Robot Scheduling Method, Device, Controller, System and Storage Medium

Abstract

A robot scheduling method, device, controller, system and storage medium provided by an embodiment of the present invention belong to the field of robot control. Among them, the method includes obtaining task information; determining a target working position based on the task information; determining, based on the target working position, a target robot that is the closest to the target working position from at least two candidate robots in the warehousing system; and sending the task information to the target robot so that the target robot executes corresponding tasks according to the task information. The present invention reduces the time consumed for the robot to reach the working position and improves the working efficiency of the robot.

Description

Technical Field

[0001] The present invention relates to the field of robot control, and particularly to a robot scheduling method, device, controller, system, and storage medium. Background Art

[0002] With the rise of large-scale automated warehouses, in-warehouse automated scheduling has become an important indicator for efficiency improvement. The existing robot scheduling rule is to randomly schedule idle robots, resulting in too long a time for robots to reach the working area due to the overly large in-warehouse space. Summary of the Invention

[0003] The main objective of the present invention is to provide a robot scheduling method, device, controller, system, and storage medium, aiming to solve the technical problem that when the existing robot scheduling rule only considers the scheduling of idle devices, the time for robots to reach the working area is too long due to the overly large warehouse.

[0004] To achieve the above objective, the present invention provides a robot scheduling method for a controller in a warehousing system. The method includes:

[0005] Obtain task information;

[0006] Based on the task information, determine a target working position;

[0007] Based on the target working position, determine a target robot closest to the target working position from at least two candidate robots in the warehousing system;

[0008] Send the task information to the target robot so that the target robot performs corresponding tasks according to the task information.

[0009] Optionally, before the step of determining a target robot closest to the target working area from at least two candidate robots in the warehousing system based on the target working area, the method further includes:

[0010] Screen out at least one idle-time robot from at least two candidate robots;

[0011] The step of determining a target robot closest to the target working position from at least two candidate robots in the warehousing system based on the target working position specifically includes:

[0012] Based on the target working position, determine a target robot closest to the target working position from the idle-time robots in the warehousing system.

[0013] Optionally, the warehouse site corresponding to the warehousing system is divided into multiple working areas, where the working area includes multiple working positions;

[0014] After the step of determining the target working position based on the task information, the method further includes:

[0015] Based on the target working position, determine a target working area including the target working position;

[0016] The step of determining, based on the target working position, a target robot with the shortest distance to the target working position from the idle robots in the warehousing system specifically includes:

[0017] If a target robot with the shortest distance to the target working position is determined from the idle robots in the target working area based on the target working position.

[0018] Optionally, the multiple working areas are divided into multiple passage areas and multiple shelf areas. Among them, the passage area corresponds to a preset traveling direction. Before the step of sending the task information to the target robot so that the target robot performs corresponding tasks according to the task information, the method further includes:

[0019] Based on the current position of the target robot, the task information, and the preset traveling direction of each passage area, determine the target working path of the target robot;

[0020] The step of sending the task information to the target robot so that the target robot performs corresponding tasks according to the task information specifically includes:

[0021] Send the task information and the target working path to the target robot so that the target robot performs corresponding tasks according to the task information along the target working path.

[0022] Optionally, before the step of determining the target working path of the target robot based on the current position of the target robot, the task information, and the preset traveling direction, the method further includes:

[0023] Screen out at least one busy area from the multiple working areas; where the busy area is a working area in the current area where the number of non-idle robots is greater than a preset number threshold.

[0024] The step of determining the target working path of the target robot based on the current position of the target robot, the task information, and the preset traveling direction specifically includes:

[0025] Determine a first target working path based on the current position of the target robot, the task information, and the preset traveling direction;

[0026] Determine whether the first target working path passes through the busy area;

[0027] If it passes through the busy area, adjust the first target working path to obtain a second target working path; wherein, the second target working path is the working path after avoiding the busy area;

[0028] The step of sending the task information and the target working path to the target robot so that the target robot executes corresponding tasks according to the task information along the target working path specifically includes:

[0029] Send the task information and the second target working path to the target robot so that the target robot executes corresponding tasks according to the task information along the second target working path.

[0030] Optionally, after the step of determining whether the first target working path passes through the busy area, the method further includes:

[0031] If it does not pass through the busy area, send the task information and the first target working path to the target robot so that the target robot executes corresponding tasks according to the task information along the first target working path.

[0032] In addition, to achieve the above object, the present invention further provides a robot scheduling device, and the device includes:

[0033] A task acquisition module, configured to acquire task information;

[0034] A position determination module, configured to determine a target working position based on the task information;

[0035] A robot determination module, configured to determine, based on the target working position, a target robot that is the closest to the target working position from at least two candidate robots in the warehousing system;

[0036] A task sending module, configured to send the task information to the target robot so that the target robot executes corresponding tasks according to the task information.

[0037] In addition, to achieve the above object, the present invention further provides a controller, and the controller includes:

[0038] A memory, a processor, and a robot scheduling program stored on the memory and executable on the processor, and when the robot scheduling program is executed by the processor, the steps of the robot scheduling method as described above are implemented.

[0039] In addition, to achieve the above object, the present invention further provides a warehousing system, and the system includes:

[0040] Warehouse;

[0041] A controller, the controller being configured as the above-mentioned controller;

[0042] At least one robot connected to the controller.

[0043] In addition, to achieve the above object, the present invention also provides a computer storage medium, on which a robot scheduling program is stored. When the robot scheduling program is executed by a processor, the steps of the above-mentioned robot scheduling method are implemented.

[0044] A robot scheduling method, device, controller, system and storage medium provided by an embodiment of the present invention. Among them, the method includes obtaining task information; determining a target working position based on the task information; determining, based on the target working position, a target robot that is the closest to the target working position from at least two candidate robots in the warehousing system; and sending the task information to the target robot so that the target robot executes corresponding tasks according to the task information.

[0045] Thus, the present invention determines a working position by obtaining task information, selects a target robot that is the closest to the target working position from at least two candidate robots according to the working position, and controls the target robot to execute corresponding tasks, thereby reducing the time consumed for the robot to reach the working position and improving the working efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Schematic structural diagram of the first embodiment of the warehousing system of the present invention;

[0047] Figure 2 Schematic structural diagram of the first embodiment of the robot of the present invention;

[0048] Figure 3 Schematic flowchart of the first embodiment of the robot scheduling method of the present invention;

[0049] Figure 4 Schematic block diagram of the first embodiment of the robot scheduling device of the present invention;

[0050] Figure 5 Schematic diagram of the traveling direction within the passing area of the present invention.

[0051] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0053] The main solution of the embodiment of the present invention is as follows: obtaining task information through a controller; determining a target working position based on the task information; determining, based on the target working position, a target robot that is the closest to the target working position from at least two candidate robots in the warehousing system; and sending the task information to the target robot so that the target robot performs corresponding tasks according to the task information.

[0054] With the rise of large-scale automated warehouses, the automated scheduling in the warehouse has become an important indicator for efficiency improvement. However, the existing robot scheduling rule is to randomly schedule idle robots. Due to the large size of the warehouse, it may cause too long time for the robot to reach the working area, resulting in the problem of low working efficiency of the robot.

[0055] The present invention provides a solution. By obtaining the task information, determining the working position, selecting, according to the working position, a target robot that is the closest to the target working position from at least two candidate robots, and controlling the target robot to perform corresponding tasks, the time consumed for the robot to reach the working position is reduced, and the working efficiency of the robot is improved.

[0056] Refer to Figure 1 , Figure 1 which is a schematic structural diagram of the first embodiment of the warehousing system of the present invention. As Figure 1 shown, the system may include a controller 11, a network 12, a robot 13, and a warehouse 14.

[0057] Among them, the warehouse 14 is the warehouse site corresponding to the warehousing system of the present invention. It can be understood that the warehouse includes a controller and at least two robots.

[0058] The controller 11 may be a physical PC server, a virtual server hosted by a host cluster, or even an embedded server. During operation, the controller 11 may run a robot scheduling program to implement the relevant steps of the method.

[0059] The network 12 may include various types of wireless networks. In one embodiment, the network 12 may include a Wireless-FIdelity (WIFI) network. The robot 13 may interact with the controller 11 through the network 12.

[0060] The robot 13 may include various types of automated guided vehicles. In one embodiment, the robot may be an AGV cart. During operation, the robot 13 may receive relevant instructions sent by the controller and perform corresponding tasks in the warehouse.

[0061] Based on the above warehousing system, refer to Figure 2 ,Figure 2 This is a schematic structural diagram of the first embodiment of the robot of the present invention. The robot may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, an operator interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The operator interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the operator interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (WI-FI) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0062] Those skilled in the art can understand that Figure 2 the structure shown in does not constitute a limitation on the robot, and it may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0063] As Figure 2 shown, the memory 1005, as a storage medium, may include an operating system, a data storage module, a network communication module, an operator interface module, and an electronic program.

[0064] In Figure 2 the robot shown in , the network interface 1004 is mainly used for data communication with a network server; the operator interface 1003 is mainly used for data interaction with an operator; the processor 1001 and the memory 1005 in the robot of the present invention may be arranged in the robot. The robot calls a robot scheduling program stored in the memory 1005 through the processor 1001 and executes the robot scheduling method provided in the embodiments of the present application.

[0065] Based on the above robot, referring to Figure 3 Figure 3 This is a schematic flowchart of the first embodiment of the robot scheduling method of the present invention. The method includes:

[0066] Step S10, obtaining task information;

[0067] Among them, the task information may include: a task of stocking on a target shelf, a picking task, etc.

[0068] Specifically, an operator can send corresponding tasks to the controller through a workstation in the warehousing system.

[0069] Furthermore, when the operator sends a task, the starting point and the destination of the task are determined.

[0070] It can be understood that in this embodiment, after the operator sends a task, the controller sequentially obtains the task information sent by the operator.

[0071] Step S20: Based on the task information, determine the target working position;

[0072] Among them, the target working position is the starting point of the task selected by the operator.

[0073] Specifically, the controller obtains the starting point of the task based on the task information, and determines the target working position based on the starting point of the task.

[0074] It can be understood that in order to locate the positions in the warehouse faster and more accurately, the operator can divide the warehouse site into multiple coordinate points according to the coordinate axes, and the target working position is the position coordinate corresponding to the starting point of the task.

[0075] Step S30: Based on the target working position, determine the target robot with the shortest distance to the target working position from at least two candidate robots in the warehousing system;

[0076] It can be understood that the robots in the warehouse can real-time feedback the current positions of the robots. As an alternative implementation, a plurality of robot positioning tags are arranged in an array in the warehouse site, and the robot can accurately determine its current position by scanning the positioning tags.

[0077] Furthermore, by calculating the coordinates of the current position of the robot and the coordinates of the target working position, the distance between the robot and the target working position can be quickly obtained. For example, if the coordinates of the target working position are (1,1), the coordinates of the current position of robot A are (2,2), then the distance between robot A and the target working position can be obtained as 2. If the coordinates of the current position of robot B are (2,1), then the distance between robot B and the target working position can be obtained as 1. If the coordinates of the current position of robot C are (1,3), then the distance between robot C and the target working position can be determined as 2.

[0078] Further, compare the distances between all the robots in the storage system and the target working position respectively, and determine the target robot with the shortest distance to the target working position. For example, the distance between robot A and the target working position is 2, the distance between robot B and the target working position is 1, and the distance between robot C and the target working position is 2. At this time, it can be determined that the distance between robot B and the target working position is the shortest, so robot B is determined as the target robot.

[0079] Step S40: Send the task information to the target robot so that the target robot performs corresponding tasks according to the task information.

[0080] Among them, the task information may include the starting point of the task, the destination of the task, and the task type.

[0081] After receiving the task information, the target robot goes to the starting point of the task and performs corresponding tasks according to the task type.

[0082] It can be understood that when performing a handling task, the items to be handled at the starting point of the task can be transported to the destination of the task.

[0083] When performing a shelf sorting task, the shelves at the starting point of the task can be sorted. At this time, the destination of the task is the same as the starting point of the task.

[0084] In this embodiment, the task information is obtained through the controller; based on the task information, the target working position is determined; based on the target working position, the target robot with the shortest distance to the target working position is determined from at least two candidate robots in the storage system; the task information is sent to the target robot so that the target robot performs corresponding tasks according to the task information.

[0085] Thus, the present invention determines the working position through the obtained task information, selects the target robot with the shortest distance to the target working position from at least two candidate robots according to the working position, and controls the target robot to perform corresponding tasks, thereby reducing the time consumed by the robot to reach the working position and improving the working efficiency of the robot.

[0086] Based on the first embodiment of the robot scheduling method described above, a second embodiment of the robot scheduling method of the present invention is proposed. It can be understood that the robot with the shortest distance may be performing other tasks. Therefore, as an alternative embodiment.

[0087] Before step 30, the method further includes:

[0088] Step S201: Screen out at least one idle robot from at least two candidate robots;

[0089] It can be understood that the robot can also feedback the real-time state to the controller, for example, being in a working state or an idle state.

[0090] Furthermore, the controller screens out the robots in the idle state from the states feedback by all the robots in the warehouse, and the robots in the idle state are the idle robots.

[0091] Still further, step 30 specifically includes:

[0092] Step S301, based on the target working position, determine the target robot closest to the target working position from the idle robots in the warehousing system.

[0093] It can be understood that in this embodiment, the controller determines the idle robot closest to the target working position from multiple idle robots, and this idle robot is the target robot.

[0094] In this embodiment, by screening out at least one idle robot from at least two candidate robots and determining the target robot closest to the target working position from the idle robots in the warehousing system based on the target working position, the working efficiency of the robot is improved and the conflict in the execution of robot tasks is avoided.

[0095] Based on the above embodiment, a third embodiment of the robot scheduling method of the present invention is proposed. It is not difficult to find that after selecting multiple idle robots, there are still cases where multiple idle robots are at the same distance from the target working position. As an alternative embodiment,

[0096] After step S20, the method further includes:

[0097] Step S202, based on the target working position, determine the target working area including the target working position;

[0098] It should be noted that the operator can divide the warehouse site corresponding to the warehousing system into multiple working areas in advance according to a preset size. Among them, each working area includes multiple working positions, that is, each position corresponds to a working area.

[0099] Specifically, the warehouse site can be divided into multiple working areas according to a size of 20*20. Each working area includes 400 working positions, that is, includes 400 position coordinates. For example, working area A includes the area from (1,1) to (20,20), working area B includes (21,1) to (40,20), working area C includes (1,21) to (20,40), and working area D includes (21,21) to (40,40). If the target working position is (25,25), then the target working area is determined to be working area D.

[0100] Further, step S301 specifically includes:

[0101] Step S3011, if based on the target working position, determine the target robot with the shortest distance to the target working position from the idle robots in the target working area.

[0102] Specifically, the working area where the robot is located can be determined by obtaining the position information of the robot. For example, if the current position of robot A is (25, 20), it is determined that robot A is in working area B and the distance to the target working position is 5. If the current position of robot B is (25, 30), it is determined that robot B is in working area D and the distance to the target working position is 5. At this time, although the distances of both robot A and robot B to the target working position are 5, since both robot B and the target working position are in working area D, robot B is determined as the target robot.

[0103] Based on the above embodiments, the fourth embodiment of the robot scheduling method of the present invention is proposed. It can be understood that there may be a situation where there are no idle robots in the warehousing system.

[0104] As an alternative embodiment, after step S301, the method further includes:

[0105] Step S302, when there are no idle robots in the system, the controller obtains the current position of the robot and the destination position of the current task;

[0106] Specifically, when the working states of all robots obtained by the controller are in the working state, it is determined that there are no idle robots in the system.

[0107] Further, the controller obtains the current position of the robot and the destination position of the task that the robot is currently executing.

[0108] Step S303, and determine the distance to be completed according to the current position and the destination position of the current task.

[0109] Specifically, the controller determines the distance to be completed according to the current position coordinates and the destination position coordinates of the task that is currently being executed. For example, if the destination position coordinates of the task that robot A is currently executing are (2, 2) and the current position coordinates of robot A are (2, 3), then the distance to be completed at this time is 1.

[0110] Step S304, determine the new task distance according to the destination position of the task that the robot is currently executing and the target working position, and add the distance to be completed and the new task distance to obtain the actual required distance.

[0111] Specifically, the controller determines the new task distance based on the destination position of the task currently being executed by the robot and the target working position. For example, if the coordinate of the destination position of the task currently being executed by robot A is (2, 2) and the coordinate of the target working position is (1, 1), then the new task distance is 2 at this time.

[0112] Further, the controller adds the distance to be completed and the new task distance to obtain the actual required distance. For example, if the distance to be completed by robot A is 1 and the new task distance of robot A is 2, then the actual required distance of robot A is 3 at this time.

[0113] Step S305, by comparing the actual required distances, determine the robot with the closest actual required distance as the target robot.

[0114] Specifically, the controller determines the non-idle robot with the closest distance to the target working position as the target robot by comparing the actual required distances of multiple non-idle robots.

[0115] Based on the above embodiments, a fifth embodiment of the present invention is proposed. Before step S40, the method further includes:

[0116] Step S31, based on the current position of the target robot, the task information, and the preset traveling directions of each of the channel areas, determine the target working path of the target robot;

[0117] Specifically, the operator previously divides multiple working areas into multiple channel areas and multiple shelf areas respectively.

[0118] Among them, the channel area corresponds to a preset traveling direction. It can be understood that the robot can only travel within the channel area and can only travel in accordance with the preset traveling direction. The specific traveling direction can be referred to Figure 5 as shown.

[0119] Further, since the robot can only travel within the channel area and can only travel in accordance with the preset traveling direction, there is an optimal path for the robot to travel from the current position to the target working position and from the target working position to the destination of the task. It should be noted that the optimal path is the target working path.

[0120] Step S40 specifically includes:

[0121] Step S401, send the task information and the target working path to the target robot, so that the target robot executes the corresponding task according to the task information along the target working path.

[0122] Specifically, the controller sends the task information and the target working path to the target robot. After receiving the task information and the target working path, the robot travels to the target working position according to the target working path and goes to the destination of the task from the target working position according to the target working path.

[0123] In this embodiment, based on the current position of the target robot, the task information, and the preset traveling directions of each of the channel areas, the target working path of the target robot is determined, and the task information and the target working path are sent to the target robot, so that the target robot executes corresponding tasks according to the task information along the target working path. The implementation of traveling along the established traveling direction avoids conflicts among multiple robots on the path and improves the working efficiency of the robots.

[0124] Based on the above embodiment, a sixth embodiment of the present invention is proposed. In this embodiment, before step S31, the method further includes:

[0125] Step S21, screening out at least one busy area from multiple working areas;

[0126] Wherein, the busy area is a working area in which the number of non-idle robots in the current area is greater than a preset number threshold.

[0127] Specifically, the non-idle robot can be a robot that is executing a task. When the number of non-idle robots in a working area is greater than the preset number threshold, the current working area is determined to be a busy area.

[0128] Further, step S31 specifically includes:

[0129] Step S311, determining a first target working path based on the current position of the target robot, the task information, and the preset traveling direction;

[0130] In this embodiment, since the robot can only travel within the channel area and can only travel in the preset traveling direction, there is an optimal path for the robot to travel from the current position to the target working position and from the target working position to the destination of the task. It should be noted that the optimal path is the first target working path.

[0131] Step S312, determining whether the first target working path passes through the busy area;

[0132] Specifically, as a preferred implementation manner, if the number of coordinates on the first target working path that coincide with the coordinates of the busy area is greater than a preset value, it is determined that the first target working path passes through the busy area.

[0133] Further, if step S313 passes through the busy area, adjust the first target working path to obtain a second target working path;

[0134] Wherein, the second target working path is the working path after avoiding the busy area;

[0135] In this embodiment, since the robot can only travel within the channel area and can only travel in a preset traveling direction, the robot has another optimal path when traveling from the current position to the target working position, from the target working position to the destination of the task, and avoiding the busy area. It should be noted that the optimal path is the second target working path.

[0136] Step S401 specifically includes:

[0137] Step S4011, send the task information and the second target working path to the target robot, so that the target robot executes the corresponding task according to the task information along the second target working path.

[0138] Specifically, the controller sends the task information and the second target working path to the target robot. After receiving the task information and the second target working path, the robot travels to the target working position along the second target working path, and travels to the destination of the task from the target working position according to the first target working path.

[0139] As another implementation manner, in step S314, if it does not pass through the busy area, execute step S4012.

[0140] Specifically, if the number of steps of the coordinates on the first target working path that coincide with the coordinates of the busy area is greater than a preset value, it is determined that the first target working path does not pass through the busy area. At this time, execute step S4012.

[0141] Step S4012, send the task information and the first target working path to the target robot, so that the target robot executes the corresponding task according to the task information along the first target working path.

[0142] Specifically, the controller sends the task information and the first target working path to the target robot. After receiving the task information and the first target working path, the robot travels to the target working position along the first target working path, and travels to the destination of the task from the target working position according to the first target working path.

[0143] Based on the above method embodiments, refer to Figure 4 , Figure 4This is the block diagram of the first embodiment of the robot scheduling device of the present invention. In this embodiment, the device includes:

[0144] A task acquisition module, configured to acquire task information;

[0145] A position determination module, configured to determine a target working position based on the task information;

[0146] A robot determination module, configured to determine, based on the target working position, a target robot that is closest to the target working position from at least two candidate robots in the warehousing system;

[0147] A task sending module, configured to send the task information to the target robot, so that the target robot executes corresponding tasks according to the task information.

[0148] For other embodiments and specific implementation manners of the robot scheduling device of the present application, reference may be made to the above method embodiments, which will not be elaborated herein.

[0149] In addition, to achieve the above object, the present invention further provides a computer-readable storage medium, on which a robot scheduling program is stored. When the robot scheduling program is executed by a processor, the steps of the robot scheduling method as described in the foregoing method embodiments are implemented. Therefore, it will not be elaborated herein. In addition, the beneficial effects of adopting the same method will not be described again. For the technical details not disclosed in the embodiments of the computer-readable storage medium involved in the present application, please refer to the description of the method embodiments of the present application. By way of example, the program instructions can be deployed to be executed on one computing device, or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network.

[0150] Those of ordinary skill in the art can understand that all or part of the processes of implementing the above method embodiments can be completed by instructing relevant hardware through a computer program. The above program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. Among them, the above storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0151] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be included in the patent protection scope of the present invention by the same token.

Claims

1. A robot scheduling method, characterized in that, For a controller in a warehousing system, the method includes: Obtain task information; Based on the task information, determine a target working position; Based on the target working position, determine a target robot that is closest to the target working position from at least two candidate robots in the warehousing system; Send the task information to the target robot so that the target robot performs corresponding tasks according to the task information; Before the step of determining a target robot that is closest to the target working area from at least two candidate robots in the warehousing system based on the target working area, the method further includes: Screen out at least one idle robot from at least two candidate robots; The step of determining a target robot that is closest to the target working position from at least two candidate robots in the warehousing system based on the target working position specifically includes: Based on the target working position, determine a target robot that is closest to the target working position from the idle robots in the warehousing system; The warehouse site corresponding to the warehousing system is divided into multiple working areas, where the working areas include multiple working positions; After the step of determining a target working position based on the task information, the method further includes: Based on the target working position, determine a target working area including the target working position; The step of determining a target robot that is closest to the target working position from the idle robots in the warehousing system based on the target working position specifically includes: Based on the target working position, determine at least one idle robot that is closest to the target working position from the idle robots in the warehousing system; If there is an idle robot in at least one idle robot that is closest to the target working position and is in the same target working area as the target working position, determine the idle robot as the target robot.

2. The robot scheduling method according to claim 1, wherein The multiple working areas are divided into multiple channel areas and multiple shelf areas, where the channel areas correspond to preset traveling directions. Before the step of sending the task information to the target robot so that the target robot performs corresponding tasks according to the task information, the method further includes: Based on the current position of the target robot, the task information, and the preset traveling directions of the respective channel areas, determine the target working path of the target robot; The step of sending the task information to the target robot so that the target robot performs corresponding tasks according to the task information specifically includes: Send the task information and the target working path to the target robot so that the target robot performs corresponding tasks according to the task information along the target working path.

3. The robot scheduling method according to claim 2, wherein, Before the step of determining the target working path of the target robot based on the current position of the target robot, the task information, and the preset traveling direction, the method further includes: Filter out at least one busy area from multiple working areas; wherein, the busy area is a working area in the current area where the number of non-idle robots is greater than a preset number threshold. The step of determining the target working path of the target robot based on the current position of the target robot, the task information, and the preset traveling direction specifically includes: Determine a first target working path based on the current position of the target robot, the task information, and the preset traveling direction. Determine whether the first target working path passes through the busy area. If it passes through the busy area, adjust the first target working path to obtain a second target working path; wherein, the second target working path is the working path after avoiding the busy area. The step of sending the task information and the target working path to the target robot so that the target robot executes corresponding tasks according to the task information along the target working path specifically includes: Send the task information and the second target working path to the target robot so that the target robot executes corresponding tasks according to the task information along the second target working path.

4. The robot scheduling method according to claim 3, wherein, After the step of determining whether the first target working path passes through the busy area, the method further includes: If it does not pass through the busy area, send the task information and the first target working path to the target robot so that the target robot executes corresponding tasks according to the task information along the first target working path.

5. A robot scheduling device, characterized in that, The device includes: A task acquisition module for acquiring task information. A position determination module for determining a target working position based on the task information. A robot determination module for determining, based on the target working position, the target robot that is closest to the target working position from at least two candidate robots in the warehousing system. A task sending module for sending the task information to the target robot so that the target robot executes corresponding tasks according to the task information. The robot determination module is further configured to screen out at least one idle robot from at least two candidate robots; and determine, based on the target working position, the target robot that is closest to the target working position from the idle robots in the warehousing system. The warehouse site corresponding to the warehousing system is divided into multiple working areas, where the working areas include multiple working positions. The position determination module is further configured to determine, based on the target working position, a target working area including the target working position. The robot determination module is further configured to determine, based on the target working position, at least one idle robot that is closest to the target working position from the idle robots in the warehousing system; if there is an idle robot in the at least one idle robot that is closest to the target working position and is in the same target working area as the target working position, then determine the idle robot as the target robot.

6. A controller, characterized in that, The controller includes: A memory, a processor, and a robot scheduling program stored on the memory and executable on the processor, wherein when the robot scheduling program is executed by the processor, the steps of the robot scheduling method according to any one of claims 1-4 are implemented.

7. A warehousing system, characterized in that, The system includes: A warehouse; A controller configured as the controller according to claim 6; At least one robot connected to the controller.

8. A computer storage medium, characterized in that, A robot scheduling program is stored on the computer storage medium, and when the robot scheduling program is executed by a processor, the steps of the robot scheduling method according to any one of claims 1-4 are implemented.

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