Shuttle vehicle control device and control method thereof

Abstract

The present invention discloses a shuttle control device and a control method thereof. The control device comprises: a main controller, and a servo motor system, a peripheral sensor, an optical code reader locator and a plurality of sub-controllers connected to the main controller; the servo motor system comprises a servo motor driver and a servo motor; the peripheral sensor comprises an inclination sensor and an anti-collision laser sensor, the main controller is connected to the inclination sensor, and the plurality of sub-controllers are connected to the anti-collision laser sensor. The shuttle of the present invention determines the state of the shuttle and performs safety inspection according to the instructions of the WCS or each sensor, thereby improving the safety of the operation of the shuttle.

Description

Technical Field

[0001] The present invention relates to the field of shuttle vehicle control, and in particular to a shuttle vehicle control device and a control method thereof. Background Art

[0002] The shuttle is an intelligent robot that can be programmed to perform tasks such as picking up, transporting, and placing goods. It can also communicate with the host computer or WMS system, and combine RFID, barcode and other identification technologies to achieve automatic identification, storage and retrieval and other functions. There are two main forms of shuttles in warehousing and logistics equipment: shuttle-type in-and-out systems and shuttle-type warehousing systems. The trolleys run on fixed tracks in a reciprocating or looping manner to transport goods to designated locations or docking equipment. Equipped with an intelligent sensing system that can automatically memorize the origin position and an automatic deceleration system.

[0003] The existing shuttle control device is composed of a controller connected to all peripheral circuit structures, which controls all peripheral circuit structures to realize operations such as lifting, switching and walking. However, the shuttle needs to handle a lot of business. As a result, if the controller is processing one of the functional operations, other functional operations can only wait in line, resulting in the shuttle's weak business processing capability and low processing efficiency. Based on this, the present invention proposes a shuttle control device and a control method that can improve the processing efficiency of the shuttle. Summary of the invention

[0004] The present invention provides a shuttle control device, comprising: a main controller, and a servo motor system, a peripheral sensor, an optical code reading locator and a plurality of sub-controllers connected to the main controller; the servo motor system comprises a servo motor driver and a servo motor; the peripheral sensor comprises an inclination sensor and an anti-collision laser sensor, the main controller is connected to the inclination sensor, and the plurality of sub-controllers are connected to the anti-collision laser sensors.

[0005] A shuttle control device as described above, wherein the main controller is arranged on a main controller board, a plurality of sub-control boards are arranged, and a sub-controller is arranged on each sub-control board.

[0006] In the shuttle control device as described above, the first sub-controller is connected to a power switch, a buzzer, an LCD display, an anti-collision laser sensor, a track change detection switch and a first status indicator light.

[0007] In the shuttle control device as described above, the second sub-controller is connected to the anti-collision laser sensor, the track detection switch, the tray status detection switch and the two second status indicator lights.

[0008] In the shuttle control device as described above, the third sub-controller is connected to the anti-collision laser sensor, the track change detection switch and the third status indicator light.

[0009] In the shuttle control device as described above, the fourth sub-controller is connected to the anti-collision laser sensor, the track change detection switch, the tray status detection switch and the fourth status indicator light.

[0010] The present invention also provides a shuttle control method, comprising:

[0011] Step S1, the shuttle main controller receives instructions sent by the WCS or various sensors;

[0012] Step S2, determine the instruction type. If it is a lifting instruction issued by the WCS, then go to step S3; if it is a walking instruction issued by the WCS, then go to step S4; if it is a detection instruction sent by the sensor, then go to step S5;

[0013] Step S3: Determine the shuttle lifting state that needs to be adjusted from the lifting instruction issued by the WCS. The shuttle main controller determines the absolute position of the current lifting mechanism from the formation sensor, sends a command to the servo motor of the lifting mechanism, and dynamically corrects the number of shuttle lifting servo pulses according to the absolute height of the stroke to achieve the shuttle lifting state that needs to be adjusted. Report a successful response to the WCS and return to continue receiving instructions issued by the WCS.

[0014] Step S4: Determine the position to be traveled from the travel instruction issued by the WCS, the shuttle main controller calculates the optimal path distance according to the travel position, calculates the number of servo motor pulses according to the optimal path distance, sends the number of servo motor pulses to the servo driver, drives the servo motor to move to the travel position, and reports a response to the WCS, and returns to continue to receive instructions issued by the WCS;

[0015] Step S5: acquiring sensor detection data from the detection instruction sent by the sensor, and determining the safe operation state of the shuttle vehicle according to the sensor detection data.

[0016] In the above-mentioned shuttle control method, after the shuttle is powered on, it first self-checks the status of each sensor. If the self-check is normal, it enters the standby state and waits for receiving instructions. If the self-check is abnormal, it reports an error message and waits for system processing.

[0017] A shuttle vehicle control method as described above, wherein the shuttle vehicle can be awakened by the command of the WCS in the standby state to perform the raising and lowering of the roof tray or the movement of the vehicle, and can also receive instructions sent by sensors during the movement of the vehicle, including vehicle body status information uploaded by the inclination sensor, and distance information from the obstacle ahead uploaded by the anti-collision laser sensor.

[0018] In the shuttle control method as described above, the sensors installed on the shuttle include an anti-collision laser sensor and an optical code reading locator for anti-collision detection.

[0019] The beneficial effects achieved by the present invention are as follows:

[0020] (1) The present invention provides a main control panel and a plurality of sub-control panels in the shuttle vehicle. Sensors are respectively installed on the main control panel and the sub-control panels. Different control panels are used to connect different sensors to achieve separate control of different functions of the shuttle vehicle, thereby improving the control efficiency of the shuttle vehicle.

[0021] (2) The shuttle vehicle of the present invention determines the state of the shuttle vehicle and performs safety inspection according to the instructions of the WCS or various sensors, thereby improving the safety of the shuttle vehicle operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0023] Figure 1 Schematic diagram of a shuttle control device provided in Embodiment 1 of the present invention;

[0024] Figure 2 It is the connection relationship diagram of each circuit board;

[0025] Figure 3 A flow chart of a shuttle control method provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0026] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] Embodiment 1

[0028] like Figure 1-2 As shown, a first embodiment of the present invention provides a shuttle control device, including: a main controller, and a servo motor system, peripheral sensors, an optical code reading locator and multiple sub-controllers connected to the main controller; the servo motor system includes a servo motor driver and a servo motor for controlling lifting and switching; the peripheral sensors include an inclination sensor and an anti-collision laser sensor, the main controller is connected to the inclination sensor, and the multiple sub-controllers are connected to the anti-collision laser sensors.

[0029] The main controller is set on the main controller board, connected to the servo motor system, peripheral sensors, optical code reader and sub-controller; the main controller is also connected to the remote control module, WIFI module, and battery. Specifically, the main controller is connected to the peripheral sensors and sub-controllers, and controls the servo motor system to perform corresponding actions according to the warehouse control device or remote control instructions, including lifting, lowering, reversing, walking, etc.

[0030] Specifically, the main controller board integrates a main controller M1 and a slave controller M2. The main controller M1 is connected to the slave controller M2, and each sub-control board is connected through the slave controller M2. The main controller M1 includes a remote control interface, an optical code reader locator interface, a battery LCD interface, and a WIFI interface; wherein, the remote control interface is connected to the remote control module, and uses low-frequency electromagnetic waves to connect to the remote control. When the shuttle vehicle is abnormal or otherwise needed, the remote control sends instructions to the shuttle vehicle through low-frequency electromagnetic waves to achieve manual control; the optical code reader locator interface is connected to the optical code reader locator. When the shuttle vehicle is moving, it reads the positioning code in real time. After reading the valid positioning code, the code value and the corresponding deviation value are sent to the main controller. The main controller can calculate the current position of the shuttle vehicle accurately based on this data. The battery LCD interface connects the battery and the LED display screen. The battery uses a high-density lithium battery, which can provide more power when the size is the same. The LCD display screen uses a 4.3-inch LCD screen to display the sensor measurement values ​​and body status of the shuttle vehicle. The WIFI interface connects the WIFI module for communication between the main controller and the warehouse control device system. It is preferred to use a dual-antenna high-power module to ensure the stability of the network in a harsh warehouse environment. In addition, the main controller also includes interfaces for connecting TF cards, FLASH memories, etc.

[0031] The servo motor system includes a servo motor driver and a servo motor. The servo motor driver is connected to the main controller and the servo motor. The servo motor includes a lifting and reversing motor and a traveling motor. The servo motor driver controls the traveling, lifting and reversing of the servo motor according to the instructions of the main controller. The lifting and reversing motor and the traveling motor are respectively connected to the corresponding servo motor drivers. The lifting and reversing motor is controlled by the servo motor driver one to realize the lifting of the top tray of the shuttle car and the reversing of the wheels around the shuttle car (that is, retracting the left and right wheels of the shuttle car and lowering the front and rear wheels, or retracting the front and rear wheels and lowering the left and right wheels). The traveling motor is controlled by the servo motor driver two to realize the forward movement of the shuttle car.

[0032] The peripheral sensors include inclination sensors and anti-collision laser sensors. Preferably, four inclination sensors are arranged on the vehicle body and fixed at the four corners of the vehicle body to measure the state of the vehicle body; anti-collision laser sensors are arranged in four directions of the vehicle body respectively, and anti-collision laser sensors can also be arranged at the four corners of the vehicle as needed, and the anti-collision laser sensors in the forward direction are activated during the driving process to measure whether there are obstacles in front of the vehicle body.

[0033] The sub-controller is arranged on each sub-control board. It is preferred that the present invention arranges multiple sub-control boards, and one sub-controller is arranged on each sub-control board. In the present embodiment, four sub-control boards and four corner interface boards are set. The four sub-control boards are respectively installed on one side of the vehicle body, and all sensor information on each side of the vehicle body is uniformly collected and sent to the main controller. The four corner interface boards are installed at the four corners of the vehicle body for derailment detection; an optical code reading locator is installed at the bottom of the vehicle body, which is used to read the positioning code in real time during the walking process of the shuttle vehicle. After reading the valid positioning code, the code value and the corresponding deviation value are sent to the main controller. The main controller accurately calculates the current precise position of the shuttle vehicle based on this data. The first sub-controller is connected to the power switch, buzzer, LCD display, anti-collision laser sensor, track change detection switch and the first status indicator. The second sub-controller is connected to the anti-collision laser sensor, track detection switch, tray status detection switch and two second status indicator lights. The third sub-controller is connected to the anti-collision laser sensor, track change detection switch and the third status indicator light; the fourth sub-controller is connected to the anti-collision laser sensor, track change detection switch, tray status detection switch and the fourth status indicator light.

[0034] Specifically, the slave controller M2 connects four sub-control boards and peripheral circuits, wherein sub-control board No. 1 is connected to the main controller board through two network cables, one controls laser + photoelectricity, and the other controls LCD status indicator light + derailment detection switch + buzzer; sub-control board No. 2 is connected to the main controller board through two network cables, one controls laser + photoelectricity + sensor, and the other controls LCD status indicator light; sub-control board No. 3 is connected to the main controller board through a network cable to control laser + photoelectricity; sub-control board No. 4 is connected to the main controller board through two network cables, one controls laser + photoelectricity + sensor, and the other controls LCD status indicator light. The No. 2 sub-control board and the No. 4 sub-control board are respectively connected to two corner interface boards, and the wiring of the two corner interface boards connected to the No. 2 sub-control board are all connected to the No. 4 sub-control board, one of the corner interface boards is provided with one laser, one status indicator, two photoelectric and two derailment detection switches for the No. 1 sub-control board and the No. 2 sub-control board, and the other corner interface board is provided with one laser, one status indicator, two photoelectric and two derailment detection switches for the No. 3 sub-control board and the No. 2 sub-control board, and the wiring of the two corner interface boards connected to the No. 4 sub-control board are all connected to the No. 4 sub-control board, one of the corner interface boards is provided with one laser, one status indicator, two photoelectric and two derailment detection switches for the No. 1 sub-control board and the No. 4 sub-control board, and the other corner interface board is provided with one laser, one status indicator, two photoelectric and two derailment detection switches for the No. 3 sub-control board and the No. 4 sub-control board.

[0035] Embodiment 2

[0036] like Figure 3 As shown, the second embodiment of the present invention provides a shuttle control method, including:

[0037] Step 310: The shuttle master controller receives instructions sent by the WCS or various sensors;

[0038] In the embodiment of the present application, after the shuttle is powered on, it first self-checks the status of each sensor. After the self-check is normal, it enters the standby state and waits for instructions. If the self-check is abnormal, it reports error information and waits for system processing. In the standby state, it can be awakened by the command of the WCS to raise or lower the roof tray or move the vehicle. In addition, it can also receive instructions sent by sensors during the vehicle's movement, including vehicle status information uploaded by the tilt sensor and distance information from the obstacle ahead uploaded by the anti-collision laser sensor.

[0039] Step 320, determine the instruction type. If it is a lifting instruction issued by the WCS, execute step 330; if it is a walking instruction issued by the WCS, execute step 340; if it is a detection instruction sent by the sensor, execute step 350;

[0040] Specifically, the shuttle determines the type of indication based on the specific identification bit of the uploaded indication data. For example, the first four bytes of the instruction sent by the WCS represent the instruction type identification bit, and the shuttle can determine the type of instruction sent by the WCS based on the identification bit. For another example, the numbers of the sensors installed on the shuttle when it leaves the factory have been pre-set and stored. Therefore, the type of sensor and which sensor it is can be determined based on the specific identification bit (i.e., the number) of the received data.

[0041] Step 330: Determine the shuttle lifting state that needs to be adjusted from the lifting instruction issued by the WCS. The shuttle main controller determines the absolute position of the current lifting mechanism from the formation sensor, sends a command to the servo motor of the lifting mechanism, and dynamically corrects the number of shuttle lifting servo pulses according to the absolute height of the stroke to achieve the shuttle lifting state that needs to be adjusted. Report a successful response to the WCS and return to continue receiving instructions issued by the WCS.

[0042] Among them, the shuttle's lifting mechanism is divided into three positions: high, medium and low, which correspond to the three states of lifting, lowering and reversing of the shuttle. The lifting mechanism determines the current absolute position of the lifting mechanism through the height of the stroke sensor. The positions of lifting, lowering and reversing are quantified to the fixed values ​​on the stroke sensor.

[0043] For example, taking lifting as an example, the number of pulses corresponding to 1mm of the lifting mechanism is A, the mechanical gear ratio is G, the encoder division value is E, the absolute height of the lifting stroke is HU, the absolute height of the reversing stroke is HL, and the number of servo pulses for the shuttle lifting is C, then:

[0044] A = 1 / (HU - HL) * G * E

[0045] C = A * (HU - HC)

[0046] When the lifting mechanism is in motion, the program will dynamically correct the number of shuttle lifting servo pulses according to the absolute height of the stroke, thereby forming a dynamic smooth curve, allowing the lifting mechanism to eventually stop at the target absolute height within an error range of 1mm.

[0047] Step 340: Determine the position to be moved from the travel instruction issued by the WCS, the shuttle main controller calculates the optimal path distance according to the travel position, calculates the number of servo motor pulses according to the optimal path distance, sends the number of servo motor pulses to the servo driver, drives the servo motor to move to the travel position, and reports a response to the WCS, and returns to continue receiving instructions issued by the WCS;

[0048] In the embodiment of the present application, the method for calculating the optimal path distance has been described in detail in the applicant's previous patent application with patent application number CN202010598412.5, and will not be repeated here.

[0049] Calculate the number of servo motor pulses based on the optimal path distance, including:

[0050] The movement of the shuttle is based on the distance (unit: mm). First, we need to know the number of motor pulses A corresponding to the shuttle moving 1 mm, A=1 / (Πd) * G * E, where d is the shuttle wheel diameter, Πd is the calculated circumference of the transmission wheel, G is the mechanical gear ratio, and E is the encoder division value, that is, 1mm corresponding to the servo pulse = unit distance (mm) / transmission wheel circumference * gear ratio * encoder division value;

[0051] The number of servo pulses C required for the shuttle to move is calculated based on the optimal path distance and the number of unit motor pulses. C = A *S, where S is the optimal path distance. That is, the total number of servo pulses C = optimal path distance S * 1mm corresponding to servo pulse A.

[0052] The calculated servo pulse number C is then sent to the servo driver, which drives the motor to start rotating and the shuttle starts moving.

[0053] Step 350: acquiring sensor detection data from the detection instruction sent by the sensor, and determining the safe operation state of the shuttle vehicle according to the sensor detection data;

[0054] In the embodiment of the present application, the sensors installed on the shuttle car include but are not limited to anti-collision laser sensors, optical code reader locators, etc. for anti-collision detection; the parameter attributes of each sensor are recorded in the shuttle car, and the parameters reflecting the sensor type can be extracted from the detection instructions of the sensors on the shuttle car. For example, the A mark is set to indicate an anti-collision laser sensor (for example, A1 marks the upper left corner sensor, A2 marks the upper right corner sensor, A3 marks the lower left corner sensor, and A4 marks the lower right corner sensor), and the B mark is set to indicate an optical code reader locator. The above-mentioned marks are carried in the detection instructions sent by the sensor to the shuttle car main controller to inform the main controller of which type of sensor sent the detection instruction.

[0055] For the detection instructions sent by the anti-collision laser sensor used for anti-collision detection, the sensor detection data is obtained from the detection instructions, and anti-collision detection is performed, and the safe operation of the shuttle vehicle is guaranteed according to the anti-collision detection results;

[0056] ① Perform anti-collision detection, including:

[0057] Step S11, obtaining the sensor measurement distance fed back by the anti-collision laser sensor to the shuttle vehicle master controller from the detection instruction;

[0058] The shuttle is equipped with anti-collision laser sensors on all four sides. When the shuttle is performing a moving task, the distance sensor in the moving direction is turned on, and the shuttle will collect distance data of laser ranging at a high frequency; when there is an obstacle in front, the laser sensor will feed back the measured distance SS (in cm) to the main controller;

[0059] Step S12, calculating the delay displacement caused by the delay according to the current speed measurement and the delay time, and calculating the obstacle distance according to the sensor measurement distance and the delay displacement;

[0060] Since there is a delay in communication and the shuttle car is in motion, the delay problem is taken into consideration and the delay displacement SD caused by the delay is calculated according to the current vehicle speed VC and the delay time TD. The delay displacement SD = VC * TD, where SD is the sensor communication delay distance, VC is the current vehicle speed, and TD is the sensor communication delay time. That is, the sensor communication delay distance = (the current vehicle speed of the car * the sensor communication delay time), and the obstacle distance SO = SS+SD, that is, the obstacle measured distance = the sensor measured distance - the sensor communication delay distance.

[0061] Step S13, calculate the remaining distance to the target position, compare the obstacle distance and the remaining distance, if the obstacle distance is less than or equal to the remaining distance from the shuttle to the target position, it is considered that the obstacle is within the end range of the shuttle, and the obstacle avoidance mechanism is triggered, otherwise the shuttle continues to move forward;

[0062] The main controller program will calculate the remaining distance ST from the shuttle to the target position and make a comparison. If the obstacle distance SO is less than or equal to the remaining distance ST from the shuttle to the target position, it is considered that the obstacle is within the end range of the shuttle and the obstacle avoidance mechanism is triggered. Obstacle avoidance mechanism: set the current speed of the shuttle to VL. If the obstacle distance is less than the stopping distance SP, set the shuttle speed to 0 to stop it.

[0063] Trigger obstacle avoidance mechanism: Set the current speed of the shuttle to VL. If the obstacle distance is less than the stopping distance SP, set the shuttle speed to 0 to stop it. Specifically, if SO ≤ SP, set the speed of the shuttle to 0; if SO ≤ ST, set the speed of the shuttle to VL.

[0064] ②Perform positioning code reading detection, including:

[0065] Step S21, pre-install multiple positioning codes in the shuttle running track, each positioning code corresponds to a position coordinate, and a position coordinate map composed of the position coordinates of the multiple positioning codes is stored in the shuttle main controller;

[0066] Step S22, the optical code reader locator continuously scans during operation, and sends a detection instruction to the main controller every time a positioning code is scanned;

[0067] Step S23, the shuttle vehicle master controller obtains the position coordinate code value and the corresponding deviation value fed back to the shuttle vehicle master controller by the optical code reader locator from the detection instruction;

[0068] Step S24, determine the code reading position from the stored position coordinate map according to the sensor position coordinates, accurately calculate the current precise position of the shuttle according to the code reading position and the corresponding deviation value, and determine whether the shuttle deviates from the running track.

[0069] In addition, the instructions received by the shuttle car main controller also include remote control instructions. When the shuttle car is abnormal or otherwise needed, the remote control sends instructions to the shuttle car through low-frequency electromagnetic waves to achieve manual control.

[0070] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for a shuttle vehicle control device, characterized in that: The shuttle control device includes: a main controller, and a servo motor system, a peripheral sensor, an optical code reader locator and a plurality of sub-controllers connected to the main controller; the servo motor system includes a servo motor driver and a servo motor; the peripheral sensor includes an inclination sensor and an anti-collision laser sensor, the main controller is connected to the inclination sensor, and the plurality of sub-controllers are connected to the anti-collision laser sensor; The control method of the shuttle control device comprises: Step S1, the shuttle main controller receives instructions sent by the WCS or various sensors; Step S2, determine the instruction type. If it is a lifting instruction issued by the WCS, then go to step S3; if it is a walking instruction issued by the WCS, then go to step S4; if it is a detection instruction sent by the sensor, then go to step S5; Step S3: Determine the shuttle lifting state that needs to be adjusted from the lifting instruction issued by the WCS. The shuttle main controller determines the absolute position of the current lifting mechanism from the stroke sensor, sends a command to the servo motor of the lifting mechanism, and dynamically corrects the number of shuttle lifting servo pulses according to the absolute stroke height to achieve the shuttle lifting state that needs to be adjusted. Report a successful response to the WCS and return to continue receiving instructions issued by the WCS. The lifting mechanism of the shuttle car is divided into three positions: high, medium and low, which correspond to the three states of the shuttle car lifting, lowering and reversing. The lifting mechanism determines the absolute position of the current lifting mechanism through the height of the travel sensor. The position of lifting, lowering and reversing is quantified to the fixed value of the travel sensor; Step S4: Determine the position to be traveled from the travel instruction issued by the WCS, the shuttle main controller calculates the optimal path distance according to the travel position, calculates the number of servo motor pulses according to the optimal path distance, sends the number of servo motor pulses to the servo driver, drives the servo motor to move to the travel position, and reports a response to the WCS, and returns to continue to receive instructions issued by the WCS; Calculate the number of servo motor pulses based on the optimal path distance, including: The movement of the shuttle is determined by the distance. First, the number of motor pulses A corresponding to 1 mm of shuttle travel must be determined, A=1 / (Πd)*G*E, where d is the shuttle wheel diameter, Πd is the calculated transmission wheel circumference, G is the mechanical gear ratio, and E is the encoder division value; the number of servo pulses C required for the shuttle to move is calculated based on the optimal path distance and the unit motor pulse number, C=A*S, where S is the optimal path distance; Step S5: acquiring sensor detection data from the detection instruction sent by the sensor, and determining the safe operation state of the shuttle vehicle according to the sensor detection data.

2. A control method for a shuttle control device according to claim 1, characterized in that: The main controller is arranged on a main controller board, and a plurality of sub-control boards are arranged, and a sub-controller is arranged on each sub-control board.

3. A control method for a shuttle control device as claimed in claim 2, characterized in that: The first sub-controller is connected to a power switch, a buzzer, an LCD display screen, an anti-collision laser sensor, a track change detection switch and a first status indicator light.

4. A control method for a shuttle control device according to claim 2, characterized in that: The second sub-controller is connected to the anti-collision laser sensor, the track detection switch, the pallet status detection switch and two second status indicator lights.

5. A control method for a shuttle control device as claimed in claim 2, characterized in that: The third sub-controller is connected to the anti-collision laser sensor, the track change detection switch and the third status indicator light.

6. A control method for a shuttle control device according to claim 2, characterized in that: The fourth sub-controller is connected to the anti-collision laser sensor, the track change detection switch, the tray status detection switch and the fourth status indicator light.

7. A control method for a shuttle control device according to claim 1, characterized in that: After the shuttle is powered on, it will first self-check the status of each sensor. If the self-check is normal, it will enter the standby state and wait for receiving instructions. If the self-check is abnormal, it will report an error message and wait for the system to process.

8. A control method for a shuttle control device according to claim 7, characterized in that: In standby mode, it is awakened by the command of WCS to raise or lower the roof tray or move the vehicle. During the movement of the vehicle, it also receives instructions sent by sensors, including vehicle status information uploaded by the inclination sensor and distance information to the obstacle ahead uploaded by the anti-collision sensor.

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