A transport robot control method and device, a transport robot, and a storage medium. The control method comprises: performing image acquisition by means of a camera component to obtain a target image (S301); identifying a graphic identification code in the target image, and determining position information of the graphic identification code in the target image (S302), the image identification code being provided on the outside of a delivery box; determining the relative position of the transport robot and the delivery box according to the position information (S303); and performing a movement operation on the basis of the relative position to enable the combination between the transport robot and the delivery box (S304).