Abstract
Method for controlling cargo handling apparatus to pull cargo away from shelving rack includes: box pulling machine moving to exit/entrance where pre-determined cargo box in shelving rack is located, and manipulator at box pulling machine moving towards box; ranging device starting ranging, and when distance reaches pre-determined value, finger of manipulator being hooked onto handle at outer end of cargo box from bottom to top and dragging cargo box to move outwards, and ranging device monitoring distance; if distance is maintained within a pre-determined range, finger dragging cargo box to preset position of box pulling machine cargo platform, and being separated from handle to complete pulling cargo box; and if distance exceeds pre-determined range to cause unhooking, platform moving downwards to be lower than shelving rack shelf, outer end of cargo box moving downwards under action of its weight, finger moving towards cargo box again, and repeating step S2.