Warehouse logistics scheduling method based on embodiment-intelligent robot multi-machine cooperation

Abstract

The application provides a warehouse logistics scheduling method based on multi-machine cooperation of an embodied intelligent robot, and relates to the technical field of warehouse scheduling. The method comprises the following steps: determining a predetermined passing path of a target robot entering a narrow lane of a warehouse in a periodic scheduling process, obtaining a first restricted position, and pausing a new entry task of a corresponding narrow lane section when abnormal information feedback is missing; selecting a second robot to check from the other side at a low speed, confirming a restricted narrow lane interval or keeping the narrow lane boundary according to the first restricted positions on both sides, and then feeding the restricted narrow lane interval, the pause allocation result, the feedback, the missing record and the passing state back to the warehouse logistics scheduling queue. The application can maintain the reliability of narrow lane passing state checking and subsequent task connection when abnormal information is missing.

Description

Technical Field

[0001] This application relates to the field of warehouse scheduling technology, and in particular to a warehouse logistics scheduling method based on multi-machine collaboration of embodied intelligent robots. Background Technology

[0002] With the increasing automation of warehousing and logistics, embodied intelligent robots have been used in scenarios such as cargo handling, warehouse transfer, picking and passing through narrow alleys. The dispatcher usually allocates paths to multiple robots based on the warehouse map, the robot's current location, the task queue, and the access permission.

[0003] During the transport process in narrow alleys, the load outline, the direction of travel, the boundary position, and the communication status all affect whether the robot can pass smoothly. When the robot decelerates, deviates, or stops, the scheduling terminal usually relies on the abnormal information uploaded by the robot to adjust the entry order or waiting position.

[0004] When the target robot has exhibited abnormal behavior and failed to upload information in a timely manner, if the scheduling terminal makes a judgment based solely on the status of one side of the robot, it will result in a lack of verification basis between both sides for narrow alley boundary updates, pause allocation, and subsequent task continuation. Therefore, a warehouse logistics scheduling method that can utilize multiple robots to collaboratively verify the local passage status of narrow alleys is needed. Summary of the Invention

[0005] This application provides a warehouse logistics scheduling method based on multi-robot collaboration of embodied intelligent robots, which solves the technical problem of unstable narrow aisle boundary processing and task continuity when the target robot exhibits restricted passage behavior in narrow warehouse aisles but the abnormal information is not reported back in time, resulting in the scheduling end lacking the basis for verification on both sides.

[0006] To address the aforementioned technical problems, in a first aspect, this application provides a warehouse logistics scheduling method based on multi-robot collaboration using embodied intelligent robots, comprising: Determine the planned passage path for the target robot carrying the goods to enter the narrow aisle of the warehouse; When the target robot approaches the narrow alley boundary along the predetermined path, it obtains the first restricted position. The narrow alley segment is the passage interval defined by the adjacent nodes of the narrow alley centerline, the narrow alley boundary is the boundary that defines the passage range on both sides of the narrow alley segment, and the first restricted position is the position where the target robot first decelerates, deviates, or stops due to avoiding the narrow alley boundary. If the dispatcher does not receive any abnormal information during the feedback period after the first restricted location appears, it will suspend the allocation of entry tasks to the narrow alleyway section containing the first restricted location and treat the first restricted location as a location to be verified. Select a second robot from the other side of the narrow warehouse aisle, and make the second robot approach the verification speed limit along the entry path from the other side entrance to the location to be verified, and stop at a position where it can still exit along the entry path in reverse. The first restricted position of the second robot is obtained. When the first restricted positions of the target robot and the second robot are located on opposite sides of the same narrow alley, the passage between the two first restricted positions is identified as the restricted narrow alley section and fed back to the robots that subsequently enter the warehouse narrow alley. If the second robot fails to pass through the restricted area, or if the first restricted position of the second robot is not in the same narrow alley segment as the position to be checked, maintain the narrow alley boundary and send feedback to the target robot to re-perceive or exit the warehouse narrow alley. The results of restricted narrow lanes, suspended allocations, or feedback will be fed back to the warehousing and logistics scheduling queue.

[0007] Optionally, the passageway between the two initial restricted locations is defined as the restricted narrow passageway, including: The dispatcher maps the two initially restricted locations to the centerline of the narrow alleyway, thus obtaining two mapping points; The center line segment between the two mapping points and the narrow alley boundaries on both sides of the center line segment are jointly registered as the restricted narrow alley interval; After the restricted narrow lane section is registered, the dispatching terminal sets up waiting positions at both ends of the restricted narrow lane section; The task of traversing a restricted narrow alleyway is divided into the first part, which is the task of reaching the waiting position, and the second part, which is the task of leaving the waiting position.

[0008] Optionally, the task of traversing a restricted narrow alleyway section is split into a pre-task of reaching the waiting position and a post-task of leaving the waiting position, including: Unstarted tasks whose paths do not pass through the restricted narrow alleyway section and whose work positions are located on the same side of the restricted narrow alleyway section will continue to be assigned to the robots on the same side. The unstarted task that passes through a restricted narrow alleyway section is divided into the first part of the task, which is the robot on one side reaching the waiting position, and the second part of the task, which is the robot on the other side leaving the waiting position. Before the previous task is completed, the scheduling terminal only reserves the execution time slot on the other side of the waiting position for the subsequent task, and does not release the entry permission for the restricted narrow alley section. After the preceding task is completed, the scheduler releases the following tasks in the order of arrival of the waiting positions, provided that the current passage status allows for release.

[0009] Optionally, a second robot may be selected from the other side of the warehouse aisle, including: The load profile level is used as a criterion for selecting the second robot. The load profile level is the level pre-registered by the scheduling end according to the range occupied by the load profile in the narrow alley width direction. Prioritize robots that are located on the opposite side of the target robot's location, enter in the opposite direction, can exit along the reverse entry path, and have the same load profile level. If the aforementioned robot is not selected, choose a robot with a load profile rating higher than the target robot; Only when there is a robot with a load profile level lower than that of the target robot, the corresponding robot is allowed to travel to the narrow alleyway section where the location to be verified is located; When the robot is not restricted during its movement, the narrow alley boundary is not updated; If the robot is restricted during its movement, it will wait for the robot to meet the load profile level requirements before it can move again.

[0010] Optionally, suspend the assignment of entry tasks to narrow alleyways containing the initial restricted location, including: Read robot tasks that have obtained entry permission but have not yet entered the narrow alleyway and convert the entry permission to pending permission; Set robots that are already in the narrow alley section and have not crossed the position to be checked as exit tasks; Set the robot that has already passed the location to be checked as the departure task; After exiting and departing from the task, a verification driving command is sent to the second robot. The verification driving command includes the position to be verified, the entry direction, the exit direction, and the stop position. Before the second robot completes its journey, only robots that have performed exit tasks, departure tasks, and verification of driving instructions are allowed to enter the narrow alley section. After the second robot completes its journey, it resumes, reassigns, or cancels the waiting permission based on the result of the restricted narrow alleyway section or maintaining the narrow alleyway boundary.

[0011] Optionally, before reading robot tasks that have obtained access permission but have not yet entered the narrow alleyway, the process also includes: The warehouse narrow aisle is divided into narrow aisle segments according to the adjacent nodes of the narrow aisle centerline, and a segment number and narrow aisle boundary are written for each narrow aisle segment. When the first restricted location falls into a narrow alleyway section, the section number is written into the location to be verified; The first restricted location reported by the second robot has a segment number; When two initial restricted locations have the same segment number and enter in opposite directions, the two initial restricted locations are considered to be located on opposite sides of the same narrow alleyway segment.

[0012] Optionally, when the robot is not restricted during its movement, after not updating the narrow alley boundary, the following steps are also included: When the second robot reaches the narrow alleyway section corresponding to the location to be verified and exits in the reverse direction of the entry path without any restriction on passage, the location to be verified is registered as the target robot's verification location. Issue the in-situ re-perception task to the target robot; If the target robot still exhibits restricted behavior at the target robot verification position after re-perception, the area between the side entrance where the target robot is located and the target robot verification position will be set as a one-way exit zone, and the subsequent handling tasks of the target robot will be transferred to robots that have not entered the warehouse narrow aisle. If the target robot fails to demonstrate the restricted behavior after re-perception, the suspension of result allocation will be lifted.

[0013] Optionally, before releasing subsequent tasks according to the arrival order of waiting positions after the preceding task is completed, the process also includes: Based on the unstarted tasks on both sides of the restricted narrow lane section and the subsequent tasks that cross the restricted narrow lane section, set the passage status for the restricted narrow lane section; Traffic status includes prohibition of entry, trial operation on one side, and resumption of traffic. In the prohibited entry state, only unstarted tasks that do not pass through the restricted narrow alleyway section are released; In the single-sided trial phase, only unloaded robots are allowed to enter from one end of the restricted narrow aisle section and return before waiting for their position at the other end. After the unloaded robot completes its journey without exhibiting any signs of being restricted from passing, the dispatcher triggers a resumption of travel verification; subsequent tasks are released in the order of arrival of waiting positions after the passage status is changed to resumed passage.

[0014] Optionally, after registering the centerline segment between the two mapping points and the narrow alley boundaries on both sides of the centerline segment as a restricted narrow alley interval, the following is also included: The case where the target robot fails to upload abnormal information and the restricted narrow alleyway section is confirmed is recorded as an upload missing record; Uploading missing records triggers two scheduling actions: one is to issue an abnormal retransmission instruction to the target robot, and the other is to bind the driving record of the second robot to the restricted narrow alley section. After the target robot completes the abnormal retransmission, the abnormal information is used to correct the endpoints in the restricted narrow alley section that are close to the initial restricted position of the target robot; If the target robot fails to complete the abnormal retransmission, the driving record of the second robot shall be retained as the basis for updating the restricted narrow alleyway section, and the narrow alleyway boundary shall not be restored based solely on the information from the target robot alone.

[0015] Optionally, before the passage status changes to resumed passage, it also includes: Before lifting the restrictions on narrow lane sections, traffic resumption tasks will be arranged from both ends of the restricted narrow lane sections. If both resumption of traffic tasks reach the waiting position at the other end and exit in the reverse direction along the entry path, and there is no indication of restricted passage, the passage status will be changed to resumed passage, the waiting position will be deleted, and the warehousing and logistics scheduling queue will be rearranged according to the restored narrow alley boundary. If any task to resume driving encounters a situation where passage is restricted, the restricted narrow lane section will be retained, and the follow-up task that crosses the restricted narrow lane section or the waiting task on the same side will continue to be executed.

[0016] The technical solution provided in this application has the following beneficial effects: First, by distinguishing between periodic status data and abnormal information, the scheduling terminal can still identify the initial restricted position of the target robot even when abnormal information is missing. Second, by having a second robot perform low-speed verification from the opposite side, the driving performance of both sides of the same narrow alleyway segment can jointly participate in the confirmation of the restricted narrow alleyway section. Third, by queuing and continuing the waiting position, the preceding task, and the following task, local restrictions will not directly spread to the stagnation of the entire warehouse logistics scheduling queue. Finally, by uploading missing records, abnormal retransmission instructions, driving records, and resuming driving tasks, the preservation, updating, and restoration of the narrow alleyway boundary all have traceable data basis. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a scenario and interaction disclosed in this application.

[0019] Figure 2 This is a schematic diagram of a narrow alleyway segment node and boundary disclosed in this application.

[0020] Figure 3 This is a schematic diagram of one method step disclosed in this application.

[0021] Figure 4 This is a schematic diagram of a restricted narrow lane section registration disclosed in this application.

[0022] Figure 5 This is a schematic diagram of a scheduling queue task succession disclosed in this application.

[0023] Figure 6 This is a schematic diagram illustrating the interaction between missing upload and restored access as disclosed in this application. Detailed Implementation

[0024] The embodiments of this application will be described below with reference to the accompanying drawings. These embodiments are used to explain the technical solutions of this application and are not intended to limit the scope of protection of this application.

[0025] See Figure 1As shown in the figure, the present application discloses a warehouse logistics scheduling method based on multi-machine collaboration of embodied intelligent robots, which is applied to the scenario of checking the passage of cargo robots and rearranging the scheduling queue in narrow warehouse aisles. The method includes steps S1 to S7.

[0026] Figure 1 The scheduling terminal is a computing device that runs the warehouse logistics scheduling program and issues task permissions to robots. It can be a local warehouse server, an edge computing device, or a scheduling host in the warehouse control center. The warehouse map records channels, narrow alleys, storage locations, nodes, and boundaries to provide coordinate basis for subsequent path determination, location verification, and queue refilling.

[0027] The target robot is an embodied intelligent robot carrying a payload and preparing to enter the narrow warehouse aisle. The second robot is an embodied intelligent robot that performs verification driving from the opposite entrance side of the warehouse aisle. The embodied intelligent robots must have at least the capabilities of driving, payload carrying, environmental perception, positioning, and communication to receive instructions from the scheduling terminal and upload periodic status data.

[0028] The warehouse logistics scheduling queue is a data queue that stores handling tasks, task permissions, execution time slots, and task status. Handling tasks record task data such as the starting point, ending point, target storage location, target robot, and execution status of goods handling. Task permissions are queue statuses that allow robots to perform actions such as entering, waiting, exiting, or leaving. Execution time slots are the task execution time periods reserved by the warehouse logistics scheduling queue for robots. Communication links are wireless communication channels between the scheduling terminal and the robot for transmitting periodic status data, abnormal information, and control commands.

[0029] Periodic state data consists of the robot's position, speed, path tracking records, driving control events, and payload status uploaded within each scheduling cycle. The scheduling cycle is the time unit within which the scheduler refreshes the queue status and issues permits; it can be determined based on the position change rate during low-speed movement in narrow alleys and the communication load of the scheduler. Anomaly information is an additional anomaly report uploaded by the robot after detecting a passage anomaly. Anomaly information is different from periodic state data; the absence of anomaly information does not necessarily mean the absence of periodic state data.

[0030] Periodic status data is recorded in the same map coordinate system at the scheduling terminal, and includes at least the robot identifier, scheduling cycle number, position coordinates, heading angle, speed along the predetermined path direction, lateral deviation relative to the path, driving control event type, load profile level, and positioning quality status. Position coordinates are in meters, speed is in meters per second, and lateral deviation is in meters. Event time is represented by the scheduling cycle number or a timestamp. Before comparing position, speed, and lateral deviation, the scheduling terminal converts the data to the same narrow-lane section coordinate system to avoid direct comparison of data from different coordinate dimensions.

[0031] The specific implementation of this application revolves around a periodic scheduling process. Within each scheduling cycle, the scheduling terminal reads the robot's periodic status data and updates the entry permission, waiting permission, exit task, and departure task in the warehouse logistics scheduling queue. When a target robot exhibits restricted passage behavior and the abnormal information does not arrive within the feedback period, the scheduling terminal enters the narrow aisle verification process. The feedback period is the communication time window during which the scheduling terminal waits for abnormal information, and it can be determined based on the round-trip time of status messages within the same warehouse area and the entrance waiting situation.

[0032] S1: Determine the predetermined path for the target robot carrying the cargo to enter the warehouse narrow aisle.

[0033] Before executing step S1, the scheduling terminal has already obtained the handling task corresponding to the target robot in the warehouse logistics scheduling queue. Here, "cargo-loaded" means that the target robot's load-bearing mechanism is already carrying a pallet, bin, or goods. The cargo-loaded state will change the target robot's outline occupancy in the width direction of the narrow aisle. Therefore, the cargo-loaded target robot cannot be simply treated as an empty robot's passage boundary.

[0034] A warehouse aisle is a narrow passageway on the warehouse map that is limited in width and typically only allows for one-way or controlled passing. The physical significance of a warehouse aisle lies in the fact that the robot's free space for movement is restricted by shelves on both sides of the aisle, the edges of storage locations, walls, or fixed structures. A planned path is a route assigned by the dispatcher on the warehouse map for the target robot to enter the warehouse aisle. The planned path consists of path nodes, path edges, entry direction, and permission status. Path nodes represent passable locations on the warehouse map, and path edges represent the passageway connections between adjacent path nodes.

[0035] Specifically, the dispatcher reads the target robot's handling task, target storage location, and current access permission from the warehouse logistics dispatch queue, and retrieves candidate paths from the target robot's current location to the target storage location in the warehouse map. The dispatcher then determines the path from the candidate paths that includes the warehouse narrow aisle entrance, narrow aisle section, and narrow aisle exit, and combines the entry permission and estimated waiting time to determine the predetermined passage path.

[0036] In one embodiment, target robot A, carrying a toy bin with a load profile level of 2, needs to move from storage location P1 to picking station P2. The warehouse map contains two candidate paths: a regular aisle and a warehouse narrow aisle. The regular aisle path is longer than the warehouse narrow aisle path and has a waiting queue, while the warehouse narrow aisle path is shorter than the regular aisle path but requires entry permission. After reading the warehouse logistics scheduling queue in the current scheduling cycle, the scheduler determines that target robot A has obtained entry permission for the warehouse narrow aisle entrance and thus identifies the path through the warehouse narrow aisle as the predetermined passage path. In this embodiment, the predetermined passage path not only represents the geometric route but also indicates that the target robot should approach the narrow aisle boundary along this route and undergo passage status monitoring in subsequent scheduling cycles.

[0037] S2: When the target robot approaches the narrow alley boundary along the predetermined path, it obtains the first restricted position.

[0038] See Figure 2 As shown, the centerline of the narrow alley is the path baseline set along the passage direction of the warehouse narrow alley. Nodes are the segment points on the centerline of the narrow alley. A narrow alley segment is a passage interval defined by adjacent nodes on the centerline of the narrow alley. The narrow alley boundary is the boundary that defines the passage range on both sides of the narrow alley segment. The narrow alley segment represents the passage interval in the warehouse map, and the narrow alley boundary represents the spatial constraints on both sides of the passage interval; the two are not the same object. The dispatcher first uses the centerline of the narrow alley and adjacent nodes to form a narrow alley segment, and then associates the narrow alley boundaries on both sides with this narrow alley segment. Through this division method, the initial restricted position can be located not only to a specific passage interval, but also to establish a relationship with the spatial constraints on both sides of that passage interval.

[0039] As the target robot approaches the narrow alley boundary along the predetermined path, the scheduling terminal reads its position, speed, path tracking records, and driving control events from the periodic status data uploaded by the target robot in each scheduling cycle. Position refers to the map coordinates output by the target robot's localization unit; speed is the travel speed of the target robot's chassis along the predetermined path; path tracking records are the correspondence between the target robot's actual position and the predetermined path; and driving control events are event records generated when the target robot performs deceleration, deviation, or stopping control actions. Deceleration indicates that the target robot's speed is lower than the normal low-speed travel speed of the previous path segment; deviation indicates that the target robot's actual trajectory has shifted laterally towards the inside or outside of the narrow alley's centerline relative to the predetermined path; and stopping indicates that the target robot's chassis outputs a stop control action.

[0040] When determining deceleration, deviation, or stopping, the dispatcher uses the stable travel speed of the target robot for several dispatch cycles before entering the narrow alleyway section as the normal low-speed travel speed. If the target robot's speed is lower than 70% of the normal low-speed travel speed for two consecutive dispatch cycles, and there is no active speed-limiting instruction from the dispatcher, it is considered deceleration. If the lateral deviation of the target robot relative to the predetermined path exceeds half of the safety margin, and the direction of the deviation points to the side of the narrow alleyway boundary, it is considered deviation. If the moving chassis speed is lower than 0.05 meters per second for at least one dispatch cycle, and the driving control event indicates braking or pause, it is considered stopping.

[0041] In practice, the scheduling terminal projects the target robot's current position onto the predetermined path in each scheduling cycle and determines whether the target robot has entered the influence range of the narrow alley boundary. The influence range of the narrow alley boundary can be determined by the remaining distance between the area occupied by the target robot's load outline in the width direction and the narrow alley boundary; if the remaining distance is less than the target robot's width-direction safety margin, it is considered to be approaching the narrow alley boundary. The safety margin can be determined based on the positioning error, lateral load swing, and channel boundary measurement error in the same storage area, and should remain consistent during comparisons within the same narrow alley segment.

[0042] When a driving control event first indicates deceleration, deviation, or stopping, and the event location is on the side of the predetermined passage path near the narrow alley boundary, the scheduler records this event location as the first restricted location. The first restricted location is not the robot's final stopping position, but rather the location where the target robot first exhibits restricted passage behavior due to avoiding the narrow alley boundary. Physically, this location reflects the first instance of insufficient passage space or passage risk between the target robot's cargo outline and the narrow alley boundary. If multiple events occur within the same scheduling cycle, the scheduler uses the location corresponding to the first driving control event along the predetermined passage path; if deceleration and deviation occur simultaneously at the same location, the scheduler records both deceleration and deviation as the same event type, the first restricted location.

[0043] In one embodiment, target robot A enters a narrow alleyway segment defined by nodes N1 and N2 along a predetermined path. Target robot A uploads position, speed, and driving control events during continuous scheduling cycles. The scheduler detects that target robot A first exhibits a lateral deviation when approaching the right boundary of the narrow alleyway, followed by a decrease in speed, and then stops. Since the lateral deviation is the earliest event along the predetermined path that involves avoiding the narrow alleyway boundary, the scheduler registers the position corresponding to the lateral deviation as the first restricted position, rather than registering the subsequent stopping position as the first restricted position. This process preserves the earliest location clue of the restricted passage.

[0044] The aforementioned speed ratio, lateral deviation condition, and stopping condition can be updated from historical periodic status data of confirmed normal passage within the same storage area. The scheduling end can use the average low-speed travel, maximum lateral deviation, and normal stopping time under the same narrow aisle section, the same load profile level, and the same entry direction as the comparison basis. Therefore, the determination of the first restricted position and the performance of passing through the restricted area does not depend on a single fixed threshold, but is consistent with the robot's passage status in the current storage scenario.

[0045] S3: If the dispatcher does not receive any abnormal information during the feedback period after the first restricted location appears, it will suspend the allocation of entry tasks to the narrow alleyway segment containing the first restricted location and treat the first restricted location as the location to be verified.

[0046] In step S2, the scheduling terminal has obtained the initial restricted position based on the periodic status data. Since the anomaly information is an additional anomaly report uploaded by the robot, the scheduling terminal needs to wait for a feedback period after the initial restricted position appears to determine whether the target robot can proactively report the anomaly information corresponding to the initial restricted position.

[0047] The aforementioned return period begins at the scheduling cycle corresponding to the first restricted location and ends at the end of the selected number of scheduling cycles. The scheduler can select a specific value based on the round-trip time of the status messages already completed in the same storage area, ensuring that the scheduler neither directly judges short-term communication jitter as upload failure nor allows tasks to accumulate continuously at the entrance of the narrow alleyway due to long waiting times.

[0048] Suspending the allocation of entry tasks to narrow alleyways containing initial restricted locations means that the dispatcher stops issuing new entry permits to that narrow alleyway, but does not stop tasks already used for exiting, departing, or verifying. An entry task is an unstarted task that allows a robot to enter the narrow alleyway from its entrance. A location to be verified is a target location derived from the initial restricted location. Physically, this location is neither a confirmed actual boundary anomaly nor a confirmed individual robot anomaly, but rather a suspected restricted location requiring verification by a robot on the other side.

[0049] In practice, the dispatcher reads robot tasks that have obtained entry permission but have not yet entered the narrow alleyway and converts the entry permission into a waiting permission; a waiting permission allows the robot to remain outside the narrow alleyway entrance and wait for subsequent release of permission. The dispatcher sets robots already inside the narrow alleyway but not past the verification position as exit tasks; exit tasks require the robot to leave the narrow alleyway in the opposite direction of entry. The dispatcher sets robots that have already passed the verification position as departing tasks; departing tasks require the robot to continue moving towards the narrow alleyway exit. By distinguishing between exit and departing tasks, the dispatcher can avoid robots waiting interchangeably near the verification position.

[0050] After completing the exit and departure tasks, the dispatcher sends a verification driving instruction to the second robot. This instruction includes the location to be verified, the entry direction, the exit direction, and the stop location. The location to be verified defines the target area the second robot can approach; the entry direction defines the entry from the other side of the narrow warehouse aisle; the exit direction defines the exit from the entry path after verification; and the stop location defines the stop at a location where the robot can still exit from the opposite direction. Before the second robot completes its journey, only robots executing exit, departure, or verification driving instructions are allowed to enter this narrow aisle section. After the second robot completes its journey, the dispatcher restores, reassigns, or cancels pending permission requests based on whether the narrow aisle section is restricted or the narrow aisle boundaries are maintained.

[0051] S4: Select a second robot from the other side of the warehouse aisle, and make the second robot approach the verification speed limit along the entry path from the other side entrance to the location to be verified, and stop at the location where it can still exit in the opposite direction along the entry path.

[0052] The second robot is not an arbitrary robot, but rather a robot designed to perform verification travel from the location to be verified relative to the entrance side. The relative entrance side refers to the opposite entrance direction compared to the direction the target robot approaches the location to be verified. The entry path is the path from the relative entrance side of the warehouse aisle to the narrow aisle segment where the location to be verified is located. The verification speed limit is an upper limit of the approach speed determined by the dispatcher for the second robot to perform verification travel. In this embodiment, this speed limit includes a value that is no higher than 30% of the normal passage speed in similar narrow aisles and no higher than the safe speed determined by the dispatcher based on the current positioning quality, load profile level, and stopping position.

[0053] The stopping position is the position where the second robot can still exit along the reverse path before continuing to approach the location to be verified. When determining the stopping position, the dispatcher checks in reverse along the entry path whether the outline of the second robot's body and the outline of its load continuously fall within the passage range defined by the narrow alley boundary, and checks whether there are any robots other than those assigned for suspension on the reverse exit path; the dispatcher will take the position that is close to the location to be verified and meets the reverse exit conditions as the stopping position.

[0054] The driving command is written with the position to be checked, the direction of entry, the direction of exit, the stop position, and the speed limit for checking, so that the second robot retains braking and reverse exit margin when approaching the position to be checked.

[0055] The load profile level is a pre-registered level by the scheduling terminal based on the load's profile occupancy range in the narrow alleyway width direction. It includes at least a level number, the profile occupancy range, and the corresponding load width direction range. The profile occupancy range is the spatial range occupied by the load and robot body in the narrow alleyway width direction, physically reflecting the lateral passage space required for the robot to pass through the narrow alleyway. The level numbers are arranged in ascending order of profile occupancy range, with higher levels indicating a larger lateral passage space occupied by the robot in the narrow alleyway width direction. In this embodiment, the current level refers to the load profile level that was written into the warehouse logistics scheduling queue at the start of the current handling task and remains valid within the scheduling cycle of the location to be verified. After the robot changes its load or the load attitude recognition result changes, the scheduling terminal uses the re-registered load profile level as the current level.

[0056] The load profile level can be registered by the warehousing system when the load is received, picked up by the robot, or when the load's attitude is recognized. One feasible registration method is to combine the robot's body width and the maximum outline in the load width direction to form the current lateral occupancy width, and then classify the level according to the allowable passage width of the narrow warehouse aisle. A lateral occupancy width not exceeding 60% of the allowable passage width is registered as Level 1; greater than 60% but not exceeding 75% is registered as Level 2; greater than 75% but not exceeding 90% is registered as Level 3; and loads exceeding 90% are not assigned to that narrow aisle section. These ratios can be adjusted based on positioning errors, load sway, and safety margins, and the adjusted ratios should be used uniformly within the same warehousing area.

[0057] A robot with a higher classification level than the target robot means that the second robot's current lateral passage width in the narrow alleyway direction is not less than the target robot's current lateral passage width in the same direction; a robot with a lower classification level than the target robot means that the second robot's current lateral passage width is less than the target robot's corresponding current lateral passage width. When comparing classification levels, the scheduling terminal reads both the robot's body outline and payload outline to avoid using payload width or historically registered classification levels as the sole basis for comparison.

[0058] When selecting a second robot, the dispatcher first reads the robots located on the opposite side of the verification location in the warehouse logistics dispatch queue, and uses the load profile level as the selection criterion. The dispatcher does not compare any previously registered level of the robot, but rather the current level of the target robot and the candidate robot during this verification run. The dispatcher prioritizes robots located on the opposite side of the verification location, entering in the opposite direction, capable of exiting along the reverse path, and with the same current level as the target robot. If no robot with the same current level exists, the dispatcher selects a robot with a higher current level than the target robot. If only a robot with a lower current level than the target robot exists, the dispatcher only allows the corresponding robot to travel to the narrow alleyway section where the verification location is located, and processes the travel result as temporary verification information. The selection rules for the second robot are shown in Table 1.

[0059] Table 1. Second Robot Selection Rules

[0060]

[0061] In one embodiment, target robot A is currently at level two. Near the opposite entrance, there are robots E, F, and G. Robot E is currently at level two and can exit along the reverse path, robot F is currently at level three, and robot G is currently at level one. The scheduler preferentially selects robot E as the second robot. If robot E is unschedulable, the scheduler selects robot F; if only robot G is available, the scheduler allows robot G to travel to the narrow alleyway section where the location to be verified is located, but the narrow alleyway boundary is not updated when robot G is not restricted.

[0062] If a second robot with a load profile level lower than the target robot also exhibits restricted passage, the dispatcher will register this passage result as a temporary restricted record or auxiliary verification record, and continue to maintain the task pause. This temporary restricted record can be bound to the location to be verified and the narrow alleyway segment number, but it does not directly replace the verification result of a robot that meets the same or higher load profile level conditions. When a robot with the same or higher level is subsequently found, the dispatcher will trigger the verification passage again.

[0063] S5: Obtain the initial restricted position of the second robot. When the initial restricted positions of the target robot and the second robot are located on opposite sides of the same narrow alleyway, the passageway between the two initial restricted positions is identified as the restricted narrow alleyway section and fed back to the robots that subsequently enter the warehouse narrow alleyway.

[0064] The purpose of this step is to utilize the initial restricted positions formed by the target robot and the second robot from both sides to transform the single-point restricted behavior into a restricted narrow alleyway section that can be processed by the warehouse logistics scheduling queue.

[0065] The first restricted position of the second robot is the position where, as it approaches the location to be checked at the speed limit along the entry path, it first decelerates, deviates, or stops due to avoiding the narrow aisle boundary. The method for obtaining the first restricted position of the second robot is the same as that for obtaining the first restricted position of the target robot in step S2, both derived from position, speed, path tracking records, and driving control events in the periodic state data. Since the second robot enters from the other side of the warehouse aisle, its first restricted position has the opposite entry direction to the target robot's first restricted position.

[0066] Before the scheduling terminal reads robot tasks that have obtained entry permission but have not yet entered the narrow aisle section, it first divides the warehouse narrow aisle into narrow aisle segments based on adjacent nodes along the centerline, and writes a segment number and narrow aisle boundary for each segment. When the first restricted position falls into a narrow aisle segment, the scheduling terminal writes the segment number to be verified; when the second robot reports its first restricted position, the scheduling terminal simultaneously records the segment number corresponding to the second robot's first restricted position. If the segment numbers of two first restricted positions are the same and the entry directions are opposite, the scheduling terminal determines that the two first restricted positions are located on opposite sides of the same narrow aisle segment.

[0067] When a restricted narrow lane section is formed, the dispatcher first maps the two initial restricted positions to the centerline of the narrow lane section, obtaining two mapping points. Then, the dispatcher registers the centerline segment between the two mapping points and the narrow lane boundaries on both sides of the centerline segment as the restricted narrow lane section. After the restricted narrow lane section is registered, the dispatcher sets waiting positions at both ends of the restricted narrow lane section and splits the task of crossing the restricted narrow lane section into the first part of the task of reaching the waiting position and the second part of the task of leaving the waiting position.

[0068] See Figure 4 As shown, the initial constrained position of the target robot is taken as the target position, and the initial constrained position of the second robot is taken as the second position. The scheduler maps the target position and the second position to the center line of the same narrow alley segment, resulting in two mapped points. Mapping can be achieved by vertical projection along the center line of the narrow alley. If the projected point is within the bounded area of ​​adjacent nodes, the scheduler directly uses that projected point; if the projected point falls outside the bounded area of ​​adjacent nodes, the scheduler constrains the projected point to the endpoint position between adjacent nodes. The reason for this processing is that the constrained narrow alley interval should fall within the same narrow alley segment and cannot cross other narrow alley segments that have not been jointly proven by the events on both sides.

[0069] Waiting positions are designated at both ends of a restricted narrow aisle section, serving as stopping points for the continuation of preceding and subsequent tasks. The physical significance of waiting positions lies in providing robots with spatial locations that do not occupy the entrance to the restricted narrow aisle section, do not obstruct the passage of robots on the same side, and allow for task handover or waiting. When the dispatcher selects a waiting position from the warehouse map, it first eliminates candidate positions that would occupy the entrance to the restricted narrow aisle section, then eliminates candidate positions that would obstruct the path of tasks on the same side. If multiple candidate positions still exist at the same end, the position with the shortest path length to the endpoint of the restricted narrow aisle section is selected.

[0070] Candidate waiting locations can come from dockable nodes, buffer points in front of storage locations, or yielding points in passageways on the warehouse map. The scheduling system excludes candidate locations that occupy entrances or block task paths on the same side based on the robot's body outline, payload outline, entrances to restricted narrow aisle sections, and unstarted task paths on the same side.

[0071] After the restricted narrow aisle section is registered, the scheduling terminal writes the section status record to the warehouse logistics scheduling queue. The section status record includes at least the narrow aisle section number, section start point, section end point, waiting position, entrance permission status, registration scheduling cycle, and validity flag. If the subsequent robot task path intersects with the center line segment in the section status record, the warehouse logistics scheduling queue considers that the task path has passed through the restricted narrow aisle section and enters the task splitting or waiting control process.

[0072] In one embodiment, target robot A enters the narrow alleyway from node N1 and reaches its first restricted position near the right boundary of the narrow alleyway. Second robot E enters the same narrow alleyway from node N2 and stops on the opposite side of the first restricted position of target robot A. The two first restricted positions have the same segment number and enter in opposite directions. The scheduler projects the two first restricted positions onto the centerline of the narrow alleyway, forming two mapping points. The centerline segment between the two mapping points and the narrow alleyway boundaries on both sides are then registered as the restricted narrow alleyway interval. Subsequently, the scheduler sets waiting positions at both ends of this interval to provide connection points for subsequent task splitting.

[0073] In a numerical example, the narrow alleyway section N1 to N2 is twelve meters long. The target position is projected onto the centerline at mileage 3.2 meters, and the second position is projected onto the centerline at mileage 7.8 meters. The dispatcher registers the centerline segment and its two side boundaries between mileages 3.2 meters and 7.8 meters as the restricted narrow alleyway section. If the left candidate waiting position is 1.5 meters away from mileage 3.2 meters and its outline does not intersect with the entrance buffer zone, and the right candidate waiting position is 1.6 meters away from mileage 7.8 meters and does not obstruct the task path on the same side, then these two positions are designated as the two waiting positions, respectively.

[0074] S6: If the second robot fails to pass through the restricted area, or if the first restricted position of the second robot is not in the same narrow alley segment as the position to be checked, maintain the narrow alley boundary and send feedback to the target robot to re-perceive or exit the warehouse narrow alley.

[0075] Step S6 is used to handle the situation where the second robot fails to generate a verification result for both sides of the same segment. "The second robot did not exhibit restricted passage behavior" means that after the second robot reaches the narrow alley segment corresponding to the verification location and exits in the reverse direction of its entry path, no driving control events resulting in deceleration, deviation, or stopping due to avoiding the narrow alley boundary are generated in the periodic state data. "The second robot's initial restricted position does not belong to the same narrow alley segment as the verification location" means that although the second robot exhibits restricted passage behavior, the segment number corresponding to the second robot's initial restricted position is different from the segment number corresponding to the verification location.

[0076] When the second robot reaches the narrow alleyway corresponding to the location to be verified and exits in the reverse direction of its entry path without exhibiting any restricted passage behavior, the dispatcher does not immediately update the narrow alleyway boundary. Instead, it registers the location to be verified as the target robot's verification location and issues an in-situ re-sensing task to the target robot. The in-situ re-sensing task is used to enable the target robot to re-collect the narrow alleyway boundary points, nearby obstacle points, the relationship between the vehicle body and load outlines, and the positioning quality status at the target robot's verification location, and to verify the correspondence between the current positioning and the predetermined passage path. If the target robot still exhibits restricted passage behavior at the target robot's verification location after re-sensing, the dispatcher sets the area between the target robot's side entrance and the target robot's verification location as a one-way exit zone and transfers the target robot's subsequent handling tasks to robots that have not entered the warehouse narrow alleyway; if the target robot does not exhibit restricted passage behavior after re-sensing, the dispatcher cancels the pause on the allocation results.

[0077] When the second robot exhibits a restricted behavior, but its initial restricted position does not belong to the same narrow alleyway segment as the position to be verified, the dispatcher will not use the initial restricted position as the basis for verifying the position to be verified. In this case, the restricted event of the second robot corresponds to a verification item in another narrow alleyway segment or another local boundary state, and cannot be used to confirm the restricted narrow alleyway interval of the narrow alleyway segment where the position to be verified is located. The dispatcher maintains the narrow alleyway boundary corresponding to the position to be verified and registers the initial restricted position of the second robot as a new position to be verified or waits for subsequent tasks to trigger verification.

[0078] In one embodiment, the second robot E enters from node N2 and successfully reaches the narrow alleyway where the verification location is located. It then exits along the reverse path without deceleration, deviation, or stopping. The scheduler does not update the narrow alleyway boundary but instead requires the target robot A to perform in-situ re-sensing at the target robot verification location. If the target robot A is still restricted at the same location after re-sensing, the scheduler sets the area between the entrance on the side where the target robot A is located and the target robot verification location as a one-way exit zone and transfers the subsequent handling tasks that the target robot A has not yet completed to robot H, which has not entered the warehouse narrow alleyway. If the target robot A is no longer restricted after re-sensing, the scheduler releases the pause on the allocation results.

[0079] S7: Recycle restricted narrow lane sections, paused allocation results, or feedback back to the warehouse logistics scheduling queue.

[0080] Reinjection refers to the process by which the scheduling end writes the restricted narrow lane section, the pause allocation result, the re-sensing feedback, the exit feedback, the upload of missing records, the passage status, and the narrow lane boundary processing result into the warehouse logistics scheduling queue. This is used to convert the local passage verification result into the task permission and path continuation rules that can be executed by the robot in the future.

[0081] When the recharge record is written to the warehousing and logistics scheduling queue, at least the narrow lane section number, section endpoint, waiting position, permission status, triggered scheduling cycle, and validity flag must be retained. The scheduling terminal processes the recharge records of the same narrow lane section in the order of the triggered scheduling cycles; if there are both resumed driving results and new first restricted positions within the same cycle, the new first restricted positions are processed first and the prohibited entry status is maintained.

[0082] During periodic scheduling, the backfilling is not a one-time write operation, but rather a continuous update of the warehouse logistics scheduling queue within each scheduling cycle based on the restricted narrow lane section, feedback execution results, and resumption of travel results. Specifically, in the first scheduling cycle after confirming the restricted narrow lane section, the scheduling terminal writes the pause allocation result and waiting position; in subsequent scheduling cycles, the scheduling terminal reads unstarted tasks and determines whether the task path passes through the restricted narrow lane section; when the execution status of the preceding or following task changes, the scheduling terminal updates the task continuation relationship; when uploaded missing records, abnormal retransmission instructions, or travel records change, the scheduling terminal updates the endpoints or retention criteria of the restricted narrow lane section; when the resumption of travel task is completed, the scheduling terminal updates the passage status.

[0083] When splitting tasks that cross restricted narrow alleyways, the scheduler first determines whether the task path of an unstarted task passes through the restricted narrow alleyway. For unstarted tasks whose paths do not pass through the restricted narrow alleyway and whose work positions are on the same side of the restricted narrow alleyway, the scheduler continues to assign them to robots on that side. For unstarted tasks whose paths pass through the restricted narrow alleyway, the scheduler splits them into a preliminary task (where robots on one side reach the waiting position) and a subsequent task (where robots on the other side leave the waiting position). Before the preliminary task is completed, the scheduler only reserves the execution time slot on the other side of the waiting position for the subsequent task, without releasing the restricted narrow alleyway entry permission. After the preliminary task is completed, the scheduler first reads the current passage status of the restricted narrow alleyway, and releases the subsequent task according to the arrival order of the waiting positions if the current passage status allows release.

[0084] See Figure 5 As shown, a task on the same side is an unstarted task whose path does not pass through the restricted narrow aisle section and whose work position is located on the same side of the restricted narrow aisle section. The first part of the task involves a robot on one side moving from the task starting point to the waiting position, and the second part involves a robot on the other side leaving the waiting position from the other side and continuing to complete the transport task. Entry permission is the permission state that allows a robot to enter the entrance of the restricted narrow aisle section. Before the first part of the task is completed, the waiting position has not formed a continuation of the actual handover result, and the scheduler only reserves execution slots for the second part of the task, without releasing the entry permission; after the first part of the task is completed, the scheduler releases the second part of the task according to the arrival order of the waiting positions when the current passage status allows release. Task splitting and permission control rules are shown in Table 2.

[0085] Table 2 Task Splitting and License Control Rules

[0086]

[0087] As shown in Table 2, the scheduling end does not directly cancel tasks that cross restricted narrow lane sections. Instead, it transforms these tasks into consecutive tasks on both sides. The processing rules in Table 2 enable the warehouse logistics scheduling queue to continue executing tasks on the same side and consecutive tasks while the restricted narrow lane section exists, thereby reducing the impact of local constraints on the global task queue.

[0088] After registering the restricted narrow alleyway section, the dispatcher continues to check whether the target robot has uploaded anomaly information corresponding to the initial restricted position. If the target robot has not uploaded anomaly information and the restricted narrow alleyway section is confirmed, the dispatcher registers and uploads the missing record. Uploading the missing record triggers two dispatching actions: one is to issue an anomaly retransmission instruction to the target robot, and the other is to bind the second robot's driving record to the restricted narrow alleyway section. After the target robot completes the anomaly retransmission, the dispatcher uses the anomaly information to correct the endpoints in the restricted narrow alleyway section closest to the target robot's initial restricted position; if the target robot has not completed the anomaly retransmission, the dispatcher maintains the second robot's driving record as the basis for updating the restricted narrow alleyway section and prohibits the restoration of the narrow alleyway boundary based solely on the target robot's information.

[0089] Uploading missing records records situations where the target robot exhibits restricted behavior but fails to upload abnormal information, and associates these records with the narrow alleyway segment number, entry direction, initial restricted location, and event time. The abnormality re-upload instruction is a control command from the scheduling terminal requesting the target robot to upload supplementary abnormal information; the second robot's driving record serves as the basis for updating the restricted narrow alleyway section when abnormal information is not re-uploaded.

[0090] See Figure 6 As shown, uploading a missing record triggers two scheduling actions: one is to issue an error retransmission command to the target robot, and the other is to bind the second robot's driving record to the restricted narrow alleyway section. After the target robot completes the error retransmission, the scheduler uses the event location in the error information to correct the endpoint of the restricted narrow alleyway section closest to the target robot's initial restricted position. If the target robot fails to complete the error retransmission, the scheduler retains the second robot's driving record as the basis for updating the restricted narrow alleyway section and prohibits restoring the narrow alleyway boundary based solely on the target robot's information from only one side.

[0091] Before the scheduling terminal releases subsequent tasks according to the arrival order of waiting positions after the completion of the preceding tasks, the scheduling terminal sets the passage status for the restricted narrow alleyway based on the unstarted tasks on both sides of the restricted narrow alleyway and the subsequent tasks that cross the restricted narrow alleyway. The passage status includes prohibited entry, single-sided trial, and resumed passage. In the prohibited entry status, the scheduling terminal only releases unstarted tasks that do not cross the restricted narrow alleyway; in the single-sided trial status, the scheduling terminal only allows empty robots to enter from one end of the restricted narrow alleyway and return before the waiting position at the other end. After the empty robot completes its journey and does not exhibit any behavior indicating it has passed through the restricted area, the scheduling terminal triggers a resumed journey verification instead of directly resuming passage.

[0092] To avoid premature recovery due to the results of a single-sided trial, this embodiment uses the completion of a single-sided trial by an empty robot without exhibiting any restricted behavior as the condition for entering the recovery driving verification, and the completion of both recovery driving tasks without exhibiting any restricted behavior as the final condition for restoring passage. The passage status refers to the passage control status of the restricted narrow aisle section in the warehouse logistics scheduling queue. "Prohibited entry" means the scheduler does not release entry permission to pass through the restricted narrow aisle section; "Single-sided trial" means the scheduler allows the empty robot to enter from one end of the restricted narrow aisle section and return before waiting at the other end; "Restored passage" means the scheduler re-releases tasks passing through the section according to the narrow aisle boundary after the restricted narrow aisle section is released. The passage status transition rules are shown in Table 3.

[0093] Table 3. Traffic Status Transition Rules

[0094]

[0095] As shown in Table 3, the transition of traffic status is progressive. First, after registration is completed, the restricted narrow lane section enters the prohibited entry state; second, when it is necessary to verify whether the section can be cleared, it enters the single-sided trial state; third, if the single-sided trial is not restricted, traffic is not directly restored, but a resumption of driving task is triggered; finally, only when both resumption of driving tasks are completed and no restriction on passage occurs, will the dispatcher delete the waiting position and rearrange the warehouse logistics dispatch queue.

[0096] Before the passage status is changed to resumed passage, the dispatcher assigns resumption driving tasks from both ends of the restricted narrow lane section. If both resumption driving tasks reach the waiting position at the opposite end and exit along the reverse entry path without any restriction on passage, the dispatcher changes the passage status to resumed passage, deletes the waiting position, and rearranges the warehouse logistics dispatch queue according to the restored narrow lane boundary. If either resumption driving task exhibits restriction on passage, the dispatcher retains the restricted narrow lane section and continues to execute follow-up tasks that cross the restricted narrow lane section or waiting tasks on the same side.

[0097] In one associated embodiment, after target robot A and second robot E confirm the restricted narrow aisle section, the dispatcher splits the transport task T1 traversing the section into a first task T1a and a second task T1b. Robot I executes the first task T1a and reaches the waiting position, while robot J executes the second task T1b on the other side of the waiting position. Since target robot A did not upload any abnormal information, the dispatcher registers the missing record and requests target robot A to upload the abnormal information. If the event location uploaded by target robot A shows that target robot A had already entered a lateral avoidance control state before the initial restricted position, the dispatcher adjusts the endpoint of the restricted narrow aisle section closer to target robot A toward that event location. Subsequently, the dispatcher arranges for both ends to resume travel tasks; only when both ends of the resumed travel tasks are unrestricted will the passage status be changed to resumed passage.

[0098] Through the above-mentioned task breakdown, license release, uploading of missing records, abnormal re-uploading, driving record binding, and driving recovery verification, the registration, correction, retention, and release of restricted narrow lane sections can be reflected in the periodic scheduling process.

[0099] In the electronic device embodiment, the warehouse map, scheduling queue, periodic status data, and reload records stored in the memory can be maintained by the same database or message queue. The processor reads the above data according to the scheduling cycle and performs path determination, pause allocation, driving verification, endpoint correction, and recovery verification processes. In the computer-readable storage medium embodiment, when the computer program is executed, it causes the processor to perform the above method steps, ensuring that the software deployment form is consistent with the hardware coordination relationship between the scheduling terminal, robot communication unit, and warehouse map data.

[0100] The above embodiments are used to illustrate the implementation of this application. For those skilled in the art, improvements and modifications made without departing from the verification and scheduling backfeed logic of this application also fall within the protection scope of this application.

Claims

1. A warehouse logistics scheduling method based on multi-machine collaboration of embodied intelligent robots, characterized in that, include: Determine the planned passage path for the target robot carrying the goods to enter the narrow aisle of the warehouse; When the target robot approaches the narrow alley boundary along the predetermined path, it obtains the first restricted position, where the narrow alley segment is the passage interval defined by the adjacent nodes of the narrow alley centerline, the narrow alley boundary is the boundary that defines the passage range on both sides of the narrow alley segment, and the first restricted position is the position where the target robot first decelerates, deviates, or stops due to avoiding the narrow alley boundary; If the dispatch terminal does not receive any abnormal information during the feedback period after the first restricted location appears, it will suspend the allocation of entry tasks to the narrow alleyway section containing the first restricted location and treat the first restricted location as a location to be verified. Select a second robot from the other side of the warehouse aisle, and make the second robot approach the verification speed limit position along the entry path from the other side entrance to the position to be verified, and stop at the position where it can still exit in the opposite direction along the entry path; The first restricted position of the second robot is obtained. When the first restricted positions of the target robot and the second robot are located on opposite sides of the same narrow alley, the passage between the two first restricted positions is identified as the restricted narrow alley section and fed back to the robots that subsequently enter the warehouse narrow alley. If the second robot fails to pass through the restricted area, or if the first restricted position of the second robot is not in the same narrow alley segment as the position to be checked, maintain the narrow alley boundary and send feedback to the target robot to re-perceive or exit the warehouse narrow alley. The restricted narrow lane section, the pause allocation result, or the feedback will be fed back to the warehousing and logistics scheduling queue.

2. The method according to claim 1, characterized in that, The process of identifying the passageway between the two initially restricted locations as a restricted narrow alleyway includes: The scheduling terminal maps the two initially restricted locations to the centerline of the narrow alleyway section, obtaining two mapping points; The center line segment between the two mapping points and the narrow alley boundaries on both sides of the center line segment are jointly registered as the restricted narrow alley interval; After the restricted narrow lane section is registered, the dispatching terminal sets up waiting positions at both ends of the restricted narrow lane section; The task of traversing a restricted narrow alleyway is divided into the first part, which is the task of reaching the waiting position, and the second part, which is the task of leaving the waiting position.

3. The method according to claim 2, characterized in that, The task of traversing a restricted narrow alleyway section is divided into a pre-task of reaching the waiting position and a post-task of leaving the waiting position, including: Unstarted tasks whose paths do not pass through the restricted narrow alleyway section and whose work positions are located on the same side of the restricted narrow alleyway section will continue to be assigned to the robots on the same side. The unstarted task that passes through a restricted narrow alleyway section is divided into the first part of the task, which is the robot on one side reaching the waiting position, and the second part of the task, which is the robot on the other side leaving the waiting position. Before the previous task is completed, the scheduling terminal only reserves the execution time slot on the other side of the waiting position for the subsequent task, and does not release the entry permission for the restricted narrow alley section. After the preceding task is completed, the scheduler releases the following tasks in the order of arrival of the waiting positions, provided that the current passage status allows for release.

4. The method according to claim 1, characterized in that, The process of selecting a second robot from the other side of the warehouse aisle includes: The load profile level is used as a condition for selecting the second robot. The load profile level is a level pre-registered by the scheduling end according to the range occupied by the load profile in the narrow alley width direction. Prioritize selecting robots that are located on the opposite side of the target robot's location, enter in the opposite direction, can exit in the reverse direction along the entry path, and have the same load profile level; If the aforementioned robot is not selected, choose a robot with a load profile rating higher than the target robot; Only when there is a robot with a load profile level lower than that of the target robot, the corresponding robot is allowed to travel to the narrow alleyway section where the location to be verified is located; When the robot is not restricted during its movement, the narrow alley boundary is not updated; If the robot is restricted during its movement, it will wait for the robot to meet the load profile level conditions before it can move again.

5. The method according to claim 1, characterized in that, The suspension of assigning entry tasks to narrow alleyways containing the initial restricted location includes: Read robot tasks that have obtained entry permission but have not yet entered the narrow alleyway section, and convert the entry permission to a pending permission; Set robots that are already in the narrow alleyway section and have not crossed the position to be checked as exit tasks; Set the robot that has already passed the location to be checked as the departure task; After exiting and departing from the task, a verification driving instruction is sent to the second robot. The verification driving instruction includes the position to be verified, the entry direction, the exit direction, and the stop position. Before the second robot completes its journey, only robots that have performed exit tasks, departure tasks, and verification of driving instructions are allowed to enter the narrow alley section. After the second robot completes its journey, it resumes, reassigns, or cancels the waiting permission based on the result of the restricted narrow alleyway section or maintaining the narrow alleyway boundary.

6. The method according to claim 5, characterized in that, Before the reading of a robot task that has obtained access permission but has not yet entered the narrow alleyway section, the process also includes: The warehouse narrow aisle is divided into narrow aisle segments according to the adjacent nodes of the narrow aisle centerline, and a segment number and narrow aisle boundary are written for each narrow aisle segment. When the first restricted location falls into a narrow alleyway section, the section number is written into the location to be verified; The first restricted location reported by the second robot has a segment number; When two initial restricted locations have the same segment number and enter in opposite directions, the two initial restricted locations are considered to be located on opposite sides of the same narrow alleyway segment.

7. The method according to claim 4, characterized in that, When the corresponding robot is not restricted during its movement, after not updating the narrow alley boundary, the following is also included: When the second robot reaches the narrow alleyway section corresponding to the location to be verified and exits in the reverse direction of the entry path without any restriction on passage, the location to be verified is registered as the target robot's verification location. Issue the in-situ re-perception task to the target robot; If the target robot still exhibits restricted behavior at the target robot verification position after re-perception, the area between the side entrance where the target robot is located and the target robot verification position will be set as a one-way exit zone, and the subsequent handling tasks of the target robot will be transferred to robots that have not entered the warehouse narrow aisle. If the target robot fails to demonstrate the restricted behavior after re-perception, the suspension of result allocation will be lifted.

8. The method according to claim 3, characterized in that, Before releasing subsequent tasks according to the arrival order of waiting positions after the completion of the preceding task, the process also includes: Based on the unstarted tasks on both sides of the restricted narrow lane section and the subsequent tasks that cross the restricted narrow lane section, set the passage status for the restricted narrow lane section; The passage status includes prohibition of entry, trial passage on one side, and resumption of passage; In the prohibited entry state, only unstarted tasks that do not pass through the restricted narrow alleyway section are released; In the single-sided trial phase, only unloaded robots are allowed to enter from one end of the restricted narrow aisle section and return before waiting for their position at the other end. After the unloaded robot completes its journey without exhibiting any signs of being restricted from passing, the dispatcher triggers a resumption of travel verification; subsequent tasks are released in the order of arrival of waiting positions after the passage status is changed to resumed passage.

9. The method according to claim 2, characterized in that, After registering the center line segment between the two mapping points and the narrow alley boundaries on both sides of the center line segment as a restricted narrow alley interval, the method further includes: The case where the target robot fails to upload abnormal information and the restricted narrow alleyway section is confirmed is recorded as an upload missing record; Uploading missing records triggers two scheduling actions: one is to issue an abnormal retransmission instruction to the target robot, and the other is to bind the driving record of the second robot to the restricted narrow alley section. After the target robot completes the abnormal retransmission, the abnormal information is used to correct the endpoints in the restricted narrow alley section that are close to the initial restricted position of the target robot; If the target robot fails to complete the abnormal retransmission, the driving record of the second robot shall be retained as the basis for updating the restricted narrow alleyway section, and the narrow alleyway boundary shall not be restored based solely on the information from the target robot alone.

10. The method according to claim 8, characterized in that, Before the passage status changes to resumed passage, it also includes: Before lifting the restrictions on narrow lane sections, traffic resumption tasks will be arranged from both ends of the restricted narrow lane sections. If both resumption of traffic tasks reach the waiting position at the other end and exit in the reverse direction along the entry path, and there is no indication of restricted passage, the passage status will be changed to resumed passage, the waiting position will be deleted, and the warehousing and logistics scheduling queue will be rearranged according to the restored narrow alley boundary. If any task to resume driving encounters a situation where passage is restricted, the restricted narrow lane section will be retained, and the follow-up task that crosses the restricted narrow lane section or the waiting task on the same side will continue to be executed.

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