Shuttle vehicle control method and device, shuttle vehicle, warehousing system and three-dimensional warehouse

Abstract

The invention provides a shuttle vehicle control method and device, a shuttle vehicle, a warehousing system and a three-dimensional warehouse, and relates to the technical field of warehouse logistics. The shuttle vehicle control method comprises the steps that in the process that a shuttle vehicle moves in the preset direction, mileage information of the shuttle vehicle is collected in a preset period; according to the current mileage information of the shuttle vehicle and the mileage information of the shuttle vehicle at the first positioning hole, the distance between the shuttle vehicle and the first positioning hole is determined, and the first positioning hole is the positioning hole where the shuttle vehicle passes recently; determining the current position information of the shuttle vehicle according to the first position information of the shuttle vehicle at the first positioning hole and the distance, wherein the first position information is determined by the position information of the first positioning hole; and under the condition that the current position information of the shuttle vehicle is the preset target position information, the shuttle vehicle is controlled to be parked.

Description

Technical Field

[0001] The present disclosure relates to the technical field of warehousing and logistics, and in particular to a shuttle control method and device, a shuttle, a warehousing system and a stereoscopic warehouse. Background Art

[0002] At present, when a shuttle in a stereoscopic warehouse is traveling on a track, a photoelectric sensor arranged on the shuttle is used to sense a positioning hole arranged on the track so as to realize the movement of the shuttle.

[0003] For example, after receiving the instruction information, the shuttle calculates the total number of positioning holes that need to be passed to move from the current positioning hole to the target positioning hole. The shuttle records the number of positioning holes passed during driving so that the shuttle can stop at the target positioning hole. Summary of the invention

[0004] The inventors noticed that in the related art, the shuttle cannot be positioned in the area between two positioning holes, so the shuttle can only stop at the positioning hole, but cannot stop at any position between the two positioning holes. In addition, in order to avoid incorrectly recording the number of positioning holes passed by the shuttle, the shuttle moves at a low speed, thereby reducing the use efficiency of the shuttle.

[0005] Accordingly, the present disclosure provides a shuttle control solution that can control the shuttle to stop at any position on the track. At the same time, since the shuttle does not need to record the number of positioning holes passed during driving, the moving speed of the shuttle can be increased, thereby improving the utilization efficiency of the shuttle.

[0006] According to a first aspect of an embodiment of the present disclosure, a shuttle control method is provided, which is executed by a shuttle control device, including: collecting mileage information of the shuttle at a preset period during the process of the shuttle moving along a predetermined direction; determining the distance between the shuttle and the first positioning hole according to the current mileage information of the shuttle and the mileage information of the shuttle at the first positioning hole, wherein the first positioning hole is the positioning hole that the shuttle has passed most recently; determining the current position information of the shuttle according to the first position information of the shuttle at the first positioning hole and the distance, wherein the first position information is determined by the position information of the first positioning hole; and controlling the shuttle to stop when the current position information of the shuttle is the preset target position information.

[0007] In some embodiments, collecting the mileage information of the shuttle at a preset period includes: collecting the number of rotations of the auxiliary wheels in the shuttle through the shaft encoder at the preset period to obtain the mileage information of the shuttle, wherein the auxiliary wheels rotate under the drive of the power wheels of the shuttle.

[0008] In some embodiments, the circumference of the auxiliary wheel is the same as the circumference of the powered wheel.

[0009] In some embodiments, when the current position information of the shuttle is less than the preset target distance information, it is determined whether the shuttle has passed through a second positioning hole, wherein the second positioning hole is the next positioning hole of the first positioning hole in the predetermined direction; if the shuttle has passed through the second positioning hole, the second position information of the shuttle at the second positioning hole is determined according to the position information of the second positioning hole.

[0010] In some embodiments, determining the second position information of the shuttle at the second positioning hole according to the position information of the second positioning hole includes: querying the position information of the second positioning hole using the current position information of the shuttle; and determining the second position information according to the position information of the second positioning hole.

[0011] In some embodiments, using the current position information of the shuttle to query the position information of the second positioning hole includes: querying the positioning hole position information that matches the current position information of the shuttle in an information list; and using the positioning hole position information as the position information of the second positioning hole.

[0012] In some embodiments, querying the positioning hole position information that matches the current position information of the shuttle in the information list includes: calculating the deviation value between each positioning hole position information of multiple positioning hole position information in the information list and the current position information of the shuttle; and using the positioning hole position information corresponding to the minimum deviation value as the positioning hole position information that matches the current position information of the shuttle.

[0013] In some embodiments, determining whether the shuttle passes through the second positioning hole includes: determining whether a photoelectric sensor on the shuttle detects the positioning hole; and determining that the shuttle passes through the second positioning hole when the photoelectric sensor detects the positioning hole.

[0014] In some embodiments, the starting point of the shuttle is located on a preset positioning hole.

[0015] According to a second aspect of an embodiment of the present disclosure, a shuttle control device is provided, comprising: a first processing module, configured to collect mileage information of the shuttle at a preset period during the process of the shuttle moving along a predetermined direction; a second processing module, configured to determine the distance between the shuttle and the first positioning hole based on the current mileage information of the shuttle and the mileage information of the shuttle at the first positioning hole, wherein the first positioning hole is the positioning hole that the shuttle has passed most recently; a third processing module, configured to determine the current position information of the shuttle based on the first position information of the shuttle at the first positioning hole and the distance, wherein the first position information is determined by the position information of the first positioning hole, and when the current position information of the shuttle is the preset target position information, the shuttle is controlled to stop.

[0016] According to a third aspect of an embodiment of the present disclosure, a shuttle control device is provided, comprising: a memory configured to store instructions; a processor coupled to the memory, the processor being configured to execute a method as described in any of the above embodiments based on the instructions stored in the memory.

[0017] According to a fourth aspect of the embodiments of the present disclosure, a shuttle vehicle is provided, comprising: a shuttle vehicle control device as described in any of the above embodiments; a mileage detection device configured to detect mileage information of the shuttle vehicle; and a photoelectric sensor configured to detect a positioning hole.

[0018] In some embodiments, the mileage detection device includes: an auxiliary wheel configured to rotate under the drive of the power wheel of the shuttle vehicle; and an axis encoder configured to collect the number of rotations of the auxiliary wheel to obtain the mileage information of the shuttle vehicle.

[0019] In some embodiments, the circumference of the auxiliary wheel is the same as the circumference of the powered wheel.

[0020] According to a fifth aspect of an embodiment of the present disclosure, there is provided a warehousing system, comprising: a plurality of shuttle vehicles as described in any of the above embodiments; a plurality of tracks, wherein a plurality of positioning holes are arranged on each of the plurality of tracks, and the plurality of positioning holes are arranged along an extension direction of each of the tracks.

[0021] According to a sixth aspect of an embodiment of the present disclosure, a shuttle vehicle stereoscopic warehouse is provided, comprising: a storage system as described in any of the above embodiments.

[0022] According to a seventh aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method involved in any of the above embodiments is implemented.

[0023] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present disclosure 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 of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 A schematic flow chart of a shuttle vehicle control method according to an embodiment of the present disclosure;

[0026] Figure 2 A schematic diagram of a shuttle moving along a track according to an embodiment of the present disclosure;

[0027] Figure 3 A schematic diagram of a shuttle moving along a track according to an embodiment of the present disclosure;

[0028] Figure 4 This is a schematic structural diagram of a shuttle vehicle control device according to an embodiment of the present disclosure;

[0029] Figure 5 It is a structural schematic diagram of a shuttle vehicle control device according to another embodiment of the present disclosure;

[0030] Figure 6 This is a schematic diagram of the structure of a shuttle vehicle according to an embodiment of the present disclosure;

[0031] Figure 7 A schematic structural diagram of a shuttle vehicle according to another embodiment of the present disclosure;

[0032] Figure 8 A schematic structural diagram of a shuttle vehicle according to another embodiment of the present disclosure;

[0033] Fig. 9 This is a schematic diagram of the structure of a storage system according to an embodiment of the present disclosure;

[0034] Fig.10 The present invention is a schematic structural diagram of a shuttle vehicle stereoscopic warehouse according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0036] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0037] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0038] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.

[0039] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0040] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0041] Figure 1 The figure is a flow chart of a shuttle control method according to an embodiment of the present disclosure. In some embodiments, the following shuttle control method is executed by a shuttle control device.

[0042] In step 101, while the shuttle vehicle is moving in a predetermined direction, mileage information of the shuttle vehicle is collected at a preset period.

[0043] In some embodiments, the number of rotations of the auxiliary wheels in the shuttle is collected by a shaft encoder at a preset period to obtain the mileage information of the shuttle, wherein the auxiliary wheels rotate under the drive of the power wheels of the shuttle.

[0044] For example, the circumference of the training wheels is the same as the circumference of the power wheels. Therefore, the distance the training wheels rotate is equivalent to the distance the shuttle travels.

[0045] It should be noted that the starting point of the shuttle is located on a preset positioning hole. Since the position information of the preset positioning hole is known, the starting position of the shuttle can be determined accordingly.

[0046] In step 102, the distance between the shuttle and the first positioning hole is determined based on the current mileage information of the shuttle and the mileage information of the shuttle at the first positioning hole, wherein the first positioning hole is the positioning hole that the shuttle has passed most recently.

[0047] In some embodiments, when the shuttle reaches a predetermined edge of the positioning hole, it is determined that the shuttle reaches the positioning hole.

[0048] In step 103, the current position information of the shuttle is determined according to the first position information of the shuttle at the first positioning hole and the distance, wherein the first position information of the shuttle at the first positioning hole is determined by the position information of the first positioning hole.

[0049] It should be noted that due to the shuttle carrying cargo, the installation of auxiliary wheels, and the slippage of the shuttle's power wheels, there will be a certain deviation between the distance obtained by the auxiliary wheels and the actual situation. For this reason, the present disclosure uses the position information of each positioning hole to correct the position information of the shuttle at the positioning hole when the shuttle passes through the positioning hole. The specific embodiments of the correction will be described in detail below.

[0050] In step 104, when the current position information of the shuttle vehicle is the preset target position information, the shuttle vehicle is controlled to stop.

[0051] For example, Figure 2 As shown, the shuttle 1 moves from left to right along the track 2. A plurality of positioning holes are arranged on the track 2 from left to right, and the distance between two adjacent positioning holes is 50 cm. The shuttle 1 starts from the starting point, and the distance between the target position and the starting point is 330 cm. The shuttle 1 passes through Figure 2 In the case where the shuttle 1 is at the left edge of the positioning hole 21, the position information of the positioning hole 21 is used to correct the position information of the shuttle 1 at the left edge of the positioning hole 21, and the corrected position information is 300 cm. Next, according to the current mileage information of the shuttle 1 and the mileage information of the shuttle 1 at the left edge of the positioning hole 21, the distance between the shuttle 1 and the left edge of the positioning hole 21 is determined. If the distance is 30 cm, that is, the current position information of the shuttle 1 is the sum of the position information of the shuttle 1 at the left edge of the positioning hole 21 (300 cm) and the distance (30 cm). Since 300 cm + 30 cm = 330 cm, it is determined that the shuttle has reached the target position. In this case, the shuttle 1 is controlled to stop.

[0052] In the shuttle control method provided in the above embodiment of the present disclosure, since it is not necessary to record the number of positioning holes passed by when determining whether the shuttle has reached the target position, the shuttle can stop at any position on the track. At the same time, there is no need to control the shuttle to move at a lower speed, thereby improving the use efficiency of the shuttle.

[0053] In some embodiments, when the current position information of the shuttle is less than the preset target distance information, it is determined whether the shuttle passes through the second positioning hole, wherein the second positioning hole is the next positioning hole of the first positioning hole in the predetermined direction. If the shuttle passes through the second positioning hole, the second position information of the shuttle at the second positioning hole is determined according to the position information of the second positioning hole.

[0054] That is to say, if the shuttle passes through the second positioning hole after passing through the first positioning hole, the position information of the second positioning hole is continued to be used to correct the position information of the shuttle.

[0055] In some embodiments, after the shuttle passes through the first positioning hole, it is determined whether the photoelectric sensor on the shuttle detects the positioning hole. If the photoelectric sensor detects the positioning hole, the detected positioning hole is used as the second positioning hole, that is, it is determined that the shuttle passes through the second positioning hole.

[0056] In some embodiments, the step of determining the second position information of the shuttle at the second positioning hole according to the position information of the second positioning hole includes:

[0057] 1) Use the current position information of the shuttle to query the position information of the second positioning hole.

[0058] 2) Determine the second position information of the shuttle according to the position information of the second positioning hole.

[0059] In some embodiments, the positioning hole position information that matches the current position information of the shuttle is queried in the information list, and the positioning hole position information is used as the position information of the second positioning hole.

[0060] For example, the deviation between each of the multiple positioning hole position information in the information list and the current position information of the shuttle is calculated, and the positioning hole position information corresponding to the minimum deviation value is used as the positioning hole position information matching the current position information of the shuttle.

[0061] For example, Figure 3As shown, after the shuttle 1 passes through the positioning hole 21, the positioning hole is detected again. The current position information of the shuttle 1 is 349 cm, and the deviation value between the position information of each positioning hole in the information list and the current position information of the shuttle 1 is calculated, among which the position information of the positioning hole 22 is 350 cm, and the position deviation between the positioning hole 22 and the shuttle 1 is the smallest, which is only 1 cm. In this case, the position information of the shuttle is corrected to 350 cm.

[0062] It should be noted that the position of each positioning hole set on the track is fixed. When the shuttle passes through each positioning hole, the current position information of the shuttle will be modified with the help of the position information of the positioning hole, thereby effectively eliminating the position measurement error caused by the use of auxiliary wheels. With the above solution, the shuttle can stop at any position on the track.

[0063] Figure 4 FIG. 1 is a schematic diagram of the structure of a shuttle control device according to an embodiment of the present disclosure. Figure 4 As shown, the shuttle control device includes a first processing module 41, a second processing module 42 and a third processing module 43.

[0064] The first processing module 41 is configured to collect mileage information of the shuttle vehicle at a preset period while the shuttle vehicle moves along a predetermined direction.

[0065] In some embodiments, the number of rotations of the auxiliary wheels in the shuttle is collected by a shaft encoder at a preset period to obtain the mileage information of the shuttle, wherein the auxiliary wheels rotate under the drive of the power wheels of the shuttle.

[0066] For example, the circumference of the training wheels is the same as the circumference of the power wheels. Therefore, the distance the training wheels rotate is equivalent to the distance the shuttle travels.

[0067] It should be noted that the starting point of the shuttle is located on a preset positioning hole. Since the position information of the preset positioning hole is known, the starting position of the shuttle can be determined accordingly.

[0068] The second processing module 42 is configured to determine the distance between the shuttle and the first positioning hole according to the current mileage information of the shuttle and the mileage information of the shuttle at the first positioning hole, wherein the first positioning hole is the positioning hole that the shuttle has passed most recently.

[0069] The third processing module 43 is configured to determine the current position information of the shuttle vehicle based on the first position information and distance of the shuttle vehicle at the first positioning hole, wherein the first position information is determined by the position information of the first positioning hole, and control the shuttle vehicle to stop when the current position information of the shuttle vehicle is the preset target position information.

[0070] In some embodiments, when the current position information of the shuttle is less than the preset target distance information, the third processing module 43 determines whether the shuttle passes through the second positioning hole, where the second positioning hole is the next positioning hole of the first positioning hole in the predetermined direction. If the shuttle passes through the second positioning hole, the third processing module 43 determines the second position information of the shuttle at the second positioning hole according to the position information of the second positioning hole.

[0071] That is to say, if the shuttle passes through the second positioning hole after passing through the first positioning hole, the position information of the second positioning hole is continued to be used to correct the position information of the shuttle.

[0072] In some embodiments, after the shuttle passes through the first positioning hole, the third processing module 43 determines whether the photoelectric sensor on the shuttle detects the positioning hole, and if the photoelectric sensor detects the positioning hole, it is determined that the shuttle passes through the second positioning hole.

[0073] In some embodiments, the third processing module 43 uses the current position information of the shuttle to query the position information of the second positioning hole, and determines the second position information of the shuttle according to the position information of the second positioning hole.

[0074] In some embodiments, the third processing module 43 searches the information list for the positioning hole position information that matches the current position information of the shuttle vehicle, and uses the positioning hole position information as the position information of the second positioning hole.

[0075] For example, the third processing module 43 calculates the deviation value between each positioning hole position information of multiple positioning hole position information in the information list and the current position information of the shuttle vehicle, and uses the positioning hole position information corresponding to the minimum deviation value as the positioning hole position information matching the current position information of the shuttle vehicle.

[0076] It should be noted that the position of each positioning hole set on the track is fixed. When the shuttle passes through each positioning hole, the current position information of the shuttle will be modified with the help of the position information of the positioning hole, thereby effectively eliminating the position measurement error caused by the use of auxiliary wheels. With the above solution, the shuttle can stop at any position on the track.

[0077] Figure 5 FIG. 1 is a schematic diagram of the structure of a shuttle control device according to another embodiment of the present disclosure. Figure 5 As shown, the shuttle control device includes a memory 51 and a processor 52.

[0078] The memory 51 is used to store instructions. The processor 52 is coupled to the memory 51. The processor 52 is configured to execute the instructions stored in the memory to implement the following. Figure 1 The method of any one of the embodiments.

[0079] like Figure 5 As shown, the shuttle control device also includes a communication interface 53 for information exchange with other devices. At the same time, the shuttle control device also includes a bus 54, through which the processor 52, the communication interface 53, and the memory 51 communicate with each other.

[0080] The memory 51 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory. The memory 41 may also be a memory array. The memory 51 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules.

[0081] In addition, the processor 52 may be a central processing unit (CPU), or may be an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present disclosure.

[0082] The present disclosure also relates to a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, which are executed by a processor to implement the following Figure 1 The method of any one of the embodiments.

[0083] Figure 6 FIG. 1 is a schematic diagram of the structure of a shuttle vehicle according to an embodiment of the present disclosure. Figure 6 As shown, the shuttle 60 includes a shuttle control device 61, a mileage detection device 62 and a photoelectric sensor 63. The shuttle control device 61 is Figure 4 or Figure 5 A shuttle control device according to any one of the embodiments.

[0084] The mileage detection device 62 is configured to detect the mileage information of the shuttle vehicle.

[0085] The photoelectric sensor 63 is configured to detect the positioning hole.

[0086] Figure 7 A schematic structural diagram of a shuttle vehicle according to another embodiment of the present invention. Figure 7 and Figure 6 The difference is that in Figure 7 In the illustrated embodiment, the mileage detection device 62 includes an auxiliary wheel 71 and a shaft encoder 72 .

[0087] The auxiliary wheels 71 are configured to rotate under the drive of the powered wheels of the shuttle.

[0088] In some embodiments, the circumference of the auxiliary wheels is the same as the circumference of the power wheels. Therefore, the distance that the auxiliary wheels rotate is equivalent to the distance that the shuttle travels.

[0089] The shaft encoder 72 is configured to collect the number of rotations of the auxiliary wheel 71 to obtain the mileage information of the shuttle vehicle.

[0090] Figure 8 The figure is a schematic structural diagram of a shuttle vehicle according to another embodiment of the present invention.

[0091] like Figure 8 As shown, a photoelectric sensor 81, a power wheel 82 and an auxiliary wheel 83 are provided on the shuttle vehicle 80, and the auxiliary wheel 83 rotates under the drive of the power wheel 82 of the shuttle vehicle.

[0092] In some embodiments, the circumference 83 of the auxiliary wheels is the same as the circumference 82 of the powered wheels.

[0093] Fig. 9 A schematic diagram of the structure of a warehousing system according to an embodiment of the present disclosure.

[0094] like Fig. 9 As shown, the storage system 90 includes a plurality of shuttles 91 and a plurality of tracks 92. The shuttles 91 are Figures 6 to 8 The shuttle vehicle involved in any one of the embodiments.

[0095] A plurality of positioning holes 93 are disposed on each rail 92 , and the plurality of positioning holes 93 are disposed along an extending direction of the rail 92 .

[0096] Fig.10 The present invention is a schematic structural diagram of a shuttle vehicle stereoscopic warehouse according to an embodiment of the present invention.

[0097] like Fig.10 As shown, the shuttle car stereoscopic warehouse 1001 includes a storage system 1002. The storage system 1002 is Fig. 9 The warehousing system involved in any one of the embodiments.

[0098] In some embodiments, the functional unit module described above can be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components or any appropriate combination thereof for performing the functions described in the present disclosure.

[0099] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0100] The description of the present disclosure is given for the purpose of illustration and description, and is not intended to be exhaustive or to limit the present disclosure to the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure, and to enable those of ordinary skill in the art to understand the present disclosure and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A shuttle control method, executed by a shuttle control device, include: When the shuttle moves in a predetermined direction, the mileage information of the shuttle is collected at a preset period; Determine the distance between the shuttle and the first positioning hole according to the current mileage information of the shuttle and the mileage information of the shuttle at the first positioning hole, wherein the first positioning hole is the positioning hole that the shuttle has passed most recently; Determining the current position information of the shuttle vehicle according to the first position information of the shuttle vehicle at the first positioning hole and the distance, wherein the first position information is determined by the position information of the first positioning hole; When the current position information of the shuttle vehicle is the preset target position information, the shuttle vehicle is controlled to stop.

2. The method according to claim 1, in, Collecting the mileage information of the shuttle vehicle at a preset period includes: The number of rotations of the auxiliary wheel in the shuttle vehicle is collected by the shaft encoder at the preset period to obtain the mileage information of the shuttle vehicle, wherein the auxiliary wheel rotates under the drive of the power wheel of the shuttle vehicle.

3. The method according to claim 2, in, The circumference of the auxiliary wheel is the same as the circumference of the power wheel.

4. The method according to claim 1, further comprising: include: When the current position information of the shuttle is less than the preset target distance information, determining whether the shuttle passes through a second positioning hole, wherein the second positioning hole is the next positioning hole of the first positioning hole in the predetermined direction; If the shuttle passes through the second positioning hole, the second position information of the shuttle at the second positioning hole is determined according to the position information of the second positioning hole.

5. The method according to claim 4, in, Determining the second position information of the shuttle vehicle at the second positioning hole according to the position information of the second positioning hole includes: Using the current position information of the shuttle vehicle to query the position information of the second positioning hole; The second position information is determined according to the position information of the second positioning hole.

6. The method according to claim 5, in, Querying the position information of the second positioning hole using the current position information of the shuttle vehicle includes: Querying the positioning hole position information matching the current position information of the shuttle in the information list; The positioning hole position information is used as the position information of the second positioning hole.

7. The method according to claim 6, in, Querying the positioning hole position information matching the current position information of the shuttle in the information list includes: Calculating a deviation value between each locating hole position information of a plurality of locating hole position information in the information list and the current position information of the shuttle vehicle; The positioning hole position information corresponding to the minimum deviation value is used as the positioning hole position information matching the current position information of the shuttle vehicle.

8. The method according to claim 4, in, Determining whether the shuttle passes through the second positioning hole includes: Determining whether the photoelectric sensor on the shuttle detects the positioning hole; When the photoelectric sensor detects the positioning hole, it is determined that the shuttle vehicle passes through the second positioning hole.

9. The method according to any one of claims 1 to 8, in, The starting point of the shuttle is located on a preset positioning hole.

10. A shuttle control device, include: A first processing module is configured to collect mileage information of the shuttle vehicle at a preset period during the process of the shuttle vehicle moving along a predetermined direction; A second processing module is configured to determine the distance between the shuttle and the first positioning hole according to the current mileage information of the shuttle and the mileage information of the shuttle at the first positioning hole, wherein the first positioning hole is the positioning hole that the shuttle has passed most recently; The third processing module is configured to determine the current position information of the shuttle vehicle based on the first position information of the shuttle vehicle at the first positioning hole and the distance, wherein the first position information is determined by the position information of the first positioning hole, and control the shuttle vehicle to stop when the current position information of the shuttle vehicle is the preset target position information.

11. A shuttle control device, include: a memory configured to store instructions; A processor is coupled to the memory, and the processor is configured to execute the method according to any one of claims 1 to 9 based on instructions stored in the memory.

12. A shuttle vehicle, include: The shuttle control device according to any one of claims 10-11; A mileage detection device is configured to detect mileage information of the shuttle vehicle; A photoelectric sensor is configured to detect the positioning hole.

13. The shuttle vehicle according to claim 12, in, The mileage detection device comprises: auxiliary wheels, configured to rotate under the drive of the powered wheels of the shuttle; The shaft encoder is configured to collect the number of rotations of the auxiliary wheel to obtain the mileage information of the shuttle vehicle.

14. The shuttle vehicle according to claim 13, in, The circumference of the auxiliary wheel is the same as the circumference of the power wheel.

15. A storage system, include: A plurality of shuttles according to any one of claims 12 to 14; A plurality of rails, wherein a plurality of positioning holes are arranged on each of the plurality of rails, and the plurality of positioning holes are arranged along the extension direction of each of the rails.

16. A shuttle car stereoscopic warehouse, include: The storage system as claimed in claim 15.

17. A computer-readable storage medium, in, The computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, the method according to any one of claims 1 to 9 is implemented.

Images