A method for controlling based on a carrying robot (103, 104), wherein the carrying robot carries a shelf (107, 108) connected to the carrying robot (103, 104) through a rotatable stepper motor (105, 106), the method comprising: detecting whether the carrying robot is currently located in a sorting area or a non-sorting area, the sorting area being designated in a storage warehouse for sorting items on shelves in the storage warehouse, and the non-sorting area including a shelf area for storing the shelves, and an area connecting the shelf area and the sorting area and being used for travelling by the carrying robot; and in response to detecting that the carrying robot (103, 104) is currently located in the non-sorting area, controlling the carrying robot (103, 104) to travel along a preset path to a first preset position in the non-sorting area, using the first preset position as a first rotation position, and performing, at the first rotation position, a control step comprising: determining whether a rotation condition for the stepper motor (105, 106) to perform a rotation operation is satisfied at the first rotation position, and in response to determining that the rotation condition for the stepper motor (105, 106) to perform the rotation operation is satisfied at the first rotation position, controlling the stepper motor (105, 106) to rotate so that a side, having a target identifier, of the (107, 108) shelf faces a designated direction, wherein the rotation conditions comprise: no obstacle at a predetermined distance from the carrying robot (103, 104); and/or no other carrying robot passing a current position where the carrying robot (103, 104) is located, and wherein the method further comprises: in response to detecting that the carrying robot (103, 104) is currently located in the sorting area, and that the side of the (107, 108) shelf having the target identifier is not toward the designated direction, controlling the carrying robot (103, 104) to travel to a second rotation position where the stepper motor (105, 106) performs the rotation operation in the sorting area. detecting whether the carrying robot is currently located in a sorting area or a non-sorting area, the sorting area being designated in a storage warehouse for sorting items on shelves in the storage warehouse, and the non-sorting area including a shelf area for storing the shelves, and an area connecting the shelf area and the sorting area and being used for travelling by the carrying robot; and in response to detecting that the carrying robot (103, 104) is currently located in the non-sorting area, controlling the carrying robot (103, 104) to travel along a preset path to a first preset position in the non-sorting area, using the first preset position as a first rotation position, and performing, at the first rotation position, a control step comprising: determining whether a rotation condition for the stepper motor (105, 106) to perform a rotation operation is satisfied at the first rotation position, and in response to determining that the rotation condition for the stepper motor (105, 106) to perform the rotation operation is satisfied at the first rotation position, controlling the stepper motor (105, 106) to rotate so that a side, having a target identifier, of the (107, 108) shelf faces a designated direction, wherein the rotation conditions comprise: no obstacle at a predetermined distance from the carrying robot (103, 104); and/or no other carrying robot passing a current position where the carrying robot (103, 104) is located, and wherein the method further comprises: in response to detecting that the carrying robot (103, 104) is currently located in the sorting area, and that the side of the (107, 108) shelf having the target identifier is not toward the designated direction, controlling the carrying robot (103, 104) to travel to a second rotation position where the stepper motor (105, 106) performs the rotation operation in the sorting area. no obstacle at a predetermined distance from the carrying robot (103, 104); and/or no other carrying robot passing a current position where the carrying robot (103, 104) is located, and wherein the method further comprises: in response to detecting that the carrying robot (103, 104) is currently located in the sorting area, and that the side of the (107, 108) shelf having the target identifier is not toward the designated direction, controlling the carrying robot (103, 104) to travel to a second rotation position where the stepper motor (105, 106) performs the rotation operation in the sorting area.