Inventory method for goods on goods shelf, robot and warehousing system

The invention discloses a checking method for goods on a goods shelf, a robot and a warehousing system. The checking method applied to the robot comprises the steps that a checking instruction of a control center is received; the robot is controlled to operate, so that the visual sensor moves relative to the goods shelf; the visual sensor is controlled to acquire data of identification codes along the way, and the identification codes comprise shelf codes and goods codes; according to the obtained data of the identification code, generating inventory data; wherein the inventory data comprises data of the goods shelf code and data of the goods code which are associated with each other; and sending the inventory data to the control center. According to the checking method for the goods on the goods shelf, the robot and the warehousing system, the goods shelf codes are arranged on the goods shelf, the goods codes are arranged on the goods, the data of the identification codes are obtained through the visual sens