Four-way shuttle racking system is one type of Automated storage and retrieval systems, it is an intelligent high-density storage racking system that combines four-way driving, autonomous path planning, path crossing management, automatic handling and intelligent monitoring. The four-way shuttle racking system is equipped with a total of 12 wheels and can be driven in all directions along the track plane to freely reach any goods position on the warehouse plane. The four-way shuttle racking system is driven on both sides simultaneously to ensure that the shuttle trolley alternates between the longitudinal and transverse tracks on the racking system. Once the intelligent four-way shuttle trolley has reached the selected pick-up position, the pallet is lifted and the WCS system is informed that the pick-up task is complete. The guild rails serve both goods transport and goods storage functions, greatly improving the utilisation of storage space. As all access to the goods in the automated warehouse is done by the intelligent four-way shuttle racking system, labour costs and warehouse space utilization are greatly optimised compared to traditional forklift loading and unloading methods.