The invention provides an intelligent control method of a warehousing system. According to the method, shelves are controlled to transfer cargoes to a taking place firstly during taking, then LED lamp groups on preset circuits are turned on, an intelligent tracking shielding vehicle advances to the taking place according to a light path, the position of the whole vehicle is further accurately adjusted by detecting identification images, and finally, mechanical arms are controlled to grasp the cargoes into an accommodating frame of a vehicle body under the guidance that position sensors detect edges on two sides of the cargoes. With the control method, remote control and automatic intelligent operation can be realized, wireless video monitoring can be realized, and the cargoes can be carried automatically, more intelligently, safely and conveniently.