Autonomous loading and unloading robot and control method therefor

A control method for an autonomous loading and unloading robot, for controlling operation of the autonomous loading and unloading robot, wherein the autonomous loading and unloading robot comprises:

• a movable chassis (1), a robotic arm (2) moving along with the chassis (1), a sucking disc (3) detachably connected to an end of the robotic arm (2) and configured to attach to a cargo box by suction, a front camera module (4) configured to acquire position and size parameters of a cargo box to be moved, and a conveying module (5) detachably connected to the chassis (1) and configured to receive the cargo box moved by the sucking disc (3) and convey the cargo box, wherein a lifting module (51) capable of adjusting a height of the robotic arm (2) is detachably connected to the chassis (1);
• a height sensor (52) is detachably connected to the robotic arm (2);
• and the height sensor (52), the front camera module (4), and the lifting module (51) are electrically connected to a controller (53);
• wherein the lifting module (51) is located at a side edge of the conveying module (5) along a conveying direction;
• wherein a base block (56) is detachably connected to a position of the lifting module (51) where height is changeable, a slider (57) capable of moving to a position directly above the conveying module (5) is slidably connected to the base block (56), the robotic arm (2) is capable of moving along with the slider (57), and a translational power component (58) for driving the slider (57) to move is detachably connected to the base block (56);
• wherein two belt wheels (59) are rotatably connected inside the slider (57), a synchronous belt (41) is drivingly connected between the two belt wheels (59), a lower belt block (42) fixedly connected to the synchronous belt (41) is detachably connected to a side of the base block (56) close to the conveying module (5), and the belt wheels (59) are driven by the translational power component (58) to rotate;
• wherein the slider (57) comprises a middle block (43) slidably connected to the base block (56) and an upper block (44) slidably connected to the middle block (43), the middle block (43) and the upper block (44) have a same sliding direction, and an upper belt block (45) fixedly connected to the synchronous belt (41) is detachably connected to a side of the upper block (44) away from the conveying module (5);
• and
• wherein a rear camera module (54) is detachably connected to the chassis (1) near a rear end of the conveying module (5) and configured to confirm whether a cargo box exists at a designated position at the rear end of the conveying module (5), and the rear camera module (54) is electrically connected to the controller (53);
• the control method specifically comprises the following steps:
• Step 1:
• acquiring position and size parameters of a cargo box by the front camera module (4), and judging whether a height of the cargo box exceeds a preset height;
• Step 2:
• when the height of the cargo box exceeds the preset height, calculating a difference between the height of the cargo box and the preset height to obtain a lifting height, and lifting the robotic arm (2) by the lifting module (51) with a lifting value being the lifting height;
• Step 3:
• when a position of the cargo box is at a side of the conveying module (5) away from the robotic arm (2), operating the translational power component (58) to move the middle block (43) and the upper block (44) synchronously, so that the robotic arm (2) moves to the position directly above the conveying module (5);
• Step 4:
• attaching to a center of a surface of the cargo box by suction by the sucking disc (3), and transferring the cargo box to a position directly above a front end of the conveying module (5) by the robotic arm (2);
• Step 5:
• lowering the cargo box by the sucking disc (3), and conveying the cargo box to the rear end of the conveying module (5) by the conveying module (5);
• Step 6:
• acquiring position and size parameters of the cargo box located at the rear end of the conveying module (5) by the rear camera module (54);
• and
• Step 7:
• grasping and transferring the cargo box at the rear end of the conveying module (5) by an external clamping jaw.