Box retrieval method and apparatus, system, robot, and storage medium

A box retrieval method, applied to a warehouse robot, wherein the method comprises:

• acquiring a detection image, wherein the detection image comprises an image of a target box and neighboring objects;
• determining a box spacing between the target box and each neighboring object according to the detection image;
• and
• if the box spacing satisfies retrieval conditions for the warehouse robot, retrieving the target box;
• wherein the determining a box spacing between the target box and each neighboring object according to the detection image comprises:
• performing feature extraction on the detection image to determine a target region corresponding to the target box and neighboring regions corresponding to the neighboring objects in the detection image;
• and
• determining the box spacing between the target box and each neighboring object according to positional relationships between the target region and the neighboring regions.