Disclosed are a method and device for moving an article based on dense storage, a storage medium, and a dense storage system. The method includes: upon detecting that a target shelf is blocked by at least one blocking shelf, instructing a first self-driven robot to remove the blocking shelf and/or a blocking storage box to make the target shelf not blocked by the blocking shelf or make a target storage box on the target self not blocked by the blocking storage box; instructing the first self-driven robot to carry the blocking shelf and/or the blocking storage box and perform a circular movement along a robot travelling passage; and instructing a second self-driven robot to move the target shelf from its current position to a workstation, or instructing the second self-driven robot to remove the target storage box from the target shelf and move the target storage box to the workstation.