Man-machine collaborative order picking optimization method in mobile shelf intelligent warehouse

The invention provides a man-machine collaborative order picking optimization method in a mobile shelf intelligent warehouse. The method comprises the following steps: coding P shelves; calculating an effective sequence; the X robots are coded; when the effective sequence comprises P1 goods shelf codes and X1 robots are in an idle state, the X1 robots are sequentially distributed to carry P1 goods shelves according to the effective sequence; according to the order, picking work is carried out in a greedy picking mode according to the order that the goods shelves arrive at the picking station, and joint optimization of the three sub-problems of goods shelf selection, robot task assignment and order sorting is achieved. 本发明提供一种可移动货架智能仓库中人机协同的订单拣货优化方法，包括：对P个货架进行编码；计算有效序列；对X个机器人进行编码；当有效序列包括P1个货架编码，有X1个机器人处于空闲状态时，根据有效序列顺序分配X1个机器人搬运P1个货架；根据订单，按照货架的到达拣货站的次序采用贪婪捡取的方式进行拣货工作，实现货架选择、机器人任务指派和订单分拣三个子问题的联合优化。