Carrying equipment and carrying method applied to carrying equipment

Abstract

The invention discloses carrying equipment and a carrying method applied to the carrying equipment. The carrying equipment comprises a vehicle body; the accessory assembly is movably arranged on the vehicle body, and the accessory assembly is used for taking and placing the first stacked object; the sensor assembly is arranged on the vehicle body, and in the process that the carrying equipment carries the first stacked object and enables the first stacked object to be aligned with the second stacked object, the view field of the sensor assembly can cover a first target area of the first stacked object and a second target area of the second stacked object at the same time; first target data corresponding to the first target area and second target data corresponding to the second target area are obtained at the same time; and the control assembly controls the vehicle body and / or the accessory assembly to move according to the first target data and the second target data so as to correct the pose error of the vehicle body and / or the accessory assembly, so that the first stacking object and the second stacking object are aligned. The efficiency and the precision of the carrying equipment in the carrying operation can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a transporting device and a transporting method applied to the transporting device. Background Art

[0002] Systems that use handling equipment such as AGV (automated guided vehicle) have the advantages of being highly unmanned, automated, and intelligent, which improves production efficiency and operational levels for industries such as warehousing, manufacturing, and logistics. As one of the more typical scenarios, handling equipment is often responsible for the handling of various goods. In the process of handling, it is inevitable to stack goods. Currently, most people use cages to store goods instead of traditional wooden boxes, plastic boxes, etc. Considering space utilization, handling equipment will involve the stacking of cages in the process of handling cages, that is, stacking one cage on top of another.

[0003] However, it has been found in practice that during the stacking process, the sensor of the handling equipment in the related technology has insufficient field of view in the vertical direction, which causes the handling equipment to be unable to accurately stack, thereby affecting the operating efficiency and accuracy of the handling equipment. Summary of the invention

[0004] The present application provides a transporting device and a transporting method applied to the transporting device, so as to improve the efficiency and accuracy of the transporting device in the transporting operation.

[0005] This application provides the following solutions:

[0006] According to a first aspect, a handling device is provided, the handling device comprising:

[0007] Vehicle body;

[0008] An attachment assembly, the attachment assembly is movably arranged on the vehicle body, and the attachment assembly is used to take and place the first stacked object;

[0009] a sensor assembly disposed on the vehicle body, wherein during the process in which the transport device transports the first stacked object to align the first stacked object with the second stacked object, the field of view of the sensor assembly can simultaneously cover a first target area of ​​the first stacked object and a second target area of ​​the second stacked object, so as to simultaneously acquire first target data corresponding to the first target area and second target data corresponding to the second target area; and

[0010] A control component controls the movement of the vehicle body and / or the accessory component according to the first target data and the second target data to correct the posture error of the vehicle body and / or the accessory component so as to align the first stacking object with the second stacking object.

[0011] Optionally, the sensor component includes a laser radar component, the first target data includes first point cloud data, and the second target data includes second point cloud data; the vertical field of view of the laser radar component can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object, so as to simultaneously obtain the first point cloud data corresponding to the first target area and the second point cloud data corresponding to the second target area.

[0012] Optionally, the laser radar assembly includes at least two laser radars, and there is a first overlapping area in the vertical field of view of the at least two laser radars, and the first overlapping area can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object.

[0013] Optionally, the laser radar assembly includes a first laser radar and a second laser radar, and the first laser radar and the second laser radar are distributed up and down.

[0014] Optionally, the first laser radar and the second laser radar both include a base and a laser emitter disposed on the base, the base and the laser emitter are vertically distributed, the base has a first surface on a side away from the laser emitter, and the first surface of the first laser radar is disposed opposite to or opposite to the first surface of the second laser radar.

[0015] Optionally, the sensor assembly includes a camera assembly, the first target data includes first image data, and the second target data includes second image data;

[0016] The horizontal field of view of the camera assembly can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object, so as to simultaneously acquire first image data corresponding to the first target area and second image data corresponding to the second target area.

[0017] Optionally, the camera assembly includes at least two cameras, and there is a second overlapping area in the horizontal field of view of the at least two cameras, and the second overlapping area can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object.

[0018] Optionally, the sensor component includes: a laser radar component and a camera component; the first target data includes first point cloud data and first image data, and the second target data includes second point cloud data and second image data;

[0019] The vertical field of view of the laser radar assembly can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object, so as to simultaneously obtain the first point cloud data corresponding to the first target area and the second point cloud data corresponding to the second target area;

[0020] The horizontal field of view of the camera assembly can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object, so as to simultaneously acquire first image data corresponding to the first target area and second image data corresponding to the second target area.

[0021] Optionally, the laser radar component includes one laser radar, the camera component includes one camera, and the laser radar and the camera are distributed left to right or up and down.

[0022] Optionally, the laser radar assembly includes at least two laser radars, and the at least two laser radars are distributed obliquely or vertically.

[0023] Optionally, the camera assembly includes at least two cameras, and the at least two cameras are distributed in an oblique direction or a vertical direction.

[0024] Optionally, the laser radar assembly includes two laser radars, and the camera assembly includes two cameras, the two laser radars are distributed along a preset diagonal line, and the two cameras are distributed along a preset diagonal line.

[0025] Optionally, the two laser radars and the two cameras are respectively distributed along two different diagonal lines that intersect each other.

[0026] Optionally, the center line of the laser transmitter of the first laser radar is configured to be tilted downward at a preset first angle relative to a horizontal plane;

[0027] The center line of the laser emitter of the second laser radar is configured to be tilted upward at a preset second angle relative to a horizontal plane.

[0028] Optionally, the first camera is relatively closer to the vehicle body in the horizontal direction relative to the laser emitter of the second laser radar, so that the horizontal field of view of the second laser radar constitutes at least 180 degrees;

[0029] The second camera is relatively closer to the vehicle body in the horizontal direction relative to the laser emitter of the first laser radar, so that the horizontal field of view of the second laser radar is at least 180 degrees.

[0030] Optionally, a first angle is formed between the center line of the first camera and the horizontal plane, and a second angle is formed between the center line of the second camera and the horizontal plane, so that the combined horizontal field of view of the first camera and the second camera is at least 180 degrees.

[0031] Optionally, the sensor assembly further comprises a first mounting platform and a second mounting platform which are arranged adjacent to each other, and the first mounting platform is located below the second mounting platform, wherein:

[0032] The first laser radar is arranged on the upper surface of the first mounting platform;

[0033] The first camera is arranged on the lower surface of the first mounting platform;

[0034] The second laser radar is arranged on the lower surface of the second mounting platform;

[0035] The second camera is disposed on an upper surface of the second mounting platform.

[0036] Optionally, the vehicle body comprises: a vehicle body and a movable component, wherein the movable component is movably arranged on the vehicle body, the attachment assembly is arranged on the movable component, and the movable component is used to drive the attachment assembly to move relative to the vehicle body;

[0037] The sensor component is arranged on the movable component and is located below the attachment component in the vertical direction.

[0038] According to a second aspect, a method for transporting a transport device is provided, wherein the transport device comprises a vehicle body, an attachment assembly, a sensor assembly and a control assembly, wherein the attachment assembly is movably arranged on the vehicle body, and the attachment assembly is used to take and place a first stacked object; the sensor assembly is arranged on the vehicle body, and the method comprises:

[0039] The control component controls the transport device to transport the first stacked object so that the first stacked object is aligned with the second stacked object, and causes the sensor component to simultaneously acquire the first target data and the second target data; the first target data is obtained by the sensor component acquiring the first target area of ​​the first stacked object; the second target data is obtained by the sensor component acquiring the second target area of ​​the second stacked object; wherein the field of view of the sensor component can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object;

[0040] The control component controls the movement of the vehicle body and / or the accessory component according to the first target data and the second target data to correct the posture error of the vehicle body and / or the accessory component, thereby aligning the first stacking object with the second stacking object.

[0041] Optionally, after the first stacking object is aligned with the second stacking object, the method further includes:

[0042] The control component controls the movement of the attachment component so that the attachment component stacks the first stacking object on the second stacking object.

[0043] Optionally, before the control component controls the transport device to transport the first stacked object, the method further includes:

[0044] After the control component controls the transport equipment to move in front of the first stacked object, the sensor component is instructed to obtain third target data corresponding to a third target area of ​​the first stacked object; wherein the field of view of the sensor component can cover the third target area of ​​the first stacked object; the control component controls the movement of the vehicle body and / or the accessory component according to the third target data to correct the posture errors of the vehicle body and / or the accessory component, thereby enabling the accessory component to take and place the first stacked object.

[0045] Optionally, after the control component controls the attachment component to move so that the attachment component stacks the first stacking object on the second stacking object, the method further includes:

[0046] The control component controls the attachment component to execute an operation of releasing the first stacked object.

[0047] Optionally, the sensor assembly includes: a laser radar assembly and / or a camera assembly;

[0048] The first target data includes: first point cloud data collected by the laser radar component and / or first image data collected by the camera component;

[0049] The second target data includes: second point cloud data collected by the laser radar component and / or second image data collected by the camera component.

[0050] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0051] In the embodiment of the present application, the field of view of the sensor component carried in the handling equipment is expanded so that when the handling equipment carries the first stacked object and aligns the first stacked object with the second stacked object, the sensor component can simultaneously obtain the first target data corresponding to the first target area and the second target data corresponding to the second target area. Compared with the prior art, the detection capability of the first stacked object and the second stacked object is enhanced, thereby significantly improving the efficiency and accuracy of the handling operation.

[0052] Furthermore, during the stacking process, the handling equipment can realize synchronous monitoring and real-time control of the first stacking object and the second stacking object through the sensor components carried by the handling equipment, and continuously correct the position error of the vehicle body and / or the attachment components, thereby continuously correcting the alignment error of the first stacking object relative to the second stacking object during the stacking process, which can effectively reduce the error accumulation that may occur during the stacking process and significantly improve the success rate of the stacking operation. In addition, the tolerance requirements for the stacking objects are also reduced, making the stacking process more efficient and safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 A schematic diagram of a first target area and a second target area provided in an embodiment of the present application;

[0055] Figure 2 A schematic diagram of a third target area provided in an embodiment of the present application;

[0056] Figure 3 A working state diagram of the handling device provided in an embodiment of the present application performing stacking between a first stacking object and a second stacking object;

[0057] Figure 4 A schematic diagram of the structure of a laser radar assembly provided in an embodiment of the present application;

[0058] Figure 5 A schematic diagram of the structure of a laser radar assembly provided in an embodiment of the present application;

[0059] Figure 6 A schematic diagram of the structure of a camera assembly provided in an embodiment of the present application;

[0060] Figure 7 A schematic diagram of the structure of the sensor assembly provided in an embodiment of the present application;

[0061] Figure 8 A schematic diagram of the structure of the sensor assembly provided in an embodiment of the present application;

[0062] Fig. 9 A schematic diagram of the structure of the sensor assembly provided in an embodiment of the present application;

[0063] Fig.10 A schematic diagram of the structure of the sensor assembly provided in an embodiment of the present application;

[0064] Fig.11 A schematic diagram of the structure of the sensor assembly provided in an embodiment of the present application;

[0065] Fig.12 A schematic diagram of the vertical field of view of the first laser radar and the second laser radar provided in an embodiment of the present application;

[0066] Fig.13 A schematic diagram of the positional relationship between the laser radar component and the camera component provided in an embodiment of the present application;

[0067] Fig.14 A schematic diagram of the horizontal field of view of the first camera and the second camera provided in an embodiment of the present application;

[0068] Fig.15 A schematic diagram of the structure of the handling equipment provided in the embodiment of the present application;

[0069] Fig.16 A flowchart of a transport method applied to transport equipment provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0071] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0072] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0073] In view of this, the present application provides a new idea, providing a transport device and a transport method applied to the transport device.

[0074] First, the terms appearing in the embodiments of the present application are explained.

[0075] Stacking refers to arranging and stacking several objects up and down according to certain rules.

[0076] Stacking objects refer to the objects involved in stacking, which can be the goods themselves, or goods with simple packaging such as wrapping, or containers that can hold and carry goods, such as cages, wooden boxes, plastic boxes, pallets, etc.

[0077] Stacking process: refers to the handling device lifting the first stacking object, so that the first stacking object moves and approaches the second stacking object, and then by adjusting the posture of the handling device, the first stacking object is aligned with the second stacking object, and then the first stacking object is placed on the second stacking object to complete the stacking.

[0078] The first stacking object refers to the stacking object located at the top, and the second stacking object refers to the stacking object located at the bottom.

[0079] Stacking state: refers to the relative position state of two stacking objects during the stacking process.

[0080] Alignment: refers to the state where two or more stacked objects are arranged in the vertical direction, and at least part of the border lines between the stacked objects are parallel or overlapped. The vertical direction refers to the Z-axis direction in the coordinate system of the handling equipment (i.e. the height direction of the handling equipment).

[0081] The first stacking object has a first target area and a third target area, which refer to specific areas on the first stacking object for detection and analysis, such as key structural areas such as the boundary or edge target points of the first stacking object.

[0082] The second stacking object has a second target area, which refers to a specific area on the second stacking object for detection and analysis, such as a key structural area such as a boundary or edge target point of the second stacking object.

[0083] It should also be noted that, in the embodiment of the present application, the second stacking object may be not only goods or a container for accommodating goods, but also a stationary base serving as a stacking basis.

[0084] Figure 1 A schematic diagram of a first target area and a second target area provided in an embodiment of the present application.

[0085] The stacking object A located above is the first stacking object, the stacking object B located below is the second stacking object, the bottom structural area of ​​the first stacking object is the first target area A1, and the top structural area of ​​the second stacking object is the second target area B1.

[0086] Figure 2 A schematic diagram of a third target area provided in an embodiment of the present application, wherein stacking object A is a first stacking object, and when the handling device is controlled to move in front of the first stacking object, the structural areas on both sides of stacking object A (such as columns and sockets, etc.) are the third target area when observed along the length direction of the handling device (which is also the driving direction of the handling device).

[0087] Target data: refers to the data acquired by the sensor, including point cloud data and image data.

[0088] First target data: refers to the data of the first target area of ​​the first stacking object acquired by the sensor, including point cloud data and image data. The first target data can be used to calculate the position and posture, stacking state, etc. of the first stacking object.

[0089] Second target data: refers to the data of the second target area of ​​the second stacking object acquired by the sensor, including point cloud data and image data. The second target data can be used to calculate the position and posture, stacking state, etc. of the second stacking object.

[0090] Figure 3 The schematic diagram of the structure of a transport device provided in an embodiment of the present application. The transport device includes a vehicle body 10, an attachment assembly 20, a sensor assembly 30 and a control assembly 40. Each component is introduced below.

[0091] The attachment assembly 20 is movably arranged on the vehicle body 10, and is used to pick up and place the first stacked object A. The attachment assembly 20 specifically refers to an auxiliary device installed on the vehicle body 10, which is used to expand the function of the handling equipment so that it can handle a variety of materials. Specifically, the attachment assembly 20 may include any one of a fork assembly, a clamp assembly, and a robot arm assembly. When the attachment assembly 20 includes a fork assembly, the fork assembly is used to fork the first stacked object A. When the attachment assembly 20 includes a clamp assembly, the clamp assembly is used to clamp the first stacked object A. When the attachment assembly 20 includes a robot arm assembly, the robot arm assembly is used to grab the first stacked object A. For example, the fork assembly may include a fork, the clamp assembly may include a clamp, and the robot arm assembly may include a robot arm.

[0092] The sensor component 30 is arranged on the vehicle body 10. When the handling equipment 1 carries the first stacking object A and aligns the first stacking object A with the second stacking object B, the field of view of the sensor component 30 can simultaneously cover the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B, so as to simultaneously obtain the first target data corresponding to the first target area A1 and the second target data corresponding to the second target area B1.

[0093] The control component 40 controls the vehicle body 10 and / or the attachment component 20 to move according to the first target data and the second target data to correct the posture error of the vehicle body 10 and / or the attachment component 20, so as to align the first stacking object A with the second stacking object B. For example, the control component 40 may include a controller or a processor.

[0094] In the embodiment of the present application, the field of view of the sensor component 30 carried in the handling equipment is expanded so that when the handling equipment carries the first stacked object A and aligns the first stacked object A with the second stacked object B, the sensor component 30 can simultaneously obtain the first target data corresponding to the first target area A1 and the second target data corresponding to the second target area B1. Compared with the prior art, the detection capability of the first stacked object A and the second stacked object B is enhanced, thereby significantly improving the efficiency and accuracy of the handling operation.

[0095] Furthermore, during the stacking process, the handling equipment can realize synchronous monitoring and real-time control of the first stacking object A and the second stacking object B through the sensor assembly 30 carried by the handling equipment, and continuously correct the position error of the vehicle body 10 and / or the attachment assembly 20, thereby continuously correcting the alignment error of the first stacking object A relative to the second stacking object B during the stacking process, which can effectively reduce the error accumulation that may occur during the stacking process and significantly improve the success rate of the stacking operation. In addition, the tolerance requirements for the stacking objects are also reduced, making the stacking process more efficient and safe.

[0096] In addition, during the servo closed-loop alignment process, the control component 40 controls the handling equipment to continuously correct the posture error of the vehicle body 10 and / or the accessory component 20 based on the information fed back by the sensor component 30 until the posture error is corrected to within the set threshold range. After the posture error is corrected to within the set threshold range, the control component 40 will make a final judgment and confirmation to ensure that the alignment error between the first stacking object A and the second stacking object B meets the requirements of the scene. At this time, the accessory component 20 can be safely lowered to complete the stacking operation.

[0097] Furthermore, during the posture error correction process of the vehicle body 10 and / or the accessory assembly 20, if the posture error cannot be corrected to within the set threshold range, the control component 40 will continue to control the handling equipment to continuously correct the posture error of the vehicle body 10 and / or the accessory assembly 20 until the posture error is corrected to within the set threshold range. If the control component 40 still finds that the alignment error between the first stacking object A and the second stacking object B is greater than the tolerance requirement of the scene during the final judgment and confirmation, the "large error retry mechanism" will be activated to allow the handling equipment to enter the retry process to ensure successful stacking. This retry mechanism is designed to cope with large deviations and improve the success rate of stacking through multiple adjustments and corrections.

[0098] The alignment closed-loop technology adopted by the present invention realizes the synchronous observation and control correction of the first stacking object A and the second stacking object B through a special sensor component 30 scheme. During the entire stacking process, the sensor component 30 always remains activated, monitors the alignment status of the first stacking object A and the second stacking object B in real time, and forms a closed-loop feedback between perception and control, which can effectively reduce the accumulation of various errors in the stacking process, such as posture deviation caused by uneven ground, deformation of the door frame, perception and control errors when picking up goods, odometer errors, and the sliding of the first stacking object A on the attachment component 20 during the stacking process. Through the closed-loop control of the entire stacking process, not only the success rate of stacking is improved, but also the tolerance requirements for the stacking objects are reduced, making the entire stacking process more efficient and safe.

[0099] refer to Figure 3 and Figure 4 As an implementable manner, the sensor assembly 30 may include a laser radar assembly 301, the first target data includes first point cloud data, and the second target data includes second point cloud data. In this case, the vertical field of view of the laser radar assembly 301 can simultaneously cover the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B, so as to simultaneously obtain the first point cloud data corresponding to the first target area A1 and the second point cloud data corresponding to the second target area B1.

[0100] refer to Fig.12 Optionally, the laser radar assembly 301 in the embodiment of the present application includes at least two laser radars, and there is a first overlapping area R1 in the vertical field of view of at least two laser radars. The first overlapping area R1 can simultaneously cover the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B.

[0101] In the embodiment of the present application, by integrating at least two laser radars in the laser radar assembly 301 and setting the first overlapping area R1, the superposition coverage of the point cloud data of the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B is achieved, which not only greatly improves the accuracy of the handling equipment in identifying and locating the boundary of the two stacking objects, but also ensures the high accuracy and reliability of the detection; and, because the density of the point cloud data in the first overlapping area R1 is enhanced, the laser radar can shorten the integration time while maintaining high detection accuracy, thereby significantly improving the detection efficiency of the laser radar. In addition, this layout of multiple laser radars ensures that the sensor assembly 30 can continuously and stably detect target data during the stacking process, thereby effectively avoiding the problem of detection failure caused by environmental changes.

[0102] like Figure 4 and Figure 5 As shown, optionally, the laser radar assembly 301 includes a first laser radar 3011 and a second laser radar 3012, which can be distributed left and right or up and down. It should be noted that the left and right distribution can be a left and right distribution in a positive alignment form or a left and right distribution in a diagonal alignment form; similarly, the up and down distribution can be a positive alignment form or a diagonal alignment form. Specifically, Figure 4 The diagram shows a schematic diagram of the structure in which the first laser radar 3011 and the second laser radar 3012 are arranged on the left and right. Figure 5 Shown is a schematic diagram of the structure in which the first laser radar 3011 and the second laser radar 3012 are distributed up and down.

[0103] refer to Figure 5 Specifically, the first laser radar 3011 includes a base 30111 and a laser emitter 30110 disposed on the base 30111. The base 30111 and the laser emitter 30110 are vertically distributed. The laser emitter 30110 may be, but is not limited to, a ball-head laser emitter. The side of the base 30111 away from the laser emitter 30110 has a first surface 30112, and the side of the laser emitter 30110 away from the base 30111 has a second surface 30113. The second laser radar 3012 includes a base 30121 and a laser emitter 30120 disposed on the base 30121. The base 30121 and the laser emitter 30120 are vertically distributed. The laser emitter 30120 can be, but is not limited to, a ball-head laser emitter. The side of the base 30121 away from the laser emitter 30120 has a first surface 30122, and the side of the laser emitter 30120 away from the base 30121 has a second surface 30123. Optionally, as Figure 5As shown in (a), the first surface 30112 of the first laser radar 3011 and the first surface 30122 of the second laser radar 3012 are arranged to face each other, and the second surface 30113 of the first laser radar 3011 and the second surface 30123 of the second laser radar 3012 are arranged to face each other.

[0104] Alternatively, if Figure 5 As shown in (b), the first surface 30112 of the first laser radar 3011 and the first surface 30122 of the second laser radar 3012 are arranged back to back, and the second surface 30113 of the first laser radar 3011 and the second surface 30123 of the second laser radar 3012 are arranged facing each other.

[0105] It should be noted that the layout of at least two laser radars in the laser radar assembly 301 in the embodiment of the present application is not limited to a specific distribution method. It can be flexibly arranged according to different application scenarios and requirements. Whether it is distributed left and right or up and down, the layout of the laser radar is intended to optimize the coverage of the vertical field of view and the collection efficiency of point cloud data, ensuring that the first overlapping area can fully cover the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B.

[0106] refer to Figure 3 and Figure 6 As another achievable manner, the sensor assembly 30 includes a camera assembly 302, the first target data includes first image data, and the second target data includes second image data. On this basis, the horizontal field of view of the camera assembly 302 can simultaneously cover the first target area A1 of the first stacked object A and the second target area B1 of the second stacked object B, so as to simultaneously obtain the first image data corresponding to the first target area A1 and the second image data corresponding to the second target area B1.

[0107] refer to Fig.14 Optionally, the camera assembly 302 in the embodiment of the present application includes at least two cameras, and there is a second overlapping area R2 in the horizontal field of view of the at least two cameras, and the second overlapping area R2 can simultaneously cover the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B.

[0108] In the embodiment of the present application, by integrating at least two cameras in the camera assembly 302 and setting a second overlapping area, dual visual coverage of the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B is achieved, thereby enhancing the accuracy and robustness of visual detection, improving image recognition accuracy and target tracking stability, optimizing visual data fusion, and significantly improving the efficiency and accuracy of handling operations.

[0109] like Figure 6As shown, the distribution method is demonstrated by taking the camera assembly 302 as an example in which two cameras are integrated. Figure 6 (a) shows a schematic diagram of a structure in which a first camera 3021 and a second camera 3022 are arranged vertically. Figure 6 (b) shows a schematic structural diagram of the first camera 3021 and the second camera 3022 being distributed on the left and right.

[0110] It should be noted that the layout of at least two cameras in the camera assembly 302 in the embodiment of the present application is not limited to a specific distribution method. It can be flexibly arranged according to different application scenarios and requirements, such as up and down layout or left and right layout. Regardless of the layout method, the layout of the camera is intended to optimize the coverage of the horizontal field of view and the efficiency of image data acquisition, ensuring that the second overlapping area can fully cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object.

[0111] As another achievable manner, the sensor component 30 may include a laser radar component 301 and a camera component 302; the first target data includes first point cloud data and first image data, and the second target data includes second point cloud data and second image data;

[0112] The vertical field of view of the laser radar assembly 301 can simultaneously cover the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B, so as to simultaneously obtain the first point cloud data corresponding to the first target area A1 and the second point cloud data corresponding to the second target area B1;

[0113] The horizontal field of view of the camera assembly 302 can simultaneously cover the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B, so as to simultaneously obtain the first image data corresponding to the first target area A1 and the second image data corresponding to the second target area B1.

[0114] In the embodiment of the present application, by integrating the laser radar component 301 and the camera component 302 into the sensor component 30, the fusion detection of point cloud data and image data is realized. On the one hand, the resolution and accuracy of the detection are improved. Through the complementarity of multiple sensors, the ability of the handling equipment to perceive the environment is enhanced, and the accuracy of target detection and recognition is effectively improved. On the other hand, the handling equipment can obtain accurate perception data in real time before and after stacking, ensuring the accuracy and stability of stacking.

[0115] Optionally, the laser radar component 301 includes one laser radar, and the camera component 302 includes one camera, and the laser radar and the camera can be distributed left and right or up and down. As described above, the left and right distribution can be a left and right distribution in a positive alignment form, or a left and right distribution in a diagonal alignment form; similarly, the up and down distribution can be a positive alignment form, or a diagonal alignment form.

[0116] Optionally, when the sensor assembly 30 includes a laser radar assembly 301 and a camera assembly 302, the laser radar assembly includes at least two laser radars, and the at least two laser radars are distributed in an oblique direction or a vertical direction.

[0117] Optionally, when the sensor assembly 30 includes a laser radar assembly 301 and a camera assembly 302, the camera assembly 302 includes at least two cameras, and the at least two cameras are distributed in an oblique direction or a vertical direction.

[0118] Optionally, when the sensor assembly 30 includes a laser radar assembly 301 and a camera assembly 302, the laser radar assembly 301 includes two laser radars, the camera assembly 302 includes two cameras, the two laser radars are distributed along a preset diagonal line, and the two cameras are distributed along a preset diagonal line. Specifically, the two laser radars and the two cameras can be distributed along two different diagonal lines that intersect each other, respectively, so that the mechanical installation space of the sensor assembly 30 is more compact.

[0119] like Figures 7 to 10 The figures shown are schematic diagrams of the structure of the sensor assembly 30 provided in the embodiments of the present application, which are used to illustrate different configuration methods.

[0120] Figure 7 A sensor assembly 30 consisting of a first laser radar 3011, a first camera 3021 and a second camera 3022 is shown, wherein the first camera 3021 and the second camera 3022 are respectively located on the left and right sides of the first laser radar 3011.

[0121] Figure 8 A sensor assembly 30 consisting of a first laser radar 3011 and a first camera 3021 is shown, wherein the first camera 3021 is located above the first laser radar 3011.

[0122] Fig. 9 A sensor assembly 30 consisting of a first laser radar 3011, a second laser radar 3012 and a first camera 3021 is shown, wherein the first laser radar 3011 and the second laser radar 3012 are respectively located on the upper and lower sides of the first camera 3021.

[0123] Fig.10The sensor assembly 30 composed of a first laser radar 3011, a second laser radar 3012, a first camera 3021 and a second camera 3022 is shown, wherein the first laser radar 3011 and the second laser radar 3012 are distributed along a preset first diagonal line, and the first camera 3021 and the second camera 3022 are distributed along a preset second diagonal line, wherein the first diagonal line and the second diagonal line are arranged to intersect each other. The base 30111 of the first laser radar 3011 and the base 30121 of the second laser radar 3012 can be basically maintained at the same height on the horizontal plane, and the height difference between the emission point of the laser emitter 30110 of the first laser radar 3011 and the emission point of the laser emitter 30120 of the second laser radar 3012 is about 7 cm.

[0124] Furthermore, if Fig.11 As shown, in order to achieve an optimized layout and stable installation of the sensor assembly 30, the sensor assembly 30 in the embodiment of the present application further includes a first mounting platform 303 and a second mounting platform 304 arranged adjacent to each other, and the first mounting platform 303 is located below the second mounting platform 304, wherein:

[0125] The first laser radar 3011 is disposed on the upper surface of the first mounting platform 303. Specifically, the base 30111 of the first laser radar 3011 is disposed on the upper surface of the first mounting platform 303.

[0126] The first camera 3021 is disposed on the lower surface of the first mounting platform 303;

[0127] The second laser radar 3012 is disposed on the lower surface of the second mounting platform 304 . Specifically, the base 30121 of the second laser radar 3012 is disposed on the lower surface of the first mounting platform 303 .

[0128] The second camera 3022 is disposed on the upper surface of the second mounting platform 304 .

[0129] The sensor assembly 30 further includes a connector 305, through which the first mounting platform 303 and the second mounting platform 304 are connected. Specifically, the first mounting platform 303 and the second mounting platform 304 are respectively connected to both ends of the connector 305, the first mounting platform 303 and the second mounting platform 304 are arranged in parallel, and the first mounting platform 303 and the second mounting platform 304 are both vertically connected to the connector 305. In addition, the first mounting platform 303, the second mounting platform 304 and the connector 305 can be integrally formed.

[0130] The above examples are only part of many possible configurations. The embodiments of the present application do not limit the number of laser radars and cameras. The number of laser radars and cameras can be freely selected and combined according to actual application requirements and scenarios. Figures 6 to 10The layout of the sensor assembly 30 shown only shows the number and position of the laser radars and cameras. The orientation of the laser radars and cameras is not limited. It is only necessary that the vertical field of view of the laser radar assembly 301 and the horizontal field of view of the camera assembly 302 can simultaneously cover the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B.

[0131] Optionally, the laser radar involved in the laser radar component 301 in the embodiment of the present application may be, but is not limited to, a 3D laser radar.

[0132] As a feasible method, the following Fig.10 and Fig.11 The sensor assembly 30 shown is described in detail.

[0133] In order to further optimize the detection capability of the laser radar assembly 301 in the vertical direction, in the embodiment of the present application, the center line 30114 of the laser emitter 30110 of the first laser radar 3011 can be configured to be tilted downward at a preset first angle relative to the horizontal plane; the center line 30124 of the laser emitter 30120 of the second laser radar 3012 can be configured to be tilted upward at a preset second angle relative to the horizontal plane. This configuration can increase the field of view of the laser radar assembly 301 in the vertical direction.

[0134] The center line of the laser emitter usually refers to the central axis of the laser beam, that is, the geometric center line of the laser beam emitted by the laser emitter.

[0135] Optionally, the first angle can be set between 0 degrees and 20 degrees, and the second angle can be set between 0 degrees and 20 degrees. The first angle and the second angle can be adaptively set according to actual application scenario requirements.

[0136] Fig.12 A schematic diagram of the vertical field of view of the first laser radar 3011 and the second laser radar 3012 of the laser radar assembly 301 provided in an embodiment of the present application. Fig.12In the figure, the vertical field of view of the first laser radar 3011 and the second laser radar 3012 are both 59 degrees, and the pitch angle of the center line 30114 of the laser emitter 30110 of the first laser radar 3011 is set to -10 degrees, that is, the center line 30114 of the laser emitter 30110 of the first laser radar 3011 is tilted downward by 10 degrees relative to the horizontal plane, and the pitch angle of the center line 30124 of the laser emitter 30120 of the second laser radar 3012 is set to +10 degrees, that is, the center line 30124 of the laser emitter 30120 of the second laser radar 3012 is configured to be tilted upward by 10 degrees relative to the horizontal plane. In this way, on the one hand, the blind spots of the first laser radar 3011 and the second laser radar 3012 in the vertical direction can be reduced, and on the other hand, the first overlapping area R1 of the first laser radar 3011 and the second laser radar 3012 in the vertical direction can be formed, that is, Fig.12 The oblique line area in the figure enables the laser radar component 301 to have double the point cloud density when collecting point cloud data of the first target area and the second target area, which helps to reduce the integration time and improve the accuracy and efficiency of detection.

[0137] Further, Fig.13 A schematic diagram of the positional relationship between the laser radar component and the camera component provided in the embodiment of the present application, in Fig.13 In the figure, from top to bottom, the first laser radar 3011 and the second camera 3022 in the sensor assembly 30 can be seen. The second camera 3022 is relatively closer to the vehicle body 10 in the horizontal direction relative to the laser emitter 30110 of the first laser radar 3011, so that the horizontal field of view of the second laser radar 3012 is at least 180 degrees. Similarly, the first camera 3021 is relatively closer to the vehicle body 10 in the horizontal direction relative to the laser emitter 30110 of the second laser radar 3012, so that the horizontal field of view of the second laser radar 3012 is at least 180 degrees. Fig.13 are blocked by the first laser radar 3011 and the second camera 3022 respectively, so Fig.13 Not shown.

[0138] In the embodiment of the present application, by placing the first camera 3021 and the second camera 3022 closer to the vehicle body 10, it is possible to effectively avoid blocking the horizontal field of view of the second laser radar 3012 and the first laser radar 3011, ensuring that the second laser radar 3012 and the first laser radar 3011 can capture point cloud data of the surrounding environment without hindrance. This layout strategy can improve the overall field of view coverage of the sensor assembly 30, thereby providing more comprehensive environmental information for the handling equipment, thereby improving the safety and efficiency of the handling operation.

[0139] Furthermore, a first angle is formed between the center line of the first camera 3021 and the horizontal plane, and a second angle is formed between the center line of the second camera 3022 and the horizontal plane, so that the combined horizontal field of view of the first camera 3021 and the second camera 3022 is at least 180 degrees.

[0140] Optionally, the first angle can be set between 40 degrees and 60 degrees, and the second angle can be set between 40 degrees and 60 degrees. The first angle and the second angle can be adaptively set according to actual application scenario requirements.

[0141] Among them, a horizontal field of view of at least 180 degrees can ensure that more environmental information is captured in a single scan, reducing the need for multiple scans of the environment, thereby improving the efficiency of data collection.

[0142] like Fig.14 As shown, in actual application, a first camera 3021 and a second camera 3022 with a horizontal field of view of 100 degrees can be used, and the distance between the lenses of the first camera 3021 and the second camera 3022 is between 10 cm and 16 cm. At this time, the angle between the center line of the first camera 3021 and the horizontal line can be set to half of its horizontal field of view, that is, 50°, and the angle between the center line of the second camera 3022 and the horizontal line is also set to 50 degrees. The horizontal fields of view of the first camera 3021 and the second camera 3022 together constitute 180 degrees. Among them, Fig.14 The oblique line portion represents a second overlapping area R2 of the first camera 3021 and the second camera 3022 in the horizontal direction.

[0143] In addition, in order to ensure the convenience of wiring and maintenance, the wiring method of the first laser radar 3011 and the second laser radar 3012 in the embodiment of the present application can adopt the method of rear-outlet or side-outlet.

[0144] The rear cable outlet method refers to that the cables of the laser radar are led out from the rear of the laser radar. This method allows the cables to be arranged along the rear side of the laser radar, which helps to keep the front of the laser radar tidy and facilitates the centralized cable leading to the control component 40 or the power supply.

[0145] The side-out method refers to the LiDAR cable being led out from the side of the LiDAR. This method allows the cable to be laid along one side of the LiDAR, which helps with wiring in a space-constrained environment and reduces the interference of the cable on the LiDAR working area.

[0146] For example, the left-side laser radar uses a left-out cable, that is, the cable is led out from the left side of the laser radar; while the right-side laser radar uses a right-out cable, that is, the cable is led out from the right side of the laser radar. This symmetrical layout is not only more beautiful visually, but also convenient for wiring and maintenance in actual operation.

[0147] In addition, in order to improve the flexibility and space utilization of handling equipment, optionally, refer to Fig.15 The vehicle body 10 may include a vehicle body 101 and a movable component 102, wherein the movable component 102 is movably disposed on the vehicle body 101, and the attachment assembly 20 is disposed on the movable component 102, and the movable component 102 is used to drive the attachment assembly 20 to move relative to the vehicle body 101, such as lifting and lowering movement.

[0148] On this basis, the sensor assembly 30 can be disposed on the movable component 102 and located below the attachment assembly 20 in the vertical direction.

[0149] In actual application scenarios, due to limited installation space, the sensor assembly 30 is installed in a compact space, which is at least 10 cm away from the bottom of the attachment assembly 20 in the Z-axis direction of the coordinate system with the handling equipment as the origin, and at least 10 cm away from both sides of the attachment assembly 20 in the Y-axis direction. This compact layout enables the handling equipment to achieve efficient integration of the sensor assembly 30 in a limited space while maintaining operational flexibility and compactness of the handling equipment.

[0150] It should be noted that in the coordinate system with the transport device as the origin, in the embodiment of the present application, the length direction of the transport device is the X-axis, the width direction of the transport device is the Y-axis, and the height direction of the transport device is the Z-axis.

[0151] Based on the same concept, the embodiment of the present application also provides a transport method applied to a transport device, such as Fig.16 As shown, the handling equipment includes a vehicle body 10, an attachment assembly 20, a sensor assembly 30 and a control assembly 40, the attachment assembly 20 is movably arranged on the vehicle body 10, and the attachment assembly 20 is used to take and place the first stacked object A; the sensor assembly 30 is arranged on the vehicle body 10, and the method includes:

[0152] Step 1510: the control component 40 controls the handling device to carry the first stacking object A so as to align the first stacking object A with the second stacking object B, and causes the sensor component 30 to simultaneously acquire the first target data and the second target data; the first target data is acquired by the sensor component 30 acquiring the first target area A1 of the first stacking object A; the second target data is acquired by the sensor component 30 acquiring the second target area B1 of the second stacking object B; wherein the field of view of the sensor component 30 can simultaneously cover the first target area A1 of the first stacking object A and the second target area B1 of the second stacking object B;

[0153] Step 1520: The control component 40 controls the movement of the vehicle body 10 and / or the accessory component 20 according to the first target data and the second target data to correct the posture error of the vehicle body 10 and / or the accessory component 20, so as to align the first stack object A with the second stack object B.

[0154] Further, after the first stacked object A is aligned with the second stacked object B, the method further comprises:

[0155] The control component 40 controls the attachment component 20 to move, so that the attachment component 20 stacks the first stacking object A on the second stacking object B.

[0156] Optionally, before the control component 40 controls the transport device to transport the first stacked object A, the following steps may also be included:

[0157] After the control component 40 controls the handling equipment to move to the front of the first stacking object A, the sensor component 30 obtains the third target data corresponding to the third target area A2 of the first stacking object A; wherein the field of view of the sensor component 30 can cover the third target area A2 of the first stacking object A; the control component 40 controls the movement of the vehicle body 10 and / or the accessory component 20 according to the third target data to correct the posture error of the vehicle body 10 and / or the accessory component 20, so as to enable the accessory component 20 to take and place the first stacking object A.

[0158] In the embodiment of the present application, the handling device can simultaneously detect and pick up and place the first stacked object during the movement process. This continuous operation process can effectively improve the picking and placing efficiency, reduce the operation time, and enhance the working efficiency of the handling device.

[0159] Further, after the control component 40 controls the attachment component 20 to move so that the attachment component 20 stacks the first stacking object A on the second stacking object B, the method may further include:

[0160] The control component 40 controls the attachment component 20 to release the first stacked object A.

[0161] Optionally, the sensor assembly 30 includes: a laser radar assembly 301 and / or a camera assembly 302;

[0162] The first target data includes: first point cloud data collected by the laser radar component 301 and / or first image data collected by the camera component 302;

[0163] The second target data includes: the second point cloud data collected by the laser radar component 301 and / or the second image data collected by the camera component 302.

[0164] It should be noted that the specific principles of the sensor assembly 30, the laser radar assembly 301, the camera assembly 302 and the handling equipment can be found in the relevant records in the previous embodiments and will not be elaborated here.

[0165] The above method realizes precise handling operations and improves handling efficiency and accuracy by simultaneously collecting first target data of the first stacking object and second stacking data of the second stacking object and controlling the handling equipment based on these data.

[0166] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0167] The technical solution provided by the present application is described in detail above. The principle and implementation method of the present application are described in detail using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A handling device, characterized in that: The handling equipment comprises: Vehicle body; An attachment assembly, the attachment assembly is movably arranged on the vehicle body, and the attachment assembly is used to take and place the first stacked object; a sensor assembly disposed on the vehicle body, wherein during the process in which the transport device transports the first stacked object to align the first stacked object with the second stacked object, the field of view of the sensor assembly can simultaneously cover a first target area of ​​the first stacked object and a second target area of ​​the second stacked object, so as to simultaneously acquire first target data corresponding to the first target area and second target data corresponding to the second target area; and A control component controls the movement of the vehicle body and / or the accessory component according to the first target data and the second target data to correct the posture error of the vehicle body and / or the accessory component so as to align the first stacking object with the second stacking object.

2. The handling equipment according to claim 1, characterized in that: The sensor component includes a laser radar component, the first target data includes first point cloud data, and the second target data includes second point cloud data; the vertical field of view of the laser radar component can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object, so as to simultaneously obtain the first point cloud data corresponding to the first target area and the second point cloud data corresponding to the second target area.

3. The handling equipment according to claim 2, characterized in that: The laser radar assembly includes at least two laser radars, and there is a first overlapping area in the vertical field of view of the at least two laser radars. The first overlapping area can simultaneously cover the first target area of ​​the first stacking object and the second target area of ​​the second stacking object.

4. The handling equipment according to claim 3, characterized in that: The laser radar assembly includes a first laser radar and a second laser radar, and the first laser radar and the second laser radar are distributed up and down.

5. The handling equipment according to claim 4, characterized in that: The first laser radar and the second laser radar both include a base and a laser emitter disposed on the base, the base and the laser emitter are vertically distributed, the base has a first surface on a side away from the laser emitter, and the first surface of the first laser radar is disposed opposite to or opposite to the first surface of the second laser radar.

6. The handling equipment according to claim 1, characterized in that: The sensor assembly includes a camera assembly, the first target data includes first image data, and the second target data includes second image data; The horizontal field of view of the camera assembly can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object, so as to simultaneously acquire first image data corresponding to the first target area and second image data corresponding to the second target area.

7. The handling equipment according to claim 6, characterized in that: The camera assembly includes at least two cameras, and a second overlapping area exists in the horizontal field of view of the at least two cameras. The second overlapping area can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object.

8. The handling equipment according to claim 1, characterized in that: The sensor component includes: a laser radar component and a camera component; the first target data includes first point cloud data and first image data, and the second target data includes second point cloud data and second image data; The vertical field of view of the laser radar assembly can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object, so as to simultaneously obtain the first point cloud data corresponding to the first target area and the second point cloud data corresponding to the second target area; The horizontal field of view of the camera assembly can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object, so as to simultaneously acquire first image data corresponding to the first target area and second image data corresponding to the second target area.

9. The handling equipment according to claim 8, characterized in that: The laser radar component includes one laser radar, the camera component includes one camera, and the laser radar and the camera are distributed left to right or up to down.

10. The handling equipment according to claim 8, characterized in that: The laser radar assembly includes at least two laser radars, and the at least two laser radars are distributed obliquely or vertically.

11. The handling equipment according to claim 8, characterized in that: The camera assembly includes at least two cameras, and the at least two cameras are distributed in an oblique direction or a vertical direction.

12. The handling equipment according to claim 8, characterized in that: The laser radar assembly includes two laser radars, and the camera assembly includes two cameras. The two laser radars are distributed along a preset diagonal line, and the two cameras are distributed along a preset diagonal line.

13. The handling equipment according to claim 12, characterized in that: The two laser radars and the two cameras are respectively distributed along two different diagonal lines that intersect each other; the two laser radars include a first laser radar and a second laser radar, and the two cameras include a first camera and a second camera.

14. The handling device according to claim 13, characterized in that: The center line of the laser transmitter of the first laser radar is configured to be tilted downward at a preset first angle relative to a horizontal plane; The center line of the laser emitter of the second laser radar is configured to be tilted upward at a preset second angle relative to a horizontal plane.

15. The handling equipment according to claim 13, characterized in that: The first camera is relatively closer to the vehicle body in the horizontal direction relative to the laser emitter of the second laser radar, so that the horizontal field of view of the second laser radar constitutes at least 180 degrees; The second camera is relatively closer to the vehicle body in the horizontal direction relative to the laser emitter of the first laser radar, so that the horizontal field of view of the second laser radar is at least 180 degrees.

16. The handling device according to claim 13, characterized in that: A first angle is formed between the center line of the first camera and the horizontal plane, and a second angle is formed between the center line of the second camera and the horizontal plane, so that the combined horizontal field of view of the first camera and the second camera is at least 180 degrees.

17. The handling equipment according to claim 13, characterized in that: The sensor assembly further comprises a first mounting platform and a second mounting platform which are arranged adjacent to each other, and the first mounting platform is located below the second mounting platform, wherein: The first laser radar is arranged on the upper surface of the first mounting platform; The first camera is arranged on the lower surface of the first mounting platform; The second laser radar is arranged on the lower surface of the second mounting platform; The second camera is disposed on an upper surface of the second mounting platform.

18. The handling equipment according to claim 1, characterized in that: The vehicle body comprises: a vehicle body and a movable component, wherein the movable component is movably arranged on the vehicle body, the attachment assembly is arranged on the movable component, and the movable component is used to drive the attachment assembly to move relative to the vehicle body; The sensor component is arranged on the movable component and is located below the attachment component in the vertical direction.

19. A transport method applied to a transport device, characterized in that: The handling equipment comprises a vehicle body, an attachment assembly, a sensor assembly and a control assembly, wherein the attachment assembly is movably arranged on the vehicle body and is used to take and place a first stacked object; the sensor assembly is arranged on the vehicle body, and the method comprises: The control component controls the transport device to transport the first stacked object so that the first stacked object is aligned with the second stacked object, and causes the sensor component to simultaneously acquire the first target data and the second target data; the first target data is obtained by the sensor component acquiring the first target area of ​​the first stacked object; the second target data is obtained by the sensor component acquiring the second target area of ​​the second stacked object; wherein the field of view of the sensor component can simultaneously cover the first target area of ​​the first stacked object and the second target area of ​​the second stacked object; The control component controls the movement of the vehicle body and / or the accessory component according to the first target data and the second target data to correct the posture error of the vehicle body and / or the accessory component, thereby aligning the first stacking object with the second stacking object.

20. The method according to claim 19, characterized in that After the first stacking object is aligned with the second stacking object, the method further includes: The control component controls the movement of the attachment component so that the attachment component stacks the first stacking object on the second stacking object.

21. The method according to claim 19, characterized in that Before the control component controls the handling device to handle the first stacked object, the method further includes: After the control component controls the transport equipment to move in front of the first stacked object, the sensor component is instructed to obtain third target data corresponding to a third target area of ​​the first stacked object; wherein the field of view of the sensor component can cover the third target area of ​​the first stacked object; the control component controls the movement of the vehicle body and / or the accessory component according to the third target data to correct the posture errors of the vehicle body and / or the accessory component, thereby enabling the accessory component to take and place the first stacked object.

22. The method according to claim 19, characterized in that After the control component controls the attachment component to move so that the attachment component stacks the first stacking object on the second stacking object, the method further includes: The control component controls the attachment component to execute an operation of releasing the first stacked object.

23. The method according to any one of claims 19 to 22, characterized in that The sensor assembly includes: a laser radar assembly and / or a camera assembly; The first target data includes: first point cloud data collected by the laser radar component and / or first image data collected by the camera component; The second target data includes: second point cloud data collected by the laser radar component and / or second image data collected by the camera component.

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