Method and device for taking out and placing goods, warehousing robot and warehousing system

A warehousing robot, comprising:

• a memory and at least one processor, wherein
• the memory is configured to store computer-executable instructions;
• the at least one processor is configured to execute the computer-executable instructions stored in the memory, wherein the computer-executable instructions comprise:
• moving, according to an operation instruction for target goods, to a target position, wherein the target position is a position corresponding to a dynamic goods storage space for the target goods;
• acquiring first state information and second state information, and determining, according to the first state information and the second state information, available spacing between the target goods and adjacent objects, wherein the first state information is used for representing a spatial position feature of the target goods and the second state information is used for representing spatial position features of the adjacent objects;
• and
• taking out or storing, according to the available spacing, the target goods;
• wherein the warehousing robot comprises a carrying device, the available spacing comprises available take-out spacing, the available take-out spacing being used for representing a spatial size available for the carrying device to take out the target goods at the dynamic goods storage space;
• the first state information comprises position information of the target goods and the second state information comprises position information of the adjacent objects;
• and the computer-executable instructions comprise:
• determining, according to the position information of the target goods, contour position information of the target goods;
• and
• determining, according to the contour position information of the target goods and the position information of the adjacent objects, the available take-out spacing between the target goods and the adjacent objects;
• wherein the second state information further comprises pose information of the adjacent objects, the pose information being used for representing placement postures of the objects, and the computer-executable instructions comprise:
• determining, according to the pose information of the adjacent objects, a second spatial correction amount, the second spatial correction amount being used for representing an amount of change in a distance between the target goods and the adjacent objects caused by a change in the placement postures of the adjacent objects;
• determining, according to the position information of the adjacent objects and the second spatial correction amount, corrected position information of the adjacent objects;
• and
• determining, according to the corrected position information and the contour position information of the target goods, the available take-out spacing between the target goods and the adjacent objects.

A non-transitory computer-readable storage medium, comprising:

• program code, wherein when a computer runs the computer program product, the program code is executed, and the program code comprises computer-executable instructions;
• wherein the computer-executable instructions comprise controlling a warehousing robot to:
• move, according to an operation instruction for target goods, to a target position, wherein the target position is a position corresponding to a dynamic goods storage space for the target goods;
• acquire first state information and second state information, and determine, according to the first state information and the second state information, available spacing between the target goods and adjacent objects, wherein the first state information is used for representing a spatial position feature of the target goods and the second state information is used for representing spatial position features of the adjacent objects;
• and
• take out or store, according to the available spacing, the target goods;
• wherein the warehousing robot comprises a carrying device, the available spacing comprises available take-out spacing, the available take-out spacing being used for representing a spatial size available for the carrying device to take out the target goods at the dynamic goods storage space;
• the first state information comprises position information of the target goods and the second state information comprises position information of the adjacent objects;
• and the computer-executable instructions comprise controlling the warehousing robot to:
• determine, according to the position information of the target goods, contour position information of the target goods;
• and
• determine, according to the contour position information of the target goods and the position information of the adjacent objects, the available take-out spacing between the target goods and the adjacent objects;
• wherein the first state information further comprises pose information of the target goods, the pose information being used for representing a placement posture of the target goods;
• and the computer-executable instructions comprise controlling the warehousing robot to:
• determine, according to the pose information of the target goods, a third spatial correction amount, the third spatial correction amount being used for representing an amount of change in a distance between the target goods and the adjacent objects caused by a change in the placement posture of the target goods;
• determine, according to the third spatial correction amount, corrected contour position information of the target goods;
• and
• determine, according to the corrected contour position information of the target goods and the position information of the adjacent objects, the available take-out spacing between the target goods and the adjacent objects.