and the queuing robot are a shelf-carrying robot, a bin-carrying robot or a cargo-carrying robot.

In one embodiment, the target robot is configured to receive the goods at the current destination point, or to deliver the goods.

In a third aspect, the scheduling device of the present disclosure is suitable for a warehousing system that includes at least one group of queuing robots, including a target robot and at least one queuing robot behind the target robot, and the target robot is Configured to perform tasks at the current destination; characterized by,

The scheduling device is configured to determine a target path for the target robot to travel to the next destination point, and start the target robot to travel along the target path to the next destination point, and start scheduling when the startup condition is met. The queuing robot behind the target robot follows the target robot until the target robot reaches the next destination point, or travels to a separation destination point where the queuing robot and the target robot are separated.

One of the beneficial effects of the present disclosure is that when the warehousing system uses the above robot scheduling method, after the target robot and the queuing robot are started, the queuing robot always follows the target robot in sequence during the travel process, so that the distance between two adjacent robots in the robot queue is The connection time required to perform tasks between tasks is limited to a smaller range to improve the overall efficiency of the queue robot's task execution. In addition, compared with the following robot passively following the leading robot in the prior art, the robot queue of the present disclosure The middle queuing robot actively follows the target robot, which can maintain a smaller driving distance between two adjacent robots, thereby arranging a larger number of robots on the same area of the work surface, and reducing the time required for the robot queue to travel. time.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Figure 1 is a schematic structural diagram of the warehousing system of the present disclosure in one embodiment;

Figure 2 is a schematic flowchart of the main steps of the robot queue scheduling method of the present disclosure in one embodiment;

Figure 3 is a schematic flowchart of detailed steps of the robot queue scheduling method of the present disclosure in one embodiment.

The one-to-one correspondence between the names and reference marks of each component in Figure 1 is as follows:
10 target robots, 11 queuing robots, and 20 delivery cage trucks.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions, and numerical values set forth in these examples do not limit the scope of the disclosure unless otherwise specifically stated.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered a part of the specification.

In all examples shown and discussed herein, any specific values are to be construed as illustrative only and not as limiting. Accordingly, other examples of the exemplary embodiments may have different values.

It should be noted that similar reference numerals and letters refer to similar items in the following figures, so that once an item is defined in one figure, it does not need further discussion in subsequent figures.

In order to facilitate better understanding, the robot queue scheduling method of the warehousing system of the present disclosure will be described in detail below with reference to FIGS. 1 to 3 and embodiments. It should be noted that when describing the robot queue scheduling method of the warehousing system of the present disclosure, this article introduces the warehousing system and scheduling equipment of the present disclosure together, and will not describe them separately.

Referring to FIG. 1 , the warehousing system of the present disclosure includes at least one group of robot queues. Each group of robot queues includes a target robot 10 and at least one queuing robot sequentially arranged behind the target robot 11 .

It should be noted that the number of queuing robots can be two or more. When the number of queuing robots is greater than one, these queuing robots will be arranged sequentially after the target robot.

Among them, the robot of the present disclosure can be any kind of robot involved in the logistics industry, such as picking robots, handling robots, and orbital robots. Moreover, the mechanism that drives the robot to travel on the work surface can be an AGV transport vehicle or an AMR robot self-service mobile robot.

Among them, AGV (Automated Guided Vehicle, AGV for short) is equipped with electromagnetic or optical automatic navigation devices. It can navigate based on the QR code on the work surface and travel along the prescribed navigation path according to the dispatch of the central control system.

AMR robot (Automated Mobile Robot) is an automatic mobile robot that uses SLAM technology to sense its surrounding environment through sensors and does not require self-guided dispatching by a central control system.

SLAM (simultaneous localization and mapping) stands for real-time localization and map construction or concurrent mapping and positioning. Its main function is to allow robots to complete localization, mapping and path planning (Navigation) in unknown environments. .

Of course, the warehousing system also includes a site for these robots to run to perform tasks. The site can be in a building such as a warehouse. The site in the warehouse is artificially divided into different areas according to use needs, such as multiple work areas and storage areas. , transfer area, etc. Each workstation area is equipped with workbench for staff or automatic equipment to perform corresponding tasks. These workstation areas can be equipped with sorting workbench, sowing workbench, packaging workbench, tally workbench and other logistics Tasks commonly involved in storage systems, for example, the delivery cage 20 in Figure 1 is an implementation form in a sowing workbench. The above are all technologies known to those skilled in the art, and will not be listed one by one here.

At least one shelf is provided in the storage area, and boxes containing goods are placed on the shelf, or the goods are placed directly.

A robot queue composed of a target robot and at least one queue robot travels between the above-mentioned divided areas in response to instructions, and may operate between areas of the same type, such as traveling between two workstations. Of course, it can also be run between different types of areas, such as between the work area and the storage area. For ease of understanding and description, this article generally refers to these areas as destination points.

The target robot is a shelf-carrying robot, a bin-carrying robot or a cargo-carrying robot. Among them, the shelf-carrying robot is used to transport shelves between different destinations, the box-carrying robot is to transport boxes between different destinations, and the cargo-carrying robot is to transport goods between different destinations.

Queuing robots are also shelf-carrying robots, bin-carrying robots, cargo-carrying robots, sorting robots, or seeding robots. In the same robot queue, the target robot and the queuing robot can be robots of the same type. For example, both are shelf-carrying robots. . Of course, in the same robot queue, the target robot and the queuing robot can also be different types of robots. For example, one of the target robot and the queuing robot is a shelf-carrying robot, and the other is a bin-carrying robot. That is to say, the above three categories For the arrangement and combination of robots, those skilled in the art can choose the appropriate combination based on their own needs. This article will not give examples one by one here.

The warehousing system of the present disclosure also includes a scheduling device, which is used to send execution instructions to the target robots and queuing robots in the robot queue based on instructions from the user or the upper-level device, so that they execute these instructions to ultimately complete the user or upper-level device. Tasks included in the instructions for Level 1 equipment.

The scheduling device includes paths between destination points stored in the warehousing system. Based on the tasks that the robot needs to perform, the scheduling device will select the best path as the target path based on factors such as path distance and length and send it to the corresponding robot, and then send a startup message to the robot. Instruct and set the corresponding acceleration to the robot so that the robot can travel along the target path at the set speed.

Based on the above warehousing system, see Figure 2, the robot queue scheduling method of the warehousing system provided by the present disclosure includes the following main steps:

S2. Start the target robot to travel along the target path to the next destination point, and when the startup conditions are met, start the queue robot behind the target robot to follow the target robot until the target robot reaches the next destination point, or travel to the queue robot and the target The separation destination point for robot separation.

It should be noted that the queuing robots following the target robot referred to in this article refer to one or more queuing robots that are arranged behind the target robot in order in a robot queue, where the orientation words "front, back" " is set based on the direction of travel of the target robot. The direction of movement of the robot pointing toward the target is forward, and the direction of movement of the robot facing away from the target is rear.

Among them, the starting conditions that need to be met to start the queuing robot in step S2 are: maintaining a safe driving distance between two adjacent robots to avoid collision between two adjacent robots and ensure the safety and reliability of the robot queue.

Obviously, when the warehousing system uses the above robot scheduling method, the target robot and the queuing robot are started at the same time, and the queuing robot always follows the target robot in sequence during the travel process, so that the task execution time between two adjacent robots in the robot queue is The required connection time is limited to a smaller range to improve the overall efficiency of the queue robot's task execution. In addition, compared with the following robot passively following the leading robot in the prior art, the queuing robot in the robot queue of the present disclosure actively follows the target robot, which can maintain a smaller driving distance between two adjacent robots, thereby enabling A larger number of robots can be arranged on the same working surface, and the time required for the robot queue to travel can be reduced.

Of course, in order to ensure the safety and reliability of the robot queue, in step S2, when the target robot reaches the next destination point and stops, the queue robots following the target robot are controlled to also stop when the shutdown conditions are met. When describing the shutdown conditions that need to be met for the queuing robot to stop: maintain a safe driving distance between two adjacent robots to avoid the safety problem of a collision between two vehicles caused by the target robot having stopped but the queuing robot still moving due to inertia.

It should be noted that, based on the warehousing system described above, the robot queue scheduling method of the present disclosure can be executed by the scheduling device.

That is to say, after the target robot completes the task at the current destination point, the scheduling device determines the target path for the target robot to travel to the next destination point; then, the scheduling system starts the target robot to travel along the target path to the next destination point, and when When the starting condition is used, the queuing robot behind the target robot is started to follow the target robot until the target robot reaches the next destination point, or to the separation destination point where the queuing robot and the target robot are separated.

Of course, the robot queue scheduling method of the present disclosure can also be executed by the user, or can also be executed by the control server of the warehousing system. Those skilled in the art can select the most appropriate execution subject based on the specific structure of the warehousing system, which is no longer limited here.

For better understanding, the robot queue scheduling method of the present disclosure will be described in detail below with reference to Figure 3 and an application scenario.

Application scenarios

In this application scenario, the task performed by the target robot at the current destination point is to receive goods. The robot queue scheduling method of the present disclosure includes the following steps:

S10. When the task completed by the target robot at the current destination point is to receive goods, determine the target path that the target robot will travel to the next destination point.

It should be noted that in this application scenario, the next destination point can be the designated point of the received goods information, or the designated transfer point for the target robot. Among them, the designated point of the information about the received goods is the docking point where the goods need to be received. The designated transfer point for the target robot is It means that the dispatching system does not need to be the final receiving point for tasks given to the robot. This transfer point refers to a transfer point where the robot is allowed to go to some transfer locations due to route planning and other reasons, and then waits for new instructions from the dispatching system.

As mentioned above, the scheduling device stores multiple paths from the current destination to the next destination. The scheduling device selects one of these paths as the target path based on various factors such as path length, and sets the destination The path is sent to the target robot.

After the scheduling device sends the target path to the target robot, the target robot and the queuing robot can be started directly at the same time. However, if the target robot and the queuing robot do not meet the synchronous operation conditions, starting them directly will cause a safety accident.

To this end, when the warehousing system of the present disclosure satisfies the synchronous operation conditions of the target robot and the queuing robot, the robot queue scheduling method performs the step of simultaneously starting the target robot and the queuing robot. That is, after step S10, the robot queue scheduling method of the present disclosure includes the following steps:

S11. Determine whether the conditions for the target robot and the queuing robot to run synchronously are met;

In detail, one of the conditions for the target robot and the queuing robot to run synchronously is:

(1) The target path is an available path.

As described above, the target path is a path selected by the scheduling device that meets the user's requirements from multiple paths stored in the current destination point to the next destination point. In actual usage scenarios, the target path selected by the scheduling device may be in a state of temporary failure or maintenance and become unavailable, but the information stored in the scheduling device is not updated in a timely manner. If the robot queue travels along this target path, it will be forced to stop midway or a safety accident will occur and it will be unable to complete the corresponding task.

Therefore, in the robot queue scheduling method of the present disclosure, the target robot and the queuing robot are started at the same time only after confirming that the target path is available, so as to ensure the safety and reliability of the robot queue.

The second condition for the target robot and the queuing robot to meet the synchronization operation is:

(2) Both the target robot and the queuing robot can operate normally.

As mentioned before, after starting the target robot and the queuing robot at the same time, the queuing robot will run synchronously with the target robot. If the target robot or any queuing robot cannot start normally due to its own fault, the queuing robot at the rear will start normally. A collision with the target robot or queue robot in front causes a safety accident.

For this reason, in the robot queue scheduling method of the present disclosure, only after confirming that both the target robot and the queuing robot can operate normally, the target robot and the queuing robot are started at the same time to ensure the safety and reliability of the robot queue.

It should be noted that when the warehousing system of the present disclosure meets either of the above conditions (1) and (2), the target robot and the queuing robot can run synchronously, or when the above conditions (1) and (2) are met at the same time, the target robot Robots and queuing robots can run simultaneously.

When step S11 determines that the conditions for the target robot and the queuing robot to operate synchronously are met, step S20 is executed. Otherwise, step S21 is executed to issue a fault alarm.

S20. Start the target robot and the queue robot and set the same speed parameters for the target robot and the queue robot, so that the target robot and the queue robot travel at the same speed.

After the target robot and the queuing robot start traveling, if the distance between two adjacent robots in the robot queue is less than the preset safe operating distance, there is a risk that the two robots will collide and cause a safety accident.

To this end, during the process of the queuing robot traveling according to the target robot, the present disclosure also includes the following steps:

S21. When it is detected that the distance between the target robot and the queuing robot, and/or the distance between two adjacent queuing robots is less than the preset safe operating distance, the queuing robot at the rear brakes until it reaches the safe operating distance and then restarts to continue following up.

It should be noted that the execution subject that detects the distance between the target robot and the queuing robot, and/or the distance between two adjacent queuing robots, can be a scheduling device, and then the scheduling device commands the queuing robot at the back to brake or restart to follow up. .

Of course, the execution subject that detects the distance between the target robot and the queuing robot, and/or the distance between two adjacent queuing robots, can also be the distance detection element of the rear queuing robot. Based on the detection structure of the distance detection element, The queuing robot at the back automatically follows up or restarts on its own.

Obviously, adding this step to the robot queue scheduling method of the present disclosure ensures a safe operating distance between robots in the robot queue, thereby improving the overall operational reliability and safety of the warehousing system.

It can be understood that if there is no traffic control point in the target path selected by the scheduling device for the robot queue, the target robot and the queuing robot in the robot queue can successfully reach the same next destination point, or reach the respective next destinations of the target robot and the queuing robot. Destination point, where the next destination point of the queuing robot can be its separation point from the robot queue.

In some application scenarios, there are traffic control points in the target path, and the warehousing system includes at least two groups of robot queues. At least two groups of robot queues need to alternately pass at the traffic control point. Alternate passage means that the traveling directions of at least two groups of robot queues intersect. , such as a group of robots queued along Traveling in the north-south direction, the other group of robots travels in the east-west direction.

In this application scenario, the robot scheduling method of the present disclosure executes step S22. The scheduling device first brakes at least two groups of robot queues, then restarts a group of high-priority robot queues to pass through the alternating area point, and then restarts a group of low-priority robot queues. Group robots queue through alternating zone points.

It should be noted that the passing priority of the robot queue can be set based on factors such as the number of robots in the robot queue and the importance of tasks performed by the robot queue.

For example, the scheduling device can first let the robot queue with a smaller number of robots pass through the alternating area point, and then let the robot queue with a larger number of robots pass through the alternating area point.

For another example, the scheduling device can first let the queue of robots with higher task importance pass through the alternating area point, and then let the queue of robots with lower priority task pass through the alternating area point.

In this way, the problem of alternating communication when the robot queue passes through the traffic control position when traveling along the target path can be cleverly solved, and the scheduling problem of multiple groups of robot queues in the warehousing system can be solved well, so that the overall warehousing system can operate in an orderly and efficient manner.

S23. When the target robot reaches its next destination point, the scheduling device brakes the target robot and the queuing robot.

In detail, since the target robot carries goods in this application scenario, a delivery workstation can be set up at the next destination point. The dispatching device brakes the target robot in the work area where the delivery workstation is located, and simultaneously brakes the queuing robot behind it, and then the The target robot performs the delivery task or the user manually delivers the goods on the target robot to a carrier such as a delivery cage or shelf.

After the target robot completes its task of delivering goods, the destination point where the target robot is located is reset to the current destination point. The warehousing system repeatedly executes the robot scheduling method of the present disclosure and starts the queuing robot behind the target robot to perform delivery. After the mission, follow the target robot to the next destination point. In this scenario, the next destination point of the target robot is the work station to which the target robot can return, or the designated transfer point for the target robot.

The embodiments of the present disclosure have been described above. The above description is illustrative, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements in the market of the embodiments, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the disclosure is defined by the appended claims.

Claims

A robot queue scheduling method for a warehousing system. The warehousing system includes at least one group of robot queues. Each group of robot queues includes a target robot (10) and at least one queuing robot behind the target robot (10). (11), the method includes the following steps:

S1. After the target robot (10) completes the task at the current destination point, determine the target path for the target robot (10) to travel to the next destination point;

S2. Start the target robot (10) to travel along the target path to the next destination point, and when the starting conditions are met, start the queuing robot (11) behind the target robot (10) to follow the target robot. (10) Travel to the next destination point where the target robot (10) reaches the next destination point, or proceed to a separation destination point where the queuing robot and the destination robot (10) are separated.
According to the robot queue scheduling method of claim 1, the starting condition that needs to be met to start the queuing robot (11) in step S2 is: maintaining a safe driving distance between two adjacent robots.
According to the robot queue scheduling method of claim 1, in step S2, when the target robot (10) reaches the next destination point and stops, the queue robot (10) following the target robot (10) is controlled when the stop condition is met. 11) Also stop the machine and control the shutdown conditions that need to be met when the queuing robot (11) is stopped: maintain a safe driving distance between two adjacent robots.
The robot queue scheduling method according to claim 1, in step S1, when the task completed by the target robot (10) at the current destination point is to receive goods, the next destination point of the target robot (10) is A designated point of information about the received goods, or a designated transfer point for the target robot (10).
The robot queue scheduling method according to claim 1, in step S1, when the When the task completed by the target robot (10) at the current destination point is to deliver goods, the next destination point of the target robot (10) is a work station to which the target robot (10) can return, or a work station to which the target robot (10) can return. The transfer point designated by the robot (10).
The robot queue scheduling method according to claim 1, the prerequisite for executing step S2 is that both the target robot (10) and the queuing robot (11) meet synchronous operation conditions, and the synchronous operation conditions at least include the following conditions one of:

(1) The target path is an available path;

(2) Both the target robot (10) and the queuing robot (11) can operate normally.
According to the robot queue scheduling method of claim 1, in step S2, the same acceleration is set to the target robot (10) and the queuing robot (11) when starting.
The robot queue scheduling method according to claim 1, in step S2, when the queuing robot (11) follows the target robot (10), it detects the target robot (10) and the queuing robot. (11), or when the distance between two adjacent queuing robots (11) is less than the preset safe operating distance, the queuing robot (11) located at the rear brakes until it reaches the safe operating distance and then restarts to continue following up.
According to the robot queue scheduling method according to any one of claims 1 to 8, when the warehousing system includes at least two groups of robot queues, in step S2, when at least two groups of robot queues run to the traffic control position and need to pass alternately , first brake at least two groups of the robot queues, then restart a group of high-priority robot queues to pass through the alternating area points, and then restart a group of low-priority robot queues to pass through the alternating area points.
A warehousing system, the warehousing system includes:

At least one group of queue robots (11) includes a target robot (10) and at least one queue robot (11) behind the target robot (10), and the target robot (10) is configured to Execute the task at the destination point;

A scheduling device configured to determine a target path for the target robot (10) to travel to a next destination point, and to start the target robot (10) to travel along the target path to the next destination point, and when In the starting condition, the queuing robot (11) behind the target robot (10) is started to follow the target robot (10) and travel to the target robot (10) to reach the next destination point, or to travel to the queuing robot. (11) A separate destination point separated from the target robot (10).
The warehousing system according to claim 10, said warehousing system comprising at least two groups of said robot queues;

The scheduling device is also configured to first brake at least two groups of robot queues when they reach a traffic control position and need to pass alternately, and then restart a high-priority group of robot queues to pass through the alternating area. point, and then restart a lower priority group of the robots in queue through alternating zone points.
According to the warehousing system of claim 10, the target robot (10) and the queuing robot (11) are shelf-carrying robots, bin-carrying robots or cargo-carrying robots.
According to the warehousing system of claim 10, the target robot (10) is configured to receive goods at a current destination point, or to deliver goods.
A scheduling device for a warehousing system. The warehousing system includes at least one group of queue robots, including a target robot (10) and at least one queue robot (11) behind the target robot (10), and the The target robot (10) is configured to perform the task at the current destination point;

The scheduling device is configured to determine a target path for the target robot (10) to travel to a next destination point, and to start the target robot (10) to travel along the target path to the next destination point, and in When the starting conditions are met, the queuing robot (11) behind the target robot (10) is started to follow the target robot (10) and travel to the target robot (10) to reach the next destination point, or to the queuing robot (11). A separation destination point where the robot (11) and the target robot (10) are separated.
The scheduling device according to claim 14, the warehousing system includes at least two groups of the robot queues;

The scheduling device is also configured to first brake at least two groups of robot queues when they reach a traffic control position and need to pass alternately, and then restart a high-priority group of robot queues to pass through the alternating area. point, and then restart a lower-priority group of the robot queues through alternating zone points.