Embodiments of this application provide a method and device for controlling a transport robot, a vertical support, and a transport robot. The transport robot includes a vertical support and a carrying device. The vertical support includes a fixed column frame and a movable column frame. The carrying device is movably arranged on the movable column frame. The movable column frame is movably arranged on the fixed column frame. The carrying device is configured to carry goods. The method for controlling a transport robot includes: receiving a movement instruction; and 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. In this way, a height of the transport robot can not only be increased by controlling movement of the carrying device relative to the fixed column frame, but also be increased by controlling ascending of the movable column frame relative to the fixed column frame. Therefore, the height by which the carrying device is allowed to ascend or descend is equal to a sum of a stroke of the fixed column frame and a stroke of the movable column frame, so that the carrying device can ascend or descend in a wider height range, providing a broader range of applications.