Goods storage method and apparatus, robot, warehousing system, and storage medium

A robot, comprising:

• a carrying apparatus;
• a mobile chassis;
• at least one sensor;
• and
• at least one processor, wherein the at least one processor is configured to perform computer executable instructions, wherein the computer executable instructions comprise:
• controlling the mobile chassis to move to a position corresponding to a first target region according to a storage instruction of goods to be stored, wherein the first target region is a storage region corresponding to the goods to be stored, and the first target region is determined according to size information of the goods to be stored and a dynamic goods storage space on a rack corresponding to the goods to be stored;
• controlling the at least one sensor to detect the first target region, to obtain a first detection result;
• determining that the first target region is occupied, according to the first detection result;
• moving toward a direction of an unoccupied region in the first target region, in a case that the first target region is occupied;
• and
• controlling the carrying apparatus to place the goods to be stored in a second target region, wherein the second target region is a corresponding storage region after the mobile chassis has moved.

A non-transitory computer storage medium, comprising a computer program, wherein the computer program, when being executed by a processor, implements computer executable instructions, wherein the computer executable instructions comprise instructions to control a robot to:

• move to a position corresponding to a first target region according to a storage instruction of goods to be stored, wherein the first target region is a storage region corresponding to the goods to be stored, and the first target region is determined according to size information of the goods to be stored and a dynamic goods storage space on a rack corresponding to the goods to be stored;
• move toward a direction of an unoccupied region in the first target region, in a case that the first target region is occupied;
• obtain a second detection result of a current storage region after the movement is completed and during the movement, wherein the current storage region is a corresponding storage region after the movement of the robot is completed or during the movement of the robot;
• determine the current storage region as a second target region, in a case that the current storage region meets a storage condition of the goods to be stored, wherein the second target region is a corresponding storage region after the robot moves;
• and
• place the goods to be stored in the second target region.