Material handling equipment and control method therefor, and controller

A controller, configured to execute program instructions to implement following steps:

• controlling the material handling equipment to transport a first stacking object to a stacking preparation position;
• acquiring pre-alignment target data of a second stacking object by using a first sensor;
• and
• controlling, based on the pre-alignment target data, the material handling equipment to move, until a pose error of the material handling equipment relative to the second stacking object is within a first preset threshold range, wherein the pose error of the material handling equipment relative to the second stacking object is a position and an orientation of the material handling equipment relative to the second stacking object in a three-dimensional space.

A control method for material handling equipment, comprising:

• controlling the material handling equipment to transport a first stacking object to a stacking preparation position;
• acquiring pre-alignment target data of a second stacking object by using a first sensor;
• and
• controlling, based on the pre-alignment target data, the material handling equipment to move, until a pose error of the material handling equipment relative to the second stacking object is within a first preset threshold range, wherein the pose error of the material handling equipment relative to the second stacking object is a position and an orientation of the material handling equipment relative to the second stacking object in a three-dimensional space.