A box retrieval method, applicable to a warehouse robot (110; 610), the warehouse robot (110, 610) comprising a goods retrieval device configured to retrieve a target box, wherein the method comprises: acquiring a detection image (S201; S401), wherein the detection image comprises an image of a target box and neighboring objects; wherein the box retrieval method is characterized by comprising: 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 retrieval conditions comprise a preset width threshold and a preset depth threshold, the box spacing comprises spacing width and spacing depth, and the box spacing satisfying the retrieval conditions for the warehouse robot comprises: the spacing width is greater than the preset width threshold, and the spacing depth is greater than the preset depth threshold; wherein the target box is placed on a shelf, and there are two neighboring objects which are respectively located on the left and right sides of the target box; and the neighboring objects include: two other boxes neighboring to the target box, or one other box neighboring to the target box and a side frame of the shelf; wherein the spacing depth refers to a length of the spacing in the extension direction of the goods retrieval device, wherein the goods retrieval device is a fork, the preset width threshold is equal to a width of a fork arm plus a certain safety distance of the width of the fork arm, and the preset depth threshold is equal to a depth of the fork arm plus a certain safety distance of the depth of the fork arm. acquiring a detection image (S201; S401), wherein the detection image comprises an image of a target box and neighboring objects; wherein the box retrieval method is characterized by comprising: 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 retrieval conditions comprise a preset width threshold and a preset depth threshold, the box spacing comprises spacing width and spacing depth, and the box spacing satisfying the retrieval conditions for the warehouse robot comprises: the spacing width is greater than the preset width threshold, and the spacing depth is greater than the preset depth threshold; wherein the target box is placed on a shelf, and there are two neighboring objects which are respectively located on the left and right sides of the target box; and the neighboring objects include: two other boxes neighboring to the target box, or one other box neighboring to the target box and a side frame of the shelf; wherein the spacing depth refers to a length of the spacing in the extension direction of the goods retrieval device, wherein the goods retrieval device is a fork, the preset width threshold is equal to a width of a fork arm plus a certain safety distance of the width of the fork arm, and the preset depth threshold is equal to a depth of the fork arm plus a certain safety distance of the depth of the fork arm. 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 retrieval conditions comprise a preset width threshold and a preset depth threshold, the box spacing comprises spacing width and spacing depth, and the box spacing satisfying the retrieval conditions for the warehouse robot comprises: the spacing width is greater than the preset width threshold, and the spacing depth is greater than the preset depth threshold; wherein the target box is placed on a shelf, and there are two neighboring objects which are respectively located on the left and right sides of the target box; and the neighboring objects include: two other boxes neighboring to the target box, or one other box neighboring to the target box and a side frame of the shelf; wherein the spacing depth refers to a length of the spacing in the extension direction of the goods retrieval device, wherein the goods retrieval device is a fork, the preset width threshold is equal to a width of a fork arm plus a certain safety distance of the width of the fork arm, and the preset depth threshold is equal to a depth of the fork arm plus a certain safety distance of the depth of the fork arm. the spacing width is greater than the preset width threshold, and the spacing depth is greater than the preset depth threshold; wherein the target box is placed on a shelf, and there are two neighboring objects which are respectively located on the left and right sides of the target box; and the neighboring objects include: two other boxes neighboring to the target box, or one other box neighboring to the target box and a side frame of the shelf; wherein the spacing depth refers to a length of the spacing in the extension direction of the goods retrieval device, wherein the goods retrieval device is a fork, the preset width threshold is equal to a width of a fork arm plus a certain safety distance of the width of the fork arm, and the preset depth threshold is equal to a depth of the fork arm plus a certain safety distance of the depth of the fork arm.