Scheduling method for four-way shuttle dense storage system without conveyor line and warehousing system

A scheduling method for a four-way shuttle dense storage system without a conveyor line, wherein inbound steps comprise:

• when goods are carried to an inbound port (1), scheduling a four-way shuttle (11) to carry the goods at the inbound port (1) onto a vertical two-way shuttle (4) in a dense storage system, so that the vertical two-way shuttle (4) lifts the goods to a designated tier of a storage rack;
• and
• scheduling a four-way shuttle (11) at the corresponding tier of a dense storage system rack to retrieve the goods conveyed by the vertical two-way shuttle (4), and transferring the goods to a designated storage position in the dense storage system rack;
• and
• outbound steps comprise:
• scheduling a four-way shuttle (11) running at a storage tier corresponding to target goods in the dense storage system rack to retrieve the goods from a storage position of the goods, and transferring the goods to the vertical two-way shuttle (5), so that the vertical two-way shuttle transfers the goods to a first rack tier;
• and
• scheduling a four-way shuttle at the first rack tier to retrieve the goods conveyed by the vertical two-way shuttle, and carrying the goods to an outbound port (8) for manual outbound processing.