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Due to the complexity of cooperative operation lines of multi-handling robots in unmanned warehouses, it is more difficult to control cooperative operation trajectory. In order to ensure that multi-handling robots can carry out transportation operations according to the planned route, an automatic control method for cooperative operation trajectory of multi-handling robots in unmanned warehouses was proposed. The raster diagram modeling method was used to establish the environment scene of unmanned warehouse combining with the actual distribution of shelves in unmanned warehouse. The mathematical model of the handling robot is constructed from three aspects of composition, kinematics and dynamics. Follow the principle of nearby distributed multi-robot handling tasks, collaborative planning more handling robot trajectory, according to the multiple handling robot real time control of posture automatic detection results of the calculation amount, using job track installation and operation of automatic controller, no one complete warehouse handling more collaborative trajectory of robot automatic control tasks. The experimental results show that the operation trajectory of multi-handling robot in unmanned warehouse is basically the same as the planned trajectory, and the calculated average position control error and attitude Angle control error are 2.27cm and 0.05° respectively. The number of collisions of handling robot can be controlled within the specified range, and the practical application effect is good.