The invention relates to the field of multi-
robot cooperative scheduling, and discloses a multi-
robot cooperative scheduling unmanned underground mechanical garage
system and method, and the
system comprises a hardware subsystem which comprises a transfer
robot, a
parking space frame, a vertical
elevator, and an entrance and exit
junction area; the
control system is deployed in the central control
server, and the
control system comprises a multi-layer
dynamic data grid generation module which is used for constructing a discretized
data grid corresponding to a garage
physical space; and the central data calculation module is used for continuously updating the data of each data layer in the multi-layer
dynamic data grid according to the real-time state of the garage. In the regional congestion degree and traffic
control layer, the congestion index is calculated according to the density, the speed variance and the dispersion in the movement direction of the transfer robot, and the task
gravitation modulation coefficient is generated, so that the tendency of the robot to enter the crowded region is reduced, the adaptive dispersion of the
traffic flow is promoted, and the continuity of garage operation is maintained.