Reach automatic guided vehicle and method and device for controlling same

The invention discloses a reach automatic guided vehicle and a method and device for controlling the same. The reach automatic guided vehicle comprises a vehicle body, a portal and a fork arm carrierand further comprises a pull switch and a first guide wheel, wherein the pull switch is arranged on the vehicle body and comprises a pull fixing end and a pull discharging end, and the pull fixing endis arranged on the fork arm carrier and used for being driven by a fork on the fork arm carrier to move up and down; and the first guide wheel is arranged on the portal, connected with the pull fixing end and used for driving the pull fixing end to move front and back in the portal moving process and driving the pull fixing end to move up and down in the portal lifting process. According to the reach automatic guided vehicle and the method and device for controlling the same, the technical problem that in the prior art, a reach automatic guided vehicle cannot achieve fork lifting and vehiclemoving according to one pul