Return device, return method applied to the return device, and control assembly

Abstract

The present application discloses a conveying device and a conveying method applied to the conveying device. The conveying device comprises a vehicle body, an attachment assembly, a sensor assembly, and a control assembly. The attachment assembly is movably installed on the vehicle body and is used to pick up and place a first load target; the sensor assembly is placed on the vehicle body, and in the process in which the conveying device conveys the first load target and aligns the first load target with a second load target, the field of view of the sensor assembly simultaneously covers a first target area of ​​the first load target and a second target area of ​​the second load target, thereby enabling the simultaneous acquisition of first target data corresponding to the first target area and second target data corresponding to the second target area. The control assembly controls the movement of at least one of the vehicle body and the attachment assembly based on the first target data and the second target data, thereby correcting an attitude error of at least one of the vehicle body and the attachment assembly, so that the first load target and the second load target are aligned.

Description

Technology Field

[0001] The present application relates to the field of warehouse logistics technology, and in particular to a conveying device, a conveying method applied to the conveying device, and a control assembly. Background Technology

[0002] Systems utilizing conveying equipment, such as AGVs (Automated Guided Vehicles), offer advantages including high levels of unmanned operation, automation, and intelligence, thereby improving production efficiency and operational levels in industries such as warehousing, manufacturing, and logistics. As a representative scenario, conveying equipment is often responsible for transporting various types of cargo. During the conveying process, loading of cargo is inevitably required. Currently, in most cases, cargo is accommodated in loading cages, replacing conventional wooden or plastic crates. Considering space utilization, loading cages must be stacked during the conveying process; that is, one loading cage is stacked on top of another.

[0003] However, in actual application, the conveyor device in the related technology cannot accurately realize loading due to insufficient vertical field of view of the sensor during the loading process, which affects the operational efficiency and precision of the conveyor device. The problem to be solved

[0004] The present application provides a conveying device for improving the efficiency and precision of a conveying device in a conveying operation, a conveying method applied to the conveying device, and a control assembly. means of solving the problem

[0005] The present application provides the following solutions.

[0006] In the first aspect, a return device is provided, and the return device is,

[0007] Body;

[0008] Attachment assembly - The attachment assembly is movably installed on the vehicle body and configured to pick up and place a first load object -;

[0009] A sensor assembly disposed on a vehicle body - in the process where a conveying device conveys a first object to be loaded and aligns the first object to be loaded with a second object to be loaded, the field of view of the sensor assembly is capable of simultaneously covering a first target area of ​​the first object to be loaded and a second target area of ​​the second object to be loaded, thereby simultaneously acquiring first target data corresponding to the first target area and second target data corresponding to the second target area -; and

[0010] Control assembly - The control assembly controls at least one of the vehicle body and the attachment assembly to move based on first target data and second target data, thereby correcting the attitude error of at least one of the vehicle body and the attachment assembly so that the first load target and the second load target are aligned -

[0011] Optionally, the sensor assembly includes a lidar assembly, 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 lidar assembly is capable of simultaneously covering a first target area of ​​a first payload and a second target area of ​​a second payload, thereby simultaneously acquiring first point cloud data corresponding to the first target area and second point cloud data corresponding to the second target area.

[0012] Optionally, the lidar assembly includes at least two lidars, and a first overlapping area exists within the vertical field of view of at least two lidars, and the first overlapping area can simultaneously cover a first target area of ​​a first payload and a second target area of ​​a second payload.

[0013] Optionally, the lidar assembly includes a first lidar and a second lidar, and the first lidar and the second lidar are distributed vertically. Optionally, both the first lidar and the second lidar include a base and a laser emitter disposed on the base, and the base and the laser emitter are distributed vertically, and the base has a first surface on the side far from the laser emitter, and the first surface of the first lidar and the first surface of the second lidar are arranged to face each other or to face in opposite directions.

[0014] 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;

[0015] The horizontal field of view of the camera assembly can simultaneously cover the first target area of ​​the first load object and the second target area of ​​the second load object, thereby simultaneously acquiring first image data corresponding to the first target area and second image data corresponding to the second target area.

[0016] Optionally, the camera assembly includes at least two cameras, and a second overlapping area exists within the horizontal field of view of at least two cameras, and the second overlapping area can simultaneously cover a first target area of ​​a first load object and a second target area of ​​a second load object.

[0017] Optionally, the sensor assembly includes a LiDAR assembly and a camera assembly; 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;

[0018] The vertical field of view of the lidar assembly can simultaneously cover the first target area of ​​the first payload and the second target area of ​​the second payload, thereby simultaneously acquiring first point cloud data corresponding to the first target area and second point cloud data corresponding to the second target area;

[0019] The horizontal field of view of the camera assembly can simultaneously cover the first target area of ​​the first load object and the second target area of ​​the second load object, thereby simultaneously acquiring first image data corresponding to the first target area and second image data corresponding to the second target area.

[0020] Optionally, the number of lidars included in the lidar assembly is one, and the number of cameras included in the camera assembly is one, and the lidars and cameras are distributed left and right or up and down.

[0021] Optionally, the lidar assembly includes at least two lidars, and at least two lidars are distributed in an inclined or vertical direction.

[0022] Optionally, the camera assembly includes at least two cameras, and at least two cameras are distributed in an oblique or vertical direction.

[0023] Optionally, the lidar assembly includes two lidars, and the camera assembly includes two cameras, with the two lidars distributed along a preset inclined diagonal and the two cameras distributed along a preset inclined diagonal. Optionally, the two lidars and two cameras are each distributed along two different inclined diagonals that intersect each other. The two lidars include a first lidar and a second lidar, and the two cameras include a first camera and a second camera.

[0024] Optionally, the centerline of the laser emitter of the first lidar is configured to be tilted downward by a preset first angle with respect to the horizontal plane; and the centerline of the laser emitter of the second lidar is configured to be tilted upward by a preset second angle with respect to the horizontal plane.

[0025] Optionally, the first camera is positioned relatively closer to the vehicle body in a horizontal direction with respect to the laser emitter of the second lidar, so that the horizontal field of view of the second lidar is at least 180 degrees;

[0026] The second camera is positioned relatively closer to the vehicle body in the horizontal direction relative to the laser emitter of the first lidar, so that the horizontal field of view of the first lidar is at least 180 degrees.

[0027] Optionally, a first angle of indentation is formed between the centerline of the first camera and the horizontal plane, and a second angle of indentation is formed between the centerline 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.

[0028] Optionally, the sensor assembly further includes a first mounting plate and a second mounting plate positioned adjacent to each other, wherein the first mounting plate is located below the second mounting plate, and wherein,

[0029] The first lidar is positioned on the upper surface of the first mounting bracket;

[0030] The first camera is positioned on the lower surface of the first mounting bracket;

[0031] The second lidar is positioned on the underside of the second mounting bracket;

[0032] The second camera is placed on the upper surface of the second mounting bracket.

[0033] Optionally, the vehicle body comprises a vehicle body and a movable member, the movable member is movably installed on the vehicle body, an attachment assembly is disposed on the movable member, and the movable member is used to drive the attachment assembly to move relative to the vehicle body;

[0034] The sensor assembly is placed on the movable member and is located below the attachment assembly in the vertical direction.

[0035] In a second aspect, a conveying method applied to a conveying device is provided, wherein the conveying device comprises a vehicle body, an attachment assembly, a sensor assembly, and a control assembly, the attachment assembly is movably installed on the vehicle body, and the attachment assembly is configured to pick up and place a first load object; the sensor assembly is placed on the vehicle body, and the conveying method is

[0036] The above control assembly, in the process of controlling a conveying device to convey a first object to be loaded and aligning the first object to be loaded with a second object to be loaded, has the step of enabling a sensor assembly to simultaneously acquire first target data and second target data - the first target data is data of a first target area of ​​the first object to be loaded acquired by the sensor assembly; and the second target data is data of a second target area of ​​the second object to be loaded acquired by the sensor assembly; wherein, the field of view of the sensor assembly is capable of simultaneously covering the first target area of ​​the first object to be loaded and the second target area of ​​the second object to be loaded - ; and

[0037] The above control assembly controls the movement of at least one of the vehicle body and the attachment assembly based on first target data and second target data, and corrects the attitude error of at least one of the vehicle body and the attachment assembly so that the first load target and the second load target are aligned.

[0038] Optionally, after the first loading object and the second loading object are aligned, the return method is,

[0039] The above control assembly further includes the step of controlling the movement of the attachment assembly so that the attachment assembly loads the first loading object onto the second loading object.

[0040] Optionally, before the control assembly controls the return device to return the first load object, the return method is,

[0041] The above control assembly controls the conveying device to move forward of the first loading object, and then enables the sensor assembly to acquire third target data corresponding to the third target area of ​​the first loading object - the field of view of the sensor assembly is capable of covering the third target area of ​​the first loading object - ; and

[0042] The control assembly further includes the step of controlling the movement of at least one of the vehicle body and the attachment assembly based on third target data, thereby correcting the attitude error of at least one of the vehicle body and the attachment assembly, so that the attachment assembly performs pickup and placement of the first load target.

[0043] Optionally, the control assembly controls the movement of the attachment assembly so that the attachment assembly loads the first loading object onto the second loading object, and then the transfer method is

[0044] The above control assembly further includes a step of controlling the attachment assembly to perform an operation of releasing the first load object.

[0045] Optionally, the sensor assembly includes at least one of a LiDAR assembly and a camera assembly;

[0046] The first target data includes at least one of the first point cloud data collected by the lidar assembly and the first image data collected by the camera assembly;

[0047] The second target data includes at least one of the second point cloud data collected by the lidar assembly and the second image data collected by the camera assembly.

[0048] In a third aspect, a control assembly is provided, said control assembly includes a controller, said controller is used to execute the above-described return method. Effects of the invention

[0049] According to the embodiments provided in this application, the technical solution of this application has the following technical effects.

[0050] In an embodiment of the present application, by expanding the field of view of a sensor assembly mounted on a conveying device, the sensor assembly can simultaneously acquire first target data corresponding to a first target area and second target data corresponding to a second target area during the process in which the conveying device conveys a first target object and aligns the first target object and the second target object, and compared with the prior art, the detection capability for the first target object and the second target object is enhanced, thereby significantly improving the efficiency and precision of the conveying operation.

[0051] Furthermore, during the loading process, the conveyor device can simultaneously monitor and adjust the first and second loading objects in real time through the mounted sensor assembly, and by continuously correcting the attitude error of at least one of the vehicle body and the attachment assembly, it continuously corrects the alignment error of the first loading object with respect to the second loading object during the loading process. This effectively reduces the accumulation of errors that may occur during the loading process and significantly improves the success rate of the loading operation. In addition, it lowers the tolerance requirements for the loading objects, making the loading process more efficient and safe. Brief explanation of the drawing

[0052] In order to more clearly explain the embodiments of the present application or the technical methods of the prior art, the drawings required for the embodiments below are briefly introduced. It is obvious that the drawings in the following description are merely some embodiments of the present application, and that a person skilled in the art can obtain other drawings based on these drawings without any creative labor. FIG. 1 is a schematic diagram of a first target area and a second target area according to an embodiment of the present application. FIG. 2 is a schematic diagram of a third target area according to an embodiment of the present application. FIG. 3 is a diagram showing the working state of a conveying device according to an embodiment of the present application performing loading between a first loading object and a second loading object. FIG. 4 is a schematic diagram of the structure of a lidar assembly according to an embodiment of the present application. FIG. 5a is a schematic diagram of the structure of a lidar assembly according to an embodiment of the present application. FIG. 5b is a schematic diagram of another structure of a lidar assembly according to an embodiment of the present application. FIG. 6a is a schematic diagram of the structure of a camera assembly according to an embodiment of the present application. FIG. 6b is a schematic diagram of the structure of a camera assembly according to an embodiment of the present application. FIG. 7 is a schematic diagram of the structure of a sensor assembly according to an embodiment of the present application. FIG. 8 is a schematic diagram of the structure of a sensor assembly according to an embodiment of the present application. FIG. 9 is a schematic diagram of the structure of a sensor assembly according to an embodiment of the present application. FIG. 10 is a schematic diagram of the structure of a sensor assembly according to an embodiment of the present application. FIG. 11 is a schematic diagram of the structure of a sensor assembly according to an embodiment of the present application. FIG. 12 is a schematic diagram of the vertical field of view of a first lidar and a second lidar according to an embodiment of the present application. FIG. 13 is a schematic diagram of the positional relationship between a lidar assembly and a camera assembly according to an embodiment of the present application. FIG. 14 is a schematic diagram of the horizontal field of view of the first camera and the second camera according to an embodiment of the present application. FIG. 15 is a schematic diagram of the structure of a conveying device according to an embodiment of the present application. FIG. 16 is a flowchart of a return method applied to a return device according to an embodiment of the present application. FIG. 17 is another flowchart of a return method applied to a return device according to an embodiment of the present application. FIG. 18 is another flowchart of a return method applied to a return device according to an embodiment of the present application. FIG. 19 is another flowchart of a return method applied to a return device according to an embodiment of the present application. FIG. 20 is another flowchart of a return method applied to a return device according to an embodiment of the present application. FIG. 21 is a configuration diagram of a control assembly according to an embodiment of the present application. Specific details for implementing the invention

[0053] The terms used in the embodiments of this application are intended only to describe specific embodiments and are not intended to limit this application. The singular forms of "one," "above," and "corresponding" used in the embodiments of this application and the appended claims are intended to include the plural forms unless the context clearly indicates a different meaning.

[0054] As used in this specification, the term "and / or" merely describes the relationship between related objects and indicates that three relationships may exist; for example, A and / or B may represent three cases: A alone exists, A and B exist simultaneously, or B alone exists. Additionally, the symbol " / " in this specification generally indicates that the related objects before and after are in an "or" relationship. Furthermore, in this specification, at least one of A and B merely describes the relationship between related objects and indicates that three relationships may exist; for example, at least one of A and B may represent three cases: A alone exists, A and B exist simultaneously, or B alone exists.

[0055] Based on a novel concept, the present application provides a conveying device, a conveying method applied to the conveying device, and a control assembly.

[0056] First, the nouns appearing in the embodiments of the present application are interpreted.

[0057] Loading refers to arranging or stacking multiple objects vertically according to a set rule.

[0058] The term "loading object" refers to an object participating in the loading, and specifically, it may be the cargo itself or cargo with simple packaging such as wrapping, or a container capable of accommodating or supporting the cargo, such as a loading cage, wooden box, plastic box, pallet, etc.

[0059] Loading process: Refers to a process in which a conveying device lifts a first loading object, causes the first loading object to move and approach a second loading object, adjusts the position of the conveying device to align the first loading object with the second loading object, and further places the first loading object on top of the second loading object to complete the loading.

[0060] Here, the first loading object refers to a loading object located above. The second loading object refers to a loading object located below.

[0061] Loading status: Refers to the relative positional status of two loaded objects during the loading process.

[0062] Alignment: Refers to a state in which two or more load objects are arranged in a vertical direction, and at least some of the boundary lines between the load objects are parallel or overlap each other. Here, the vertical direction refers to the Z-axis direction in the carrier coordinate system (i.e., the height direction of the carrier).

[0063] The first load object has a first target area and a third target area, which refer to specific areas used for detection and analysis in the first load object, such as core structural areas like the boundary or edge target point of the first load object.

[0064] The second load object has a second target area, which refers to a specific area used for detection and analysis in the second load object, such as a core structural area such as the boundary or edge target point of the second load object.

[0065] In the embodiments of the present application, it must be further explained that the second loading object may be a fixed base serving as a loading base, in addition to the cargo or a container for receiving the cargo.

[0066] Processor: Serves to execute core functions such as computation, control, and decision-making. It can receive data from sensors, execute control algorithms, and direct actuators to perform tasks. Common processor types may include central processing units (CPUs), digital signal processors (DSPs), and microcontroller units (MCUs). In this specification, a processor may refer to a set of processors used to perform the same or different tasks.

[0067] Memory: Used to store data or programs, etc. In this specification, memory may refer to a set of memories used to perform the same or different tasks.

[0068] Controller: In terms of hardware, it may typically include a processor and memory. Optionally, the controller may further include parts such as input / output interfaces, a main board, peripheral circuits, and components. In terms of software, it may typically include parts such as control algorithms, an operating system, and communication protocols. In this specification, a controller may refer to a set of controllers used to perform the same or different tasks.

[0069] Control component: An integrated set of software and hardware used to ensure that the robot is controlled according to a preset goal or strategy when performing a task, and may include controllers, sensors, and actuators. Optionally, the control component may further include peripheral circuitry, wire harnesses, etc.

[0070] Material handling equipment: Refers to equipment capable of performing material handling tasks automatically or semi-automatically. Common forms include forklifts, Automated Guided Vehicles (AGVs), Autonomous Mobile Robots (AMRs), humanoid robots, and robotic arms.

[0071] In the following, technical solutions according to the embodiments of the present application are described clearly and completely in conjunction with the drawings attached to the embodiments of the present application. It is obvious that the described embodiments are only some embodiments of the present application and not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art fall within the scope of protection of the present application.

[0072] FIG. 1 is a schematic diagram of a first target area and a second target area according to an embodiment of the present application. Here, the loading object (A) located above is the first loading object, and the loading object (B) located below is the second loading object, and the bottom structural area of ​​the first loading object is the first target area (A1), and the top structural area of ​​the second loading object is the second target area (B1).

[0073] FIG. 2 is a schematic diagram of a third target area according to an embodiment of the present application. Here, the loading object (A) is a first loading object, and when the conveying device is controlled to move forward of the first loading object, the structural areas on both sides of the loading object (A) (e.g., posts and insertion holes, etc.) are the third target area when observed along the longitudinal direction of the conveying device (which is also the driving direction of the conveying device).

[0074] Target data: Refers to data acquired by sensors, including point cloud data and image data.

[0075] First target data: Refers to data of a first target area of ​​a first load object acquired by a sensor, and includes point cloud data and image data. The first target data can be used to calculate the attitude, loading state, etc. of the first load object.

[0076] Second target data: Refers to data of the second target area of ​​the second load object acquired by the sensor, and includes point cloud data and image data. The second target data can be used to calculate the attitude, loading state, etc. of the second load object.

[0077] FIG. 3 is a schematic diagram of the structure of a transport device according to 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 described below.

[0078] The attachment assembly (20) is movably installed on the vehicle body (10) and is used to pick up and place the first loading object (A). Here, the attachment assembly (20) specifically refers to an auxiliary device installed on the vehicle body (10) and extends the function of the conveying device so that the conveying device can handle various materials. Specifically, the attachment assembly (20) may include any one of a fork assembly, a clamp assembly, and a robot arm assembly, and if the attachment assembly (20) includes a fork assembly, the fork assembly is used to fork the first loading object (A); if the attachment assembly (20) includes a clamp assembly, the clamp assembly is used to clamp the first loading object (A); and if the attachment assembly (20) includes a robot arm assembly, the robot arm assembly is used to grasp the first loading object (A). For example, a fork assembly may include a fork, a clamp assembly may include a clamp, and a robot arm assembly may include a robot arm.

[0079] A sensor assembly (30) is placed on a vehicle body (10), and in the process of a conveying device conveying a first loading object (A) and aligning the first loading object (A) with a second loading object (B), the field of view of the sensor assembly (30) simultaneously covers a first target area (A1) of the first loading object (A) and a second target area (B1) of the second loading object (B), so that first target data corresponding to the first target area (A1) and second target data corresponding to the second target area (B1) can be acquired simultaneously.

[0080] The control assembly (40) controls the movement of at least one of the vehicle body (10) and the attachment assembly (20) based on the first target data and the second target data, thereby correcting the attitude error of at least one of the vehicle body (10) and the attachment assembly (20) so that the first loading object (A) and the second loading object (B) are aligned. For example, the control assembly (40) may include a controller. For example, the controller may include a processor and a memory, the memory is used to store program instructions, and the processor is used to execute program instructions to implement the method according to the embodiment of the present application.

[0081] In an embodiment of the present application, by expanding the field of view of a sensor assembly (30) mounted on a conveying device, the sensor assembly (30) can simultaneously acquire first target data corresponding to a first target area (A1) and second target data corresponding to a second target area (B1) during the process in which the conveying device conveys a first loading object (A) and aligns the first loading object (A) and the second loading object (B). Compared to the prior art, the detection capability for the first loading object (A) and the second loading object (B) is enhanced, thereby significantly improving the efficiency and precision of the conveying operation.

[0082] Furthermore, during the loading process, the conveyor device can simultaneously monitor and adjust the first loading object (A) and the second loading object (B) in real time through the mounted sensor assembly (30), and by continuously correcting the posture error of at least one of the vehicle body (10) and the attachment assembly (20), it continuously corrects the alignment error of the first loading object (A) with respect to the second loading object (B) during the loading process, thereby effectively reducing the accumulation of errors that may occur during the loading process and significantly improving the success rate of the loading operation. In addition, by lowering the tolerance requirements for the loading objects, the loading process becomes more efficient and safe.

[0083] Additionally, during the servo closed-loop alignment process, the control assembly (40) controls the transport device to continuously correct at least one of the attitude error of the vehicle body (10) and the attachment assembly (20) based on information fed back by the sensor assembly (30) until the attitude error is corrected within a set threshold range, and after the attitude error is corrected within the set threshold range, the control assembly (40) performs a final judgment and verification to ensure that the alignment error of the first loading object (A) and the second loading object (B) meets the requirements of the scenario, and at this time, the attachment assembly (20) can be safely lowered to complete the loading operation.

[0084] Furthermore, in the process of correcting at least one of the attitude error of the vehicle body (10) and the attachment assembly (20), if the attitude error is not corrected to within a set threshold range, the control assembly (40) controls the transport device to continuously correct at least one of the attitude error of the vehicle body (10) and the attachment assembly (20) until the attitude error is corrected to within a set threshold range. If, when the control assembly (40) performs a final judgment and verification, it is discovered that the alignment error of the first loading object (A) and the second loading object (B) is still greater than the tolerance requirement of the scenario, the "excessive error retry mechanism" is activated to ensure the success of loading by causing the transport device to enter a retry process. This retry mechanism is intended to handle situations where a large deviation occurs, and increases the success rate of loading through multiple adjustments and corrections.

[0085] The alignment closed-loop technology employed in this application realizes simultaneous observation and correction control of a first loading target (A) and a second loading target (B) through a special sensor assembly (30). During the entire loading process, the sensor assembly (30) is always kept in an active state to monitor the alignment status of the first loading target (A) and the second loading target (B) in real time and to form a closed-loop feedback between recognition and control. This effectively reduces the accumulation of various errors occurring during the loading process, such as attitude deviations caused by uneven floors, deformation of the mast, recognition and control errors during cargo pickup, odometry errors, and the problem of the first loading target (A) slipping from the attachment assembly (20) during the loading process. By controlling the entire loading process in a closed-loop manner, not only is the success rate of loading improved, but tolerance requirements for the loading targets are also lowered, making the entire loading process more efficient and safe.

[0086] Referring to FIGS. 3 and 4, as one feasible method, the sensor assembly (30) may include a lidar 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 lidar assembly (301) simultaneously covers the first target area (A1) of the first load object (A) and the second target area (B1) of the second load object (B), so that 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) can be acquired simultaneously.

[0087] Referring to FIG. 12, optionally, the lidar assembly (301) in an embodiment of the present application includes at least two lidars, and a first overlapping area (R1) exists within the vertical field of view of at least two lidars, and the first overlapping area (R1) can simultaneously cover a first target area (A1) of a first load object (A) and a second target area (B1) of a second load object (B).

[0088] In an embodiment of the present application, at least two lidars are integrated into a lidar assembly (301) and a first overlapping area (R1) is established, thereby realizing an overlapping cover of point cloud data for the first target area (A1) of the first loading object (A) and the second target area (B1) of the second loading object (B). This not only significantly improves the precision of the transport device when identifying and positioning the boundaries of the two loading objects, but also ensures high accuracy and reliability of detection. Furthermore, since the density of point cloud data within the first overlapping area (R1) is enhanced, the lidar can shorten the integration time while maintaining high detection precision, thereby significantly improving the detection efficiency of the lidar. Additionally, this multi-lidar arrangement method ensures that the sensor assembly (30) can continuously and stably detect target data during the loading process, thereby effectively preventing detection failure problems caused by environmental changes.

[0089] As illustrated in FIGS. 4, 5a, and 5b, optionally, the lidar assembly (301) includes a first lidar (3011) and a second lidar (3012), both of which may be distributed left and right or up and down. It should be explained that the left and right distribution may be a left and right distribution in an aligned form or a left and right distribution in an obliquely aligned form; similarly, the up and down distribution may be an up and down distribution in an aligned form or an up and down distribution in an obliquely aligned form. Specifically, FIG. 4 illustrates a schematic diagram of a structure in which the first lidar (3011) and the second lidar (3012) are distributed left and right, and FIGS. 5a and 5b illustrate a schematic diagram of a structure in which the first lidar (3011) and the second lidar (3012) are distributed up and down.

[0090] Referring to FIGS. 5a and 5b, specifically, the first lidar (3011) comprises a base (30111) and a laser emitter (30110) disposed on the base (30111), the base (30111) and the laser emitter (30110) are distributed in a vertical direction, and the laser emitter (30110) may be a ball head laser emitter, but is not limited thereto. The side of the base (30111) far from the laser emitter (30110) has a first surface (30112), and the side of the laser emitter (30110) far from the base (30111) has a second surface (30113). The second lidar (3012) includes a base (30121) and a laser emitter (30120) disposed on the base (30121), the base (30121) and the laser emitter (30120) are distributed in a vertical direction, and the laser emitter (30120) may be a ball head laser emitter, but is not limited thereto. The side of the base (30121) far from the laser emitter (30120) has a first surface (30122), and the side of the laser emitter (30120) far from the base (30121) has a second surface (30123). Optionally, as shown in FIG. 5a, the first surface (30112) of the first lidar (3011) and the first surface (30122) of the second lidar (3012) are positioned to face each other, and the second surface (30113) of the first lidar (3011) and the second surface (30123) of the second lidar (3012) are positioned to face in opposite directions.

[0091] Optionally, as shown in FIG. 5b, the first surface (30112) of the first lidar (3011) and the first surface (30122) of the second lidar (3012) are positioned to face in opposite directions, and the second surface (30113) of the first lidar (3011) and the second surface (30123) of the second lidar (3012) are positioned to face each other.

[0092] It should be explained that the embodiments of the present application do not limit the layout of at least two lidars in the lidar assembly (301) to a specified distribution method. The layout can be flexibly configured according to different application scenarios and requirements. Whether left-right distribution or up-down distribution, the purpose of the lidar layout is always to ensure that the first overlapping area can fully cover the first target area (A1) of the first load object (A) and the second target area (B1) of the second load object (B) by optimizing the coverage of the vertical field of view and the efficiency of point cloud data collection.

[0093] Referring to FIGS. 3, FIGS. 6a, and FIGS. 6b, as another feasible method, 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. Based on this, the horizontal field of view of the camera assembly (302) simultaneously covers the first target area (A1) of the first loading object (A) and the second target area (B1) of the second loading object (B), so that the first image data corresponding to the first target area (A1) and the second image data corresponding to the second target area (B1) can be acquired simultaneously.

[0094] Referring to FIG. 14, optionally, the camera assembly (302) in an embodiment of the present application includes at least two cameras, and a second overlapping area (R2) exists in the horizontal field of view of at least two cameras, and the second overlapping area (R2) can simultaneously cover a first target area (A1) of a first loading object (A) and a second target area (B1) of a second loading object (B).

[0095] In an embodiment of the present application, at least two cameras are integrated into a camera assembly (302) and a second overlapping area is set to realize a dual visual cover for a first target area (A1) of a first loading object (A) and a second target area (B1) of a second loading object (B), thereby enhancing the accuracy and robustness of visual detection, improving image recognition precision and target tracking stability, and optimizing visual data fusion to significantly improve the efficiency and precision of the transport operation.

[0096] As illustrated in FIGS. 6a and 6b, the distribution method is shown by exemplifying that two cameras are integrated into a camera assembly (302). Here, FIGS. 6a illustrates a schematic diagram of a structure in which the first camera (3021) and the second camera (3022) are distributed vertically, and FIGS. 6b illustrates a schematic diagram of a structure in which the first camera (3021) and the second camera (3022) are distributed horizontally.

[0097] It should be explained that the embodiments of the present application do not limit the layout of at least two cameras in the camera assembly (302) to a specified distribution method. The layout can be flexibly configured according to different application scenarios and requirements, and may be configured, for example, as an up-down layout or a left-right layout. Regardless of the layout method, the purpose of the camera layout is always to ensure that the second overlapping area can fully cover the first target area of ​​the first loading object and the second target area of ​​the second loading object by optimizing the coverage of the horizontal field of view and the efficiency of image data collection.

[0098] As another feasible method, the sensor assembly (30) may include a LiDAR assembly (301) and a camera assembly (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.

[0099] The vertical field of view of the lidar assembly (301) simultaneously covers the first target area (A1) of the first load object (A) and the second target area (B1) of the second load object (B), so that 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) can be acquired simultaneously.

[0100] The horizontal field of view of the camera assembly (302) simultaneously covers the first target area (A1) of the first loading object (A) and the second target area (B1) of the second loading object (B), so that the first image data corresponding to the first target area (A1) and the second image data corresponding to the second target area (B1) can be acquired simultaneously.

[0101] In an embodiment of the present application, the LiDAR assembly (301) and the camera assembly (302) are integrated into a sensor assembly (30) to realize the fusion detection of point cloud data and image data. On the one hand, the resolution and precision of detection are improved, and through the complementarity of multi-sensors, the ability to recognize the environment of the transport device is enhanced, and the accuracy of target detection and identification is effectively improved. On the other hand, the transport device is enabled to acquire accurate recognition data in real time before and after loading, thereby ensuring the precision and stability of loading.

[0102] Optionally, the number of lidars included in the lidar assembly (301) is one, and the number of cameras included in the camera assembly (302) is one, and the lidars and cameras may be distributed left and right or up and down. As described above, the left and right distribution may be a aligned left and right distribution or an obliquely aligned left and right distribution; likewise, the up and down distribution may be an aligned up and down distribution or an obliquely aligned up and down distribution.

[0103] Optionally, if the sensor assembly (30) includes a lidar assembly (301) and a camera assembly (302), the lidar assembly includes at least two lidars, and at least two lidars are distributed in an inclined direction or a vertical direction.

[0104] Optionally, if the sensor assembly (30) includes a lidar assembly (301) and a camera assembly (302), the camera assembly (302) includes at least two cameras, and at least two cameras are distributed in an inclined direction or a vertical direction.

[0105] Optionally, if the sensor assembly (30) includes a lidar assembly (301) and a camera assembly (302), the lidar assembly (301) includes two lidars and the camera assembly (302) includes two cameras, and the two lidars are distributed along a preset inclined diagonal and the two cameras are distributed along a preset inclined diagonal. Specifically, the two lidars and the two cameras may each be distributed along two different inclined diagonals that intersect each other. By arranging them in this way, the mechanical mounting space of the sensor assembly (30) can be made more compact.

[0106] As shown in FIGS. 7 to 10, these are all schematic diagrams of the structure of a sensor assembly (30) according to an embodiment of the present application and are intended to explain different configuration methods.

[0107] FIG. 7 illustrates a sensor assembly (30) composed of a first lidar (3011), a first camera (3021), and a second camera (3022), wherein the first camera (3021) and the second camera (3022) are each located on the left and right sides of the first lidar (3011).

[0108] FIG. 8 illustrates a sensor assembly (30) composed of a first lidar (3011) and a first camera (3021), wherein the first camera (3021) is located above the first lidar (3011).

[0109] FIG. 9 illustrates a sensor assembly (30) composed of a first lidar (3011), a second lidar (3012), and a first camera (3021), wherein the first lidar (3011) and the second lidar (3012) are each located on the upper and lower sides of the first camera (3021).

[0110] FIG. 10 illustrates a sensor assembly (30) composed of a first lidar (3011), a second lidar (3012), a first camera (3021), and a second camera (3022). Here, the first lidar (3011) and the second lidar (3012) are distributed along a preset first inclined diagonal, and the first camera (3021) and the second camera (3022) are distributed along a preset second inclined diagonal, and the first inclined diagonal and the second inclined diagonal are set to intersect each other. The base (30111) of the first lidar (3011) and the base (30121) of the second lidar (3012) can basically maintain the same height in the horizontal plane, and the height difference between the emission point of the laser emitter (30110) of the first lidar (3011) and the emission point of the laser emitter (30120) of the second lidar (3012) is about 7 cm.

[0111] Furthermore, as illustrated in FIG. 11, in order to realize an optimized layout and stable mounting of the sensor assembly (30), the sensor assembly (30) in an embodiment of the present application further includes a first mounting base (303) and a second mounting base (304) arranged adjacent to each other, and the first mounting base (303) is located below the second mounting base (304).

[0112] Here, the first lidar (3011) is positioned on the upper surface of the first mounting base (303), and specifically, the base (30111) of the first lidar (3011) is positioned on the upper surface of the first mounting base (303);

[0113] The first camera (3021) is positioned on the lower surface of the first mounting bracket (303);

[0114] The second lidar (3012) is positioned on the lower surface of the second mounting base (304), and specifically, the base (30121) of the second lidar (3012) is positioned on the lower surface of the second mounting base (304);

[0115] The second camera (3022) is placed on the upper surface of the second mounting bracket (304).

[0116] Here, the sensor assembly (30) further includes a connecting member (305), and the first mounting base (303) and the second mounting base (304) are connected to each other through the connecting member (305). Specifically, the first mounting base (303) and the second mounting base (304) are each connected to both ends of the connecting member (305), the first mounting base (303) and the second mounting base (304) are arranged in parallel, and both the first mounting base (303) and the second mounting base (304) are connected vertically to the connecting member (305), and the first mounting base (303), the second mounting base (304), and the connecting member (305) can be formed integrally.

[0117] Each of the examples described above is merely a part of various possible configurations, and the embodiments of the present application do not limit the number of lidars and cameras, and the number of lidars and cameras can be freely selected and combined according to actual application requirements and scenarios. In addition, the layout of the sensor assembly (30) shown in FIGS. 6a to 10 indicates only the number and location of lidars and cameras, and does not limit the direction in which the lidars and cameras are facing, and it is sufficient that the vertical field of view of the lidar assembly (301) and the horizontal field of view of the camera assembly (302) both simultaneously cover the first target area (A1) of the first loading object (A) and the second target area (B1) of the second loading object (B).

[0118] Optionally, the lidar associated with the lidar assembly (301) in an embodiment of the present application may be a 3D lidar, but is not limited thereto.

[0119] As one feasible method, the sensor assembly (30) illustrated in FIGS. 10 and FIGS. 11 is described in detail below.

[0120] In order to further optimize the detection capability in the vertical direction of the lidar assembly (301), in an embodiment of the present application, the centerline (30114) of the laser emitter (30110) of the first lidar (3011) is configured to be tilted downward by a first angle preset with respect to the horizontal plane; and the centerline (30124) of the laser emitter (30120) of the second lidar (3012) can be configured to be tilted upward by a second angle preset with respect to the horizontal plane. Through this configuration method, the field of view of the lidar assembly (301) in the vertical direction can be expanded.

[0121] Here, the centerline of the laser emitter typically refers to the central axis of the laser beam, that is, the geometric centerline of the laser beam emitted by the laser emitter.

[0122] Optionally, the first angle can be set between 0 and 20 degrees, and the second angle can be set between 0 and 20 degrees, and the first and second angles can be adaptively set according to the requirements of the actual application scenario.

[0123] FIG. 12 is a schematic diagram of the vertical field of view of the first lidar (3011) and the second lidar (3012) of the lidar assembly (301) according to an embodiment of the present application. In FIG. 12, the vertical field of view of the first lidar (3011) and the second lidar (3012) are both 59 degrees, and the pitch angle of the centerline (30114) of the laser emitter (30110) of the first lidar (3011) is set to -10 degrees, that is, the centerline (30114) of the laser emitter (30110) of the first lidar (3011) is tilted 10 degrees downward with respect to the horizontal plane, and the pitch angle of the centerline (30124) of the laser emitter (30120) of the second lidar (3012) is set to +10 degrees, that is, the centerline (30124) of the laser emitter (30120) of the second lidar (3012) is tilted 10 degrees upward with respect to the horizontal plane. By doing this, on the one hand, the blind spot in the vertical direction of the first lidar (3011) and the second lidar (3012) can be reduced, and on the other hand, the first overlapping area (R1) in the vertical direction of the first lidar (3011) and the second lidar (3012), i.e., the diagonal area in FIG. 12, can be formed, so that the lidar assembly (301) has twice the point cloud density when collecting point cloud data of the first target area and the second target area. This helps to shorten the integration time and improve the precision and efficiency of detection.

[0124] Furthermore, FIG. 13 is a schematic diagram of the positional relationship between a lidar assembly and a camera assembly according to an embodiment of the present application. In FIG. 13, when viewed from top to bottom, the first lidar (3011) and the second camera (3022) in the sensor assembly (30) can be seen. The second camera (3022) is positioned relatively closer to the vehicle body (10) in the horizontal direction with respect to the laser emitter (30110) of the first lidar (3011), thereby ensuring that the horizontal field of view of the first lidar (3011) is at least 180 degrees. Likewise, the first camera (3021) is positioned relatively closer to the vehicle body (10) in the horizontal direction with respect to the laser emitter (30110) of the second lidar (3012), thereby ensuring that the horizontal field of view of the second lidar (3012) is at least 180 degrees. The first camera (3021) and the second lidar (3012) are obscured by the first lidar (3011) and the second camera (3022), respectively, in FIG. 13, so they are not shown in FIG. 13.

[0125] In an embodiment of the present application, by positioning the first camera (3021) and the second camera (3022) closer to the vehicle body (10), they can effectively prevent the horizontal field of view of the second lidar (3012) and the first lidar (3011), and ensure that the second lidar (3012) and the first lidar (3011) can capture point cloud data of the surrounding environment without interference. This layout strategy can improve the overall field of view coverage of the sensor assembly (30) and further improve the safety and efficiency of the transport operation by providing more comprehensive environmental information to the transport device.

[0126] Furthermore, a first angle of indentation is formed between the centerline of the first camera (3021) and the horizontal plane, and a second angle of indentation is formed between the centerline 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) forms at least 180 degrees.

[0127] Optionally, the first squeeze angle can be set between 40 and 60 degrees, and the second squeeze angle can be set between 40 and 60 degrees, and the first squeeze angle and the second squeeze angle can be adaptively set according to the requirements of the actual application scenario.

[0128] Here, by using a horizontal field of view of at least 180 degrees, more environmental information can be captured in a single scan, thereby improving data collection efficiency by reducing the need to scan the environment multiple times.

[0129] As illustrated in FIG. 14, in actual application, a first camera (3021) and a second camera (3022) with a horizontal field of view of 100 degrees may be employed, and the lens distance between the first camera (3021) and the second camera (3022) is between 10 cm and 16 cm. At this time, the angle of the centerline of the first camera (3021) with respect to the horizontal line may be set to half of the horizontal field of view, i.e., 50°, and the angle of the centerline of the second camera (3022) with respect to the horizontal line is also set to 50°, and the horizontal field of view of the first camera (3021) and the second camera (3022) together constitutes 180 degrees. Here, the diagonal portion in FIG. 14 represents the second overlapping area (R2) in the horizontal direction of the first camera (3021) and the second camera (3022).

[0130] In addition, to ensure convenience of wiring and maintenance, the wiring method of the first lidar (3011) and the second lidar (3012) in the embodiment of the present application may be implemented as a rear-output method or a side-output method. Here,

[0131] The rear-output method refers to the cable of the lidar being pulled out from the rear of the lidar. According to this method, the cable is positioned along the rear side of the lidar, which is advantageous for maintaining an organized state on the front of the lidar, as well as being convenient for guiding the cable collectively to the control assembly (40) or power supply.

[0132] The side-output method refers to the LiDAR cable being routed from the side of the LiDAR. According to this method, the cable is positioned along one side of the LiDAR, which not only facilitates wiring in space-constrained environments but also reduces cable interference with the LiDAR's operating area.

[0133] For example, the lidar located on the left has a left output, meaning the cable is routed from the left side of the lidar; the lidar located on the right has a right output, meaning the cable is routed from the right side of the lidar. This symmetrical layout is not only visually more aesthetically pleasing but also convenient for wiring and maintenance during actual operation.

[0134] Additionally, to improve the flexibility and space utilization of the conveying device, optionally, with reference to FIG. 15, the vehicle body (10) may include a vehicle body (101) and a movable member (102), the movable member (102) is movably installed on the vehicle body (101), an attachment assembly (20) is placed on the movable member (102), and the movable member (102) is used to drive the attachment assembly (20) to move, for example, move up and down relative to the vehicle body (101).

[0135] Based on this, the sensor assembly (30) can be placed on the movable member (102) and is located below the attachment assembly (20) in the vertical direction.

[0136] In an actual application scenario, because the installation space is limited, the sensor assembly (30) is installed within a compact space, and the space is spaced at least 10 cm from the bottom of the attachment assembly (20) in the Z-axis direction of a coordinate system with the carrier as the origin, and at least 10 cm from each side of the attachment assembly (20) in the Y-axis direction. Through this compact layout, the carrier can achieve high-efficiency integration of the sensor assembly (30) within a limited space, while simultaneously maintaining operational flexibility and the compactness of the carrier.

[0137] Here, it must be explained that in a coordinate system with the conveying device as the origin, in the embodiment of the present application, the length direction of the conveying device is the X-axis, the width direction of the conveying device is the Y-axis, and the height direction of the conveying device is the Z-axis.

[0138] Based on the same concept, embodiments of the present application further provide a conveying method applied to a conveying device. As illustrated in FIG. 16, the conveying device comprises a vehicle body (10), an attachment assembly (20), a sensor assembly (30), and a control assembly (40), wherein the attachment assembly (20) is movably installed on the vehicle body (10) and the attachment assembly (20) is used to pick up and place a first load object (A); and the sensor assembly (30) is placed on the vehicle body (10). The conveying method comprises the following steps.

[0139] Step S1510: In the process in which the control assembly (40) controls the conveying device to convey the first loading object (A) and aligns the first loading object (A) with the second loading object (B), the sensor assembly (30) acquires the first target data and the second target data simultaneously. The first target data is data of the first target area (A1) of the first loading object (A) acquired by the sensor assembly (30), and the second target data is data of the second target area (B1) of the second loading object (B) acquired by the sensor assembly (30). Here, the field of view of the sensor assembly (30) can simultaneously cover the first target area (A1) of the first loading object (A) and the second target area (B1) of the second loading object (B).

[0140] Step S1520: The control assembly (40) controls the movement of at least one of the vehicle body (10) and the attachment assembly (20) based on the first target data and the second target data, thereby correcting the attitude error of at least one of the vehicle body (10) and the attachment assembly (20) so that the first loading object (A) and the second loading object (B) are aligned.

[0141] Referring to FIGS. 17 and FIGS. 20, furthermore, after the first loading object (A) and the second loading object (B) are aligned, the return method further includes step S1530.

[0142] Step S1530: The control assembly (40) further includes controlling the movement of the attachment assembly (20) so that the attachment assembly (20) loads the first loading object (A) onto the second loading object (B).

[0143] Referring to FIGS. 18 and 20, optionally, before the control assembly (40) controls the return device to return the first load object (A), the return method may further include step S1509.

[0144] Step S1509: After the control assembly (40) controls the transport device to move forward of the first loading object (A), the sensor assembly (30) acquires third target data corresponding to the third target area (A2) of the first loading object (A) - the field of view of the sensor assembly (30) can cover the third target area (A2) of the first loading object (A) -; the control assembly (40) controls the movement of at least one of the vehicle body (10) and the attachment assembly (20) based on the third target data, thereby correcting the attitude error of at least one of the vehicle body (10) and the attachment assembly (20), so that the attachment assembly (20) realizes pickup and placement of the first loading object (A).

[0145] In an embodiment of the present application, the conveying device can simultaneously perform detection, pickup, and placement of a first loading object (A) during the movement process, and this continuous operation procedure can effectively improve the efficiency of pickup and placement, reduce operation time, and improve the work efficiency of the conveying device.

[0146] Referring to FIGS. 19 and 20, furthermore, the control assembly (40) controls the movement of the attachment assembly (20) so that the attachment assembly (20) loads the first loading object (A) onto the second loading object (B), and then the transfer method may further include step S1540.

[0147] Step S1540: The control assembly (40) controls the attachment assembly (20) to perform the operation of releasing the first load object (A).

[0148] Optionally, the sensor assembly (30) includes at least one of a LiDAR assembly (301) and a camera assembly (302);

[0149] The first target data includes at least one of the first point cloud data collected by the lidar assembly (301) and the first image data collected by the camera assembly (302);

[0150] The second target data includes at least one of the second point cloud data collected by the lidar assembly (301) and the second image data collected by the camera assembly (302).

[0151] It should be explained that regarding the specific principles and settings of the sensor assembly (30), lidar assembly (301), camera assembly (302), and transport device, etc., one may refer to the relevant descriptions and attached drawings in the preceding embodiment, and that they are not described in detail here.

[0152] The above-described return method simultaneously collects first target data of a first loading object (A) and second loading data of a second loading object (B), and controls a return device based on this data, thereby realizing a precise return operation and improving the efficiency and accuracy of the return.

[0153] Based on the same concept, with reference to FIG. 21, an embodiment of the present application further provides a control assembly (500), said control assembly (500) may include a controller (501), said controller (501) may be configured to execute the above-described return method. The controller (501) may be a system or device performing a computing or control role, such as a control main board, control box, control unit, vehicle-mounted computer, computing platform, tablet, or computer, among others in the body of the return device, or may be a system or device performing a computing or control role among a local server or cloud server, or may be in other forms such as a handheld controller or a remote controller, and the embodiment of the present application is not limited thereto. For example, the controller (501) may include a processor (5011) and a memory (5012).

[0154] Specific embodiments of this specification have been described above. Other embodiments fall within the scope of the appended claims. In some cases, the operations or steps described in the claims may be performed in a different order than in the embodiments, and nevertheless, the desired results may still be achieved. Furthermore, the processes illustrated in the accompanying drawings do not necessarily require the specific order or sequential order illustrated to achieve the desired results. In a particular implementation, multitasking and parallel processing may be possible or desirable.

[0155] The technical solution provided by this application has been introduced in detail above, and the principles and embodiments of this application have been described in the text using specific examples. The description of the above embodiments is intended merely to aid in understanding the apparatus, method, and core concept of this application. Furthermore, modifications regarding specific embodiments and scope of application may be made to those skilled in the art based on the concept of this application. As stated above, the contents of this specification should not be understood as limiting this application.

Claims

Claim 1 A conveying device comprising a vehicle body, an attachment assembly, a sensor assembly, and a control assembly, wherein the attachment assembly is movably installed on the vehicle body and is configured to pick up and place a first load target; wherein the sensor assembly is placed on the vehicle body and, in the process of the conveying device conveying the first load target and aligning the first load target with a second load target, the field of view of the sensor assembly simultaneously covers a first target area of ​​the first load target and a second target area of ​​the second load target, thereby enabling the simultaneous acquisition of first target data corresponding to the first target area and second target data corresponding to the second target area; and wherein the control assembly controls the movement of at least one of the vehicle body and the attachment assembly based on the first target data and the second target data, thereby correcting an attitude error of at least one of the vehicle body and the attachment assembly so as to align the first load target and the second load target. Claim 2 A conveying device according to claim 1, wherein the sensor assembly includes a lidar assembly, the first target data includes first point cloud data, and the second target data includes second point cloud data; and the vertical field of view of the lidar assembly simultaneously covers a first target area of ​​the first load object and a second target area of ​​the second load object, thereby enabling the simultaneous acquisition of first point cloud data corresponding to the first target area and second point cloud data corresponding to the second target area. Claim 3 A conveying device according to paragraph 2, wherein the lidar assembly comprises at least two lidars, and a first overlapping area exists within the vertical field of view of the at least two lidars, and the first overlapping area is capable of simultaneously covering a first target area of ​​the first load object and a second target area of ​​the second load object. Claim 4 In paragraph 3, the above lidar assembly includes a first lidar and a second lidar, and the first lidar and the second lidar are arranged vertically, a conveying device. Claim 5 A conveying device according to claim 4, wherein both the first lidar and the second lidar comprise a base and a laser emitter disposed on the base, the base and the laser emitter are arranged in a vertical direction, the base has a first surface on the side far from the laser emitter, and the first surface of the first lidar and the first surface of the second lidar are arranged to face each other or to face in opposite directions. Claim 6 A conveying device according to claim 1, wherein the sensor assembly includes a camera assembly, the first target data includes first image data, and the second target data includes second image data; and the horizontal field of view of the camera assembly simultaneously covers a first target area of ​​the first loadable object and a second target area of ​​the second loadable object, thereby enabling the simultaneous acquisition of first image data corresponding to the first target area and second image data corresponding to the second target area. Claim 7 A conveying device according to claim 6, wherein the camera assembly comprises at least two cameras, and a second overlapping area exists within the horizontal field of view of the at least two cameras, and the second overlapping area is capable of simultaneously covering a first target area of ​​the first loading object and a second target area of ​​the second loading object. Claim 8 A conveying device according to claim 1, wherein the sensor assembly comprises a lidar assembly and a camera assembly; the first target data comprises a first point cloud data and a first image data, and the second target data comprises a second point cloud data and a second image data; the vertical field of view of the lidar assembly covers the first target area of ​​the first load object and the second target area of ​​the second load object simultaneously, thereby enabling the simultaneous acquisition of the first point cloud data corresponding to the first target area and the second point cloud data corresponding to the second target area; and the horizontal field of view of the camera assembly covers the first target area of ​​the first load object and the second target area of ​​the second load object simultaneously, thereby enabling the simultaneous acquisition of the first image data corresponding to the first target area and the second image data corresponding to the second target area. Claim 9 A conveying device according to claim 8, wherein the number of lidars included in the lidar assembly is one, the number of cameras included in the camera assembly is one, and the lidars and cameras are arranged left and right or up and down. Claim 10 In claim 8, the above lidar assembly comprises at least two lidars, and the at least two lidars are arranged in an inclined direction or a vertical direction, a conveying device. Claim 11 A conveying device according to claim 8 or 10, wherein the camera assembly comprises at least two cameras, and the at least two cameras are arranged in an inclined direction or a vertical direction. Claim 12 A conveying device according to claim 8, wherein the lidar assembly comprises two lidars, the camera assembly comprises two cameras, the two lidars are arranged along a preset inclined diagonal, and the two cameras are arranged along a preset inclined diagonal. Claim 13 A carrier device according to claim 12, wherein the two lidars and the two cameras are each positioned along two different oblique diagonals intersecting each other; the two lidars include a first lidar and a second lidar, and the two cameras include a first camera and a second camera. Claim 14 A conveying device according to claim 13, wherein the centerline of the laser emitter of the first lidar is configured to be inclined downward by a first angle preset with respect to the horizontal plane; and the centerline of the laser emitter of the second lidar is configured to be inclined upward by a second angle preset with respect to the horizontal plane. Claim 15 A conveying device according to claim 13 or 14, wherein the first camera is positioned relatively closer to the vehicle body in a horizontal direction with respect to the laser emitter of the second lidar so as to form a horizontal field of view of at least 180 degrees; and the second camera is positioned relatively closer to the vehicle body in a horizontal direction with respect to the laser emitter of the first lidar so as to form a horizontal field of view of at least 180 degrees. Claim 16 A conveying device according to any one of claims 13 to 15, wherein a first interlocking angle is formed between the centerline of the first camera and a horizontal plane, and a second interlocking angle is formed between the centerline of the second camera and a horizontal plane, so that the combined horizontal field of view of the first camera and the second camera forms at least 180 degrees. Claim 17 A conveying device according to any one of claims 13 to 16, wherein the sensor assembly further comprises a first mounting plate and a second mounting plate arranged adjacent to each other, the first mounting plate being located below the second mounting plate, wherein the first lidar is disposed on the upper surface of the first mounting plate; the first camera is disposed on the lower surface of the first mounting plate; the second lidar is disposed on the lower surface of the second mounting plate; and the second camera is disposed on the upper surface of the second mounting plate. Claim 18 A conveying device according to any one of claims 1 to 17, wherein the vehicle body comprises a vehicle body and a movable member, the movable member is movably installed on the vehicle body, the attachment assembly is disposed on the movable member, and the movable member is used to drive the attachment assembly to move relative to the vehicle body; and the sensor assembly is disposed on the movable member and is located below the attachment assembly in a vertical direction. Claim 19 In a conveying method applied to a conveying device, the conveying device comprises a vehicle body, an attachment assembly, a sensor assembly, and a control assembly, wherein the attachment assembly is movably installed on the vehicle body and the attachment assembly is configured to pick up and place a first load target; the sensor assembly is placed on the vehicle body, and the conveying method comprises the step of the control assembly controlling the conveying device to convey the first load target so as to align the first load target with a second load target, wherein the sensor assembly acquires first target data and second target data simultaneously - wherein the first target data is data of a first target area of ​​the first load target acquired by the sensor assembly, and the second target data is data of a second target area of ​​the second load target acquired by the sensor assembly, and the field of view of the sensor assembly is capable of simultaneously covering the first target area of ​​the first load target and the second target area of ​​the second load target -; A conveying method comprising the step of the control assembly controlling the movement of at least one of the vehicle body and the attachment assembly based on the first target data and the second target data, thereby correcting the attitude error of at least one of the vehicle body and the attachment assembly so that the first loading object and the second loading object are aligned. Claim 20 In claim 19, after the first loading object and the second loading object are aligned, the conveying method further comprises the step of the control assembly controlling the movement of the attachment assembly so that the attachment assembly loads the first loading object onto the second loading object. Claim 21 In claim 19 or 20, before the control assembly controls the conveying device to convey the first load object, the conveying method further comprises the step of the control assembly controlling the conveying device to move forward of the first load object, and then causing the sensor assembly to acquire third target data corresponding to a third target area of ​​the first load object - wherein the field of view of the sensor assembly is capable of covering the third target area of ​​the first load object -; and the step of the control assembly controlling the movement of at least one of the vehicle body and the attachment assembly based on the third target data, thereby correcting an attitude error of at least one of the vehicle body and the attachment assembly, so that the attachment assembly picks up and places the first load object. Claim 22 A conveying method according to any one of claims 19 to 21, wherein the control assembly controls the movement of the attachment assembly so that the attachment assembly loads the first loadable object onto the second loadable object, and the conveying method further comprises the step of the control assembly controlling the attachment assembly to perform an operation of releasing the first loadable object. Claim 23 A method of return according to any one of claims 19 to 22, wherein the sensor assembly comprises at least one of a lidar assembly and a camera assembly; the first target data comprises at least one of first point cloud data collected by the lidar assembly and first image data collected by the camera assembly; and the second target data comprises at least one of second point cloud data collected by the lidar assembly and second image data collected by the camera assembly. Claim 24 A control assembly comprising a controller, wherein the controller is used to execute a return method according to any one of claims 19 to 23.

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