The embodiment of the invention discloses a goods intensive storage method, device and system and a storage medium. The method includes the steps that a target goods shelf to which a carrying task points is determined from a goods shelf array; the number of goods shelves in any transverse row of the goods shelf array and the number of goods shelves in any vertical row of the goods shelf array areat least 3; the position type, in the goods shelf array, of the target goods shelf is judged, and a carrying strategy is determined according to the position type; and a self-driven robot is controlled to carry the target goods shelf based on the carrying strategy. By the adoption of the technical scheme, the effects that warehouse space is fully utilized, and the human cost of warehouse management is reduced can be achieved.