Abstract: Provided are a carrying robot, a carrying control method, a control device and a warehouse system. The carrying robot is applicable to a carrying scenario where boxes with at least two specifications are placed on a shelf and includes a cargo carrying apparatus. The cargo carrying apparatus includes a bottom pallet, a spacing adjustment mechanism and a first fork arm and a second fork arm which are disposed opposite to each other. The first fork arm and the second fork arm are disposed on two opposite sides of the bottom pallet, respectively. The carrying control method includes: controlling the spacing adjustment mechanism to adjust spacing between the first fork arm and the second fork arm; and controlling the cargo carrying apparatus to work and carry the box to be carried to the bottom pallet.

Abstract: Provided are a vehicle obstacle-avoidance method, an apparatus, and a vehicle. The method includes: acquiring obstacle information, in a case that an obstacle is detected; determining whether the obstacle is a straight-going obstacle in a planned route, according to the planned route and the obstacle information; acquiring a center-of-gravity position of a vehicle, a safe stopping distance and a vehicle current speed, in a case that the obstacle is determined as the straight-going obstacle in the planned route; determining a maximum acceleration of the vehicle, according to the center-of-gravity position; and determining a straight-going obstacle-avoidance strategy, according to the obstacle information, the maximum acceleration, the safe stopping distance and the vehicle current speed.

Abstract: A warehousing apparatus including a temporary storage layer board used for providing a temporary storage station, and a plurality of shelves with each shelf including at least one storage layer board and a plurality of stand columns arranged at intervals in a horizontal direction. The storage layer board is spaced apart from the temporary storage layer board in a vertical direction by means of a stand column, and the storage layer board is used for providing a storage position, a first robot passage in which a first robot travels and a second robot passage in which a second robot travels.

Abstract: Disclosed are a package placement method and apparatus, the method comprising: obtaining an obstacle distribution of placement areas adjacent to a target placement area, each placement area being correspondingly provided with a package storage apparatus; according to the obstacle distribution, determining a movement direction for a conveying platform to enter the target placement area, the conveying platform being used for placing a package in the package storage apparatus; according to the movement direction for the conveying platform, determining a package placement means; according to the determined package placement means, placing the package in the package storage apparatus corresponding to the target placement area. The package placement means is determined according to the obstacle distribution, and the conveying platform is controlled to move and place the package, thereby saving placement time, eliminating conveying platform stopping and restarting time, and increasing placement efficiency.

Abstract: A material placement method is disclosed, comprising: determining a target placement area, the target placement area being correspondingly provided with a target material storage apparatus; determining a movement track based on a current placement area and the target placement area; when each placement area which the movement track passes through is not reserved for occupancy, selecting a material placement means based on a positional relationship between the movement track and the target material storage apparatus; placing a material in the target material storage apparatus based on the selected material placement means.