The invention discloses a full-automatic picking car for a warehouse and a control method of the full-automatic picking car. The full-automatic picking car comprises a picking car body, a microcomputer, a power supply system, a storage box, a mechanical arm, a mechanical finger, a range sensor, a pressure sensor, a bar code scanner and wheels, wherein the microcomputer and the power supply system are fixedly mounted at one end of the picking car body; the storage box is fixedly arranged at the other end of the picking car body; one end of the mechanical arm is fixed on the picking car body; the mechanical finger is mounted at the other end of the mechanical arm; and the pressure sensor and the bar code scanner are arranged at one end, connected with the mechanical finger, of the mechanical arm. The car can achieve automatic picking, placement and classification of goods after ordering, changes the shortages of manual picking of the goods, high workload and long time consumed in the existing warehouse, and improves picking and loading efficiency.