Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling equipment are provided. One of the method includes: acquiring distance data between a current position and a target position of transportation equipment; and controlling operations of the transportation equipment and a lifting device of the transportation equipment according to the distance data, comprising: determining, based on a current elevation of the lifting device, a target elevation of the lifting device, and the distance data, an elevating speed of the lifting device and a travel speed of the transportation equipment; and controlling the lifting device to elevate or lower at the elevating speed from the current elevation to the target elevation, and controlling the transportation equipment to travel at the travel speed.