This application relates to the field of shuttle control technology, specifically to a positioning and correction control method for precise docking of mother and
daughter shuttles. The method includes: simultaneously laying a QR code reference at each
docking station; connecting the incremental
encoder pulses of the
daughter shuttle's front axle
drive motor to the external trigger port of a
vision sensor, and obtaining coarse code and micro code readings respectively based on the
encoder pulse triggers the
vision sensor to capture the bottom view image; using the drift increment of the mother shuttle's body relative to the departure time as a
state variable, calculating the drift difference observation by combining the
pose calculation using micro code and coarse code matrix, calculating the real-
time drift, and feeding it into the differential compensation loop for dynamic
pose drift filtering and correction; upon entering the area covered by the conventional positioning QR code, determining the closing trigger
signal and initiating the exit process, and archiving the drift sequence as a priori compensation value for the next docking. This method effectively improves the continuity and accuracy of positioning and correction during the gap crossing process.