Method and device for storing goods, robot, warehousing system and storage medium

A robot, comprising:

• a memory;
• and
• at least one processor,
• wherein the memory is configured to store a computer-executable instruction;
• and
• wherein the at least one processor is configured to execute the computer-executable instruction stored by the memory to cause the robot to:
• move to a target position according to a storage instruction for goods to be stored;
• detect a storage space corresponding to the storage instruction after moving to the target position, wherein the storage space for the goods to be stored is determined according to size information of the goods to be stored and a dynamic goods storage area on a target rack corresponding to the goods to be stored, wherein the dynamic goods storage area on the target rack is a continuous space and is capable of being divided into storage spaces of any size smaller than a physical size of the dynamic goods storage area;
• determine, according to the detection result, whether the storage space corresponding to the storage instruction comprises a continuous vacant space of a preset size, wherein the preset size is determined according to the size information of the goods to be stored;
• and
• store the goods to be stored in the vacant space of the preset size of the storage space in response to determining that the storage space corresponding to the storage instruction comprises the continuous vacant space of the preset size;
• wherein when the robot is caused to determine, according to the detection result, whether the storage space corresponding to the storage instruction comprises the continuous vacant space of the preset size, the robot is further caused to:
• determine whether an obstacle exists in a first preset range to determine whether the storage space comprises the continuous vacant space of the preset size, wherein the first preset range is detected in the storage space corresponding to the storage instruction, and the first preset range is at least a range of the preset size;
• determine that the storage space corresponding to the storage instruction comprises the continuous vacant space of the preset size in response to determining that the obstacle does not exist in the first preset range;
• and
• determine that the storage space corresponding to the storage instruction does not comprise the continuous vacant space of the preset size in response to determining that the obstacle exists in the first preset range.

A warehousing system, comprising:

• a robot comprising at least one processor and a memory configured to store computer-executable instructions;
• a warehouse management apparatus;
• and
• a rack configured to store goods;
• and
• wherein the warehouse management apparatus is configured to generate a storage instruction for the goods;
• wherein the at least one processor is configured to execute the computer-executable instruction stored by the memory to cause the robot to:
• move to a target position according to the storage instruction for goods to be stored;
• detect a storage space corresponding to the storage instruction after moving to the target position, wherein the storage space for the goods to be stored is determined according to size information of the goods to be stored and a dynamic goods storage space area on a target rack corresponding to the goods to be stored, wherein the dynamic goods storage area on the rack is a continuous space and is capable of being divided into storage spaces of any size smaller than a physical size of the dynamic goods storage area;
• determine, according to the detection result, whether the storage space corresponding to the storage instruction comprises a continuous vacant space of a preset size, wherein the preset size is determined according to the size information of the goods to be stored;
• and
• store the goods to be stored in the vacant space of the preset size of the storage space in response to determining that the storage space corresponding to the storage instruction comprises the continuous vacant space of the preset size;
• wherein when the robot is caused to determine, according to the detection result, whether the storage space corresponding to the storage instruction comprises the continuous vacant space of the preset size, the robot is further caused to:
• determine whether an obstacle exists in a first preset range to determine whether the storage space comprises the continuous vacant space of the preset size, wherein the first preset range is detected in the storage space corresponding to the storage instruction, and the first preset range is at least a range of the preset size;
• determine that the storage space corresponding to the storage instruction comprises the continuous vacant space of the preset size in response to determining that the obstacle does not exist in the first preset range;
• and
• determine that the storage space corresponding to the storage instruction does not comprise the continuous vacant space of the preset size in response to determining that the obstacle exists in the first preset range.

A computer program product, comprising a computer program, wherein computer-executable instructions are implemented when the computer program is executed by a processor, wherein the computer-executable instructions comprise:

• moving to a target position according to a storage instruction for goods to be stored;
• detecting a storage space corresponding to the storage instruction after moving to the target position, wherein the storage space for the goods to be stored is determined according to size information of the goods to be stored and a dynamic goods storage area on a target rack corresponding to the goods to be stored, wherein the dynamic goods storage area on the target rack is a continuous space and is capable of being divided into storage spaces of any size smaller than a physical size of the dynamic goods storage area;
• determining, according to the detection result, whether the storage space corresponding to the storage instruction comprises a continuous vacant space of a preset size, wherein the preset size is determined according to the size information of the goods to be stored;
• and
• storing the goods to be stored in the vacant space of the preset size of the storage space in response to determining that the storage space corresponding to the storage instruction comprises the continuous vacant space of the preset size;
• wherein the determining, according to the detection result, whether the storage space corresponding to the storage instruction comprises the continuous vacant space of the preset size comprises:
• determining whether an obstacle exists in a first preset range to determine whether the storage space comprises the continuous vacant space of the preset size, wherein the first preset range is detected in the storage space corresponding to the storage instruction, and the first preset range is at least a range of the preset size;
• determining that the storage space corresponding to the storage instruction comprises the continuous vacant space of the preset size in response to determining that the obstacle does not exist in the first preset range;
• and
• determining that the storage space corresponding to the storage instruction does not comprise the continuous vacant space of the preset size in response to determining that the obstacle exists in the first preset range.