The invention discloses a distributed control-based
stacker scheduling method,
system and device and a medium, the
stacker comprises a lifting module, a walking module and a
pallet fork module, the lifting module, the walking module and the
pallet fork module are each provided with a control module, and the method comprises the following steps of: aiming at a target task, controlling the lifting module, the walking module and the
pallet fork module; optimal action sequences are calculated through control modules configured for the lifting module, the walking module and the
pallet fork module respectively; based on the optimal action sequence, a scheduling strategy is generated in a
bus negotiation conflict mode; and performing scheduling control on the
stacker according to the scheduling strategy. By adopting a distributed
control mode, each
functional module of the stacker is independently configured with a control module, so that each module can autonomously calculate an optimal action sequence, the
coupling degree among the modules is greatly reduced, and the scheduling efficiency and reliability of the stacker are improved.