Method for stacking, controller, and material handling equipment

A method for stacking, comprising:

• determining a first carrier and a target storage area of the first carrier, wherein the target storage area is a top area of a second carrier;
• determining a deviation storage area based on a first offset and the target storage area, and placing the first carrier in the deviation storage area, wherein the first offset is greater than or equal to an operational error of a material handling equipment, and when the first carrier is placed in the deviation storage area, the first carrier and the second carrier are in contact with each other;
• and
• moving the first carrier according to a target direction to move the first carrier from the deviation storage area to the target storage area,
• wherein a bottom of the first carrier is provided with a protruding component, and a top of the second carrier is provided with a slot, wherein moving the first carrier according to the target direction to move the first carrier from the deviation storage area to the target storage area comprises:
• moving the first carrier according to the target direction to engage the protruding component of the first carrier with the slot of the second carrier to move the first carrier from the deviation storage area to the target storage area.

A controller, comprising:

• a processor;
• and
• a memory configured to store an instruction executable by the processor,
• wherein the processor is configured to execute a method for stacking, and the method for stacking comprises:
• determining a first carrier and a target storage area of the first carrier, wherein the target storage area is a top area of a second carrier;
• determining a deviation storage area based on a first offset and the target storage area, and placing the first carrier in the deviation storage area, wherein the first offset is greater than or equal to an operational error of a material handling equipment, and when the first carrier is placed in the deviation storage area, the first carrier and the second carrier are in contact with each other;
• and
• moving the first carrier according to a target direction to move the first carrier from the deviation storage area to the target storage area,
• wherein a bottom of the first carrier is provided with a protruding component, and a top of the second carrier is provided with a slot, wherein moving the first carrier according to the target direction to move the first carrier from the deviation storage area to the target storage area comprises:
• moving the first carrier according to the target direction to engage the protruding component of the first carrier with the slot of the second carrier to move the first carrier from the deviation storage area to the target storage area.