With the continuous expansion of the scale of enterprise modernization and the rapid development of the logistics industry, single-layer inventory in the warehouse is an important part of the logistics system, and the storage form of manual rummaging can no longer meet actual requirements. Three-dimensional warehouses have become an indispensable and important part of the production logistics system, and are key equipment for robots and stackers. The so-called three-dimensional warehouse has more than ten floors at the base, or even dozens of floors of shelf units to load goods in the warehouse or cargo handling equipment (robots) where the goods are transported. The three-dimensional warehouse has high space utilization and a strong storage capacity.