Robot path scheduling method and device and warehousing system

The invention relates to the technical field of warehouse logistics, and discloses a robot path scheduling method and device and a warehousing system, and the method comprises the steps: obtaining a planned path for a target robot to execute a task; under the condition that at least one path point to be smoothed exists in the planned path, processing the planned path based on a first smooth path algorithm and a constraint condition to obtain a first smooth path; if a first blocking robot exists on the first smooth path and a first waiting duration of the target robot on the first smooth path is greater than a preset waiting duration, processing the planned path based on a driving environment of the target robot, a second smooth path algorithm and a constraint condition to obtain a second smooth path; and controlling the target robot to execute the task based on the second smooth path. By applying the path scheduling method of the robot provided by the embodiment of the invention, the robot can be prevented fr