A method for controlling a transport robot, wherein the transport robot comprises a vertical support, a driving assembly, and a carrying device; the vertical support comprises a fixed column frame (10, 210) and a movable column frame (20, 220), the carrying device is movably arranged on the movable column frame (20, 220), the movable column frame (20, 220) is movably arranged on the fixed column frame (10, 210), and the carrying device is configured to carry goods, the driving assembly comprises a traction assembly (70, 420) and a retractable assembly (80, 410) connected to the traction assembly (70, 420), the traction assembly (70, 420) is connected to the carrying device, the retractable assembly (80, 410) is arranged on the fixed column frame (10, 210); the retractable assembly (80, 410) is configured to drive, through the traction assembly (70, 420), at least one of: the carrying device to move relative to the movable column frame (20, 220), and the movable column frame (20, 220) to move relative to the fixed column frame (10, 210); the method comprises: receiving (S 1) a movement instruction; and driving, according to the movement instruction, at least one of: the carrying device to move relative to the movable column frame; and the movable column frame to move relative to the fixed column frame; characterized in that the traction assembly (70, 420) comprises two sets of traction assemblies (70, 420) located at two opposed sides of the carrying device respectively, the retractable assembly (80, 410) is configured to drive the two sets of the traction assemblies (70, 420) to synchronously drive the carrying device to ascend or descend and in that the movement instruction comprises a first ascending instruction; and the driving, according to the movement instruction, the carrying device to move relative to the movable column frame and/or the movable column frame to move relative to the fixed column frame comprises: obtaining (S21a) a first specified ascending height according to the first ascending instruction; driving (S22a) the carrying device to move upward relative to the movable column frame; and stopping (S23a) lifting the carrying device when the carrying device moves to the first specified ascending height before the carrying device moves to a top of the movable column frame; wherein when the carrying device has not moved to the first specified ascending height after the carrying device moves to the top of the movable column frame, driving (S24a) the carrying device and the movable column frame to simultaneously move upward relative to the fixed column frame until the carrying device reaches the first specified ascending height. receiving (S 1) a movement instruction; and driving, according to the movement instruction, at least one of: the carrying device to move relative to the movable column frame; and the movable column frame to move relative to the fixed column frame; characterized in that the traction assembly (70, 420) comprises two sets of traction assemblies (70, 420) located at two opposed sides of the carrying device respectively, the retractable assembly (80, 410) is configured to drive the two sets of the traction assemblies (70, 420) to synchronously drive the carrying device to ascend or descend and in that the movement instruction comprises a first ascending instruction; and the driving, according to the movement instruction, the carrying device to move relative to the movable column frame and/or the movable column frame to move relative to the fixed column frame comprises: obtaining (S21a) a first specified ascending height according to the first ascending instruction; driving (S22a) the carrying device to move upward relative to the movable column frame; and stopping (S23a) lifting the carrying device when the carrying device moves to the first specified ascending height before the carrying device moves to a top of the movable column frame; wherein when the carrying device has not moved to the first specified ascending height after the carrying device moves to the top of the movable column frame, driving (S24a) the carrying device and the movable column frame to simultaneously move upward relative to the fixed column frame until the carrying device reaches the first specified ascending height.