Shuttle vehicle positioning method based on encoder and hole counting

The invention belongs to the field of factory logistics storage, and particularly relates to a shuttle vehicle positioning method based on encoders and hole counting. The method specifically comprises the steps that a hole site is formed in each column of goods shelf where the shuttle vehicle is located, each hole site corresponds to a coordinate, a preset position value of the coordinate is stored in an array Row [], when the shuttle vehicle starts positioning operation, the preset position value Row [n] of a target position is written into a target position value Postarget of a servo controller, and then the preset position value Row [n] of the target position is written into the array Row [n]; and the actual walking path of the shuttle vehicle is compensated by adopting a compensation algorithm, and the servo controller controls the shuttle vehicle to reach the target position according to the compensation amount. According to the shuttle vehicle positioning method based on the encoder and hole counting, u