Cargo loading and unloading carrier and working method thereof

Abstract

The invention provides a cargo loading and unloading carrying vehicle and a working method thereof. The cargo loading and unloading carrying vehicle comprises octopus mechanical arms, Mecanum wheels, supporting mechanical arms, hydraulic lifters, a stretching type conveying belt and an electric control box. Mecanum wheels and supporting mechanical arms are arranged at the bottom of the device, the six Mecanum wheels are distributed at the bottom of the vehicle body at equal intervals, omni-directional movement can be achieved, the supporting mechanical arms endow the device with high bearing capacity, the device can easily deal with heavy goods, a hydraulic elevator is installed on the front portion of the device, and the overall height of the device can be flexibly adjusted; the stretching type conveying belt is located on the upper side of the device and used for efficiently conveying cargoes in the operation process, the octopus mechanical arm is arranged at the rear end of the device, has the high-freedom-degree movement capacity and can flexibly complete various grabbing and operation tasks, and the electric cabinet is arranged in the middle of the hydraulic elevator and used for conveying the cargoes in the operation process. The control module comprises a microcontroller, a storage battery and a wireless communication module and is responsible for overall control of all subsystems of the device; the mechanical arm is reasonable in structural design, complete in function, easy to operate and capable of efficiently completing grabbing and conveying of goods.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly relates to a goods loading, unloading and handling vehicle and its working method. Background Art

[0002] Goods loading, unloading and handling is the key link in logistics operation. It not only connects all links, ensures smooth operation and improves efficiency, but also guarantees the safety of goods and reduces costs. Currently, the traditional robotic arms of existing goods loading and unloading devices usually adopt rigid structures, which are difficult to adapt to the grasping of irregularly shaped or fragile goods and are prone to causing damage to the goods. The flexibility of existing loading and unloading equipment is insufficient, making it difficult to operate efficiently in narrow or complex spaces. The automated loading and unloading system is costly and has high requirements for the operating environment, making it difficult to popularize in the current field. Manual loading and unloading is inefficient and has potential safety hazards. Summary of the Invention

[0003] The purpose of the present invention is to solve at least one of the problems existing in the prior art, and to provide a goods loading, unloading and handling vehicle and its working method, which can solve the problems of low efficiency and poor adaptability in the prior art for goods loading and unloading.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A goods loading, unloading and handling vehicle includes a loading and unloading vehicle, characterized in that: a loading and unloading vehicle chassis is provided at the bottom of the loading and unloading vehicle, a vehicle shell is welded around the loading and unloading vehicle chassis, 6 spring shock absorbers are equidistantly arranged at the bottom of the loading and unloading vehicle chassis, an axle is connected below the spring shock absorbers, the axle is connected with Mecanum wheels, a small controller is welded below the axle, support robotic arms are arranged on four sides of the small controller, the support robotic arms include a support boom, a support middle arm, a support forearm and a mechanical toe plate, a baffle is welded in the middle of the vehicle shell, an identification and control module is arranged on the upper surface of the baffle, an octopus robotic arm is arranged at the rear of the vehicle shell, the octopus robotic arm includes a mechanical base, a turntable, a spring shock absorber, a servo motor, a mechanical boom, a visual recognition module, a mechanical forearm, a spring driver, a turntable, an octopus node and an octopus fulcrum, the octopus robotic arm is fixedly connected with the vehicle shell through the mechanical base, a hydraulic lift is arranged at the front of the loading and unloading vehicle, an electric control box is installed in the middle of the hydraulic lift, a storage box is arranged at the top of the hydraulic lift, the storage box includes a gravity detection plate and a connecting rod, rotating robotic arms are symmetrically arranged on the left and right sides of the storage box, the rotating robotic arms include a connecting arm, a rotating arm and an object blocking arm, a stretchable conveyor belt is installed on the storage box, the stretchable conveyor belt includes a first-level conveyor belt, a second-level conveyor belt, a third-level conveyor belt and a fourth-level conveyor belt, an automatic obstacle avoidance module is arranged at the front end of the vehicle shell, and a sensor is arranged at the top of the connecting rod.

[0005] As a further solution of the present invention, the large mechanical arm at the lower end of the octopus robotic arm is key-connected to the servo, the lower surface of the servo is fixedly connected to the upper surface of the turntable, the rotating part of the turntable is fixedly connected to the upper surface of the spring shock absorber, the large mechanical arm and the servo perform radial movement, the large mechanical arm is key-connected to the spring actuator, the small mechanical arm is key-connected to the spring actuator, the small mechanical arm is embedded with a vision recognition module, the small mechanical arm is rotatably connected to a turntable, the turntable is welded with octopus nodes, and the octopus nodes and octopus fulcrums are alternately connected to jointly form the grasping part of the octopus robotic arm, so that the goods are firmly grasped by the octopus robotic arm.

[0006] As a further solution of the present invention, the storage box includes a gravity detection plate and connecting rods. Connecting rods are welded on the left and right sides of the gravity detection plate. The connecting rods are connected to a connecting arm, the connecting arm is key-connected to a rotating arm, and the rotating arm is key-connected to an object-blocking arm, which prevents blocking of goods transportation while reducing the occupied space.

[0007] As a further solution of the present invention, the support robotic arm is key-connected to a small controller, the large support arm is key-connected to the middle support arm, the middle support arm is key-connected to the small support arm, and a mechanical toe plate is embedded at the bottom of the front end of the small support arm, which is opened when loading and unloading are required to play a role in anti-slip fixation.

[0008] As a further solution of the present invention, an automatic obstacle avoidance module is provided at the front end of the vehicle body. A storage battery is fixedly installed inside the electric control box. The storage battery is connected to a voltage conversion circuit. A microcontroller is fixedly installed inside the electric control box. The microcontroller is connected to the octopus robotic arm, the vision recognition module, the Mecanum wheel, the small controller, the hydraulic lift, the automatic obstacle avoidance module, the sensor, the recognition control module, the gravity detection plate, the voltage conversion circuit and the wireless communication module through circuits. The recognition control module is connected to the rotating robotic arm and the stretching conveyor belt through circuits.

[0009] As a further solution of the present invention, the working method of the goods loading, unloading and handling vehicle includes the following steps:

[0010] Step 1: During operation, first, the visual recognition module identifies the area where the goods to be handled are located to determine the position of the goods. Step 2: Then, the visual recognition module feeds back the information to the microcontroller, and the microcontroller drives the Mecanum wheels and the octopus robotic arm so that the grasping part formed by the octopus nodes and the octopus fulcrums reaches the position of the goods to be grasped. Step 3: The microcontroller controls the grasping part formed by the octopus nodes and the octopus fulcrums on the octopus robotic arm to open to an appropriate size to grasp the goods. Step 4: The rotating robotic arms on both sides of the storage box open, and the stretchable conveyor belt and the hydraulic lift operate in coordination to extend the stretchable conveyor belt to the placement location. Step 5: The octopus robotic arm transports the goods to the stretchable conveyor belt above the storage box. When the gravity detection plate detects that the weight reaches a certain amount, the support robotic arms at the bottom of the loading and unloading vehicle open to contact the ground. Step 6: The goods are transported to the target location through the stretchable conveyor belt.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0012] (1) Through the settings of the Mecanum wheels, spring shock absorbers, and the suction cup function of the bottom mechanical toe plate, the goods loading and unloading vehicle achieves flexible movement, shock absorption, and anti-slip fixation functions, is applicable to complex environments, and improves the stability and adaptability of the vehicle.

[0013] (2) Through the cooperation of the grasping part formed by the octopus nodes and the octopus fulcrums and the visual recognition module, the goods loading and unloading vehicle can accurately grasp and transport goods, making it difficult for the goods to slip. Moreover, the octopus robotic arm equipped on the goods loading and unloading vehicle has high adaptability, saves the time for constantly replacing the gripper, and improves the loading and unloading efficiency.

[0014] (3) Through the settings of the hydraulic lift and the stretchable conveyor belt, the goods loading and unloading vehicle achieves efficient lifting and conveying, reduces manual operation, lowers the labor intensity, and improves the loading and unloading efficiency; through the cooperation of the support robotic arms and the gravity detection plate, it can maintain the stability of the vehicle during the loading and unloading process, prevent rollover, and improve safety. The goods loading and unloading vehicle also realizes automated operation through the intelligent control of the automatic obstacle avoidance module, the recognition control module, and the microcontroller, further improving the work efficiency and safety.

[0015] The technical solution of the present invention will be further elaborated in detail below through the drawings and embodiments. Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of the present invention.

[0017] Figure 2 is a schematic diagram of the support robotic arm of the present invention.

[0018] Figure 3Schematic diagram of the storage box and rotating robotic arm of the present invention.

[0019] Figure 4 Schematic diagram of the octopus robotic arm of the present invention.

[0020] Figure 5 Expansion diagram of the stretching conveyor belt of the present invention.

[0021] Figure 6 Side view of the present invention.

[0022] Figure 7 Bottom schematic diagram of the present invention.

[0023] Figure 8 Circuit principle block diagram of the present invention.

[0024] Reference numerals: 1, loading and unloading vehicle chassis; 2, spring shock absorber; 3, axle; 4, Mecanum wheel; 5, support robotic arm; 5-1, support boom; 5-2, support middle arm; 5-3, support forearm; 5-4, mechanical toe plate; 6, octopus robotic arm; 6-1, mechanical base; 6-2, turntable; 6-3, spring shock absorber; 6-4, servo; 6-5, mechanical boom; 6-6, visual recognition module; 6-7, mechanical forearm; 6-8, spring driver; 6-9, turntable; 6-10, octopus node; 6-11, octopus fulcrum; 7, hydraulic lift; 8, electric control box; 9, storage box; 9-1, gravity detection plate; 9-2, connecting rod; 10, sensor; 11, vehicle shell; 12, small controller; 13, baffle; 14, recognition control module; 15, loading and unloading vehicle; 16, rotating robotic arm; 16-1, connecting arm; 16-2, rotating arm; 16-3, object blocking arm; 17, stretching conveyor belt; 17-1, first-level conveyor belt; 17-2, second-level conveyor belt; 17-3, third-level conveyor belt; 17-4, fourth-level conveyor belt; 18, automatic obstacle avoidance module; 19, battery; 20, voltage conversion circuit; 21, microcontroller; 22, wireless communication module. Detailed implementation manners

[0025] This part will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the drawings. The role of the drawings is to supplement the description of the text part with graphics, enabling people to intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the protection scope of the present invention. Embodiment 1

[0026] Please refer to Figure 1-8The present invention provides a technical solution: a cargo loading and unloading transport vehicle. A vehicle shell 11 is welded around the loading and unloading vehicle chassis 1 of the loading and unloading vehicle 15, and the vehicle shell 11 facilitates the assembly of the components of the entire loading and unloading vehicle 15. An octopus robotic arm 6 is provided at the rear end of the vehicle shell 11, and the octopus robotic arm 6 at the rear end can cooperate with the stretching conveyor belt 17 at the front end to perform loading and unloading and transportation work. The octopus robotic arm 6 is fixedly connected to the vehicle shell 11 through a mechanical base 6-1, and the mechanical base 6-1 is fixedly connected to a spring shock absorber 6-3. The lower end of the octopus robotic arm 6 is the spring shock absorber 6-3, and a turntable 6-2 is fixed on the spring shock absorber 6-3, effectively reducing the damage to the octopus robotic arm 6 caused by vibration and enhancing the overall load-bearing capacity of the octopus robotic arm 6. The lower end of the octopus robotic arm 6 of the loading and unloading vehicle 15 is a servo motor 6-4, and the lower surface of the servo motor 6-4 is fixedly connected to the upper surface of the turntable 6-2, controlling the radial movement of the mechanical boom 6-5 along the servo motor 6-4. The rotation of the turntable 6-2 at the lower end of the servo motor 6-4 enables the octopus robotic arm 6 to find a suitable grasping position.

[0027] Furthermore, the mechanical boom 6-5 at the lower end of the octopus robotic arm 6 is key-connected to the servo motor 6-4, enabling the mechanical boom 6-5 to rotate radially. The spring actuator 6-8 is key-connected to the mechanical boom 6-5, enabling the mechanical boom 6-5 to rotate radially, enhancing the overall load-bearing capacity of the octopus robotic arm 6. The mechanical forearm 6-7, the spring actuator 6-8, the turntable 6-2, and the mechanical boom 6-5 cooperate in coordination to greatly improve the flexibility of the octopus robotic arm 6, facilitating the grasping part composed of the octopus node 6-10 and the octopus fulcrum 6-11 to find the best grasping position. The mechanical forearm 6-7 is embedded with a visual recognition module 6-6. The turntable 6-9 is rotatably connected to the mechanical forearm 6-7, the octopus node 6-10 is fixedly connected to the turntable 6-9, and the octopus fulcrum 6-11 alternates with the octopus node 6-10. Through the recognition of the visual recognition module 6-6, the grasping part composed of the octopus node 6-10 and the octopus fulcrum 6-11, the mechanical forearm 6-7, the spring actuator 6-8, the mechanical boom 6-5, the servo motor 6-4, the spring shock absorber 6-3, and the turntable 6-2 are linked to complete the cargo positioning and grasping work. The visual recognition module 6-6 controls the grasping part composed of the octopus node 6-10 and the octopus fulcrum 6-11 to open to a suitable angle according to the size of the cargo. After the grasping part opens to a suitable width, it grasps the cargo. The visual recognition module 6-6 and the octopus robotic arm 6 cooperate in coordination to ensure the smooth progress of cargo grasping. At the same time, with the help of the recognition of the visual recognition module 6-6, the octopus robotic arm 6 cooperates with the stretching conveyor belt 17 and the hydraulic lift 7 to enable the cargo to realize the functions of transportation and loading and unloading.

[0028] Furthermore, the chassis 1 of the loading and unloading vehicle is fixedly connected to the spring shock absorber 2, the spring shock absorber 2 is fixedly connected to the axle 3, the axle 3 is fixedly connected to the small controller 12, the gravity detection plate 9-1 is electrically connected to the microcontroller 21, and the microcontroller 21 is electrically connected to the small controller 12. When the gravity detection plate 9-1 detects that the goods fall into the storage box 9, the gravity detection plate 9-1 weighs the goods. When the specified weight is reached, the gravity detection plate 9-1 feeds back the information to the microcontroller 21. After detecting the information, the microcontroller 21 processes the information and then feeds it back to the small controller 12, and the small controller 12 starts to control the support robotic arm 5 to open to achieve the support function. The small controller 12 is key-connected to the support boom 5-1, the support boom 5-1 is key-connected to the support middle arm 5-2, and the support middle arm 5-2 is key-connected to the support forearm 5-3. The three key connections provide great freedom for the support robotic arm. The part of the support forearm 5-3 in contact with the ground is embedded with a mechanical toe plate 5-4. When the specified weight is reached, the small controller 12 controls the support robotic arm 5 to support the ground, and the mechanical toe plate 5-4 is attached to the ground and adsorbs the ground, so that the loading and unloading vehicle 15 will not tip over due to problems such as excessive weight on one side. When the specified weight is not reached, the small controller 12 controls the support robotic arm 5 to retract to achieve the function of power saving.

[0029] Furthermore, the vehicle body 11 is fixedly connected to the baffle 13, and an identification control module 14 is arranged on the upper part of the baffle 13. Link rods 9-2 are fixedly connected to the left and right sides of the gravity detection plate 9-1. The link rods 9-2 are key-connected to the connecting arm 16-1, the connecting arm 16-1 is key-connected to the rotating arm 16-2, and the rotating arm 16-2 is key-connected to the object blocking arm 16-3. When the goods pass through the baffle 13 by the octopus robotic arm 6, the identification control module 14 feeds back the identification information to the microcontroller 21. After processing the information, the microcontroller 21 drives the control part in the identification control module 14 to make a feedback. The identification control module 14 controls the rotating robotic arm 16 to open to prevent the rotating robotic arm 16 from affecting the loading and unloading of the goods. And the identification control module 14 will also control the stretching conveyor belt 17 to reach the specified position. When it stops being used, the identification control module 14 cannot identify the goods, and the identification control module 14 controls the rotating robotic arm 16 and the stretching conveyor belt 17 to retract to reduce the occupied area of the vehicle. Embodiment 2

[0030] On the basis of the first embodiment, six mecanum wheels 4 are equidistantly arranged under the loading and unloading vehicle chassis 1, and the mecanum wheels 4 are mechanically connected to the axle 3. An automatic obstacle avoidance module 18 is provided at the front end of the vehicle shell 11. During the traveling process, the automatic obstacle avoidance module 18 judges the distance between the loading and unloading vehicle 15 and the obstacle through infrared scanning. When the distance is less than or equal to 5 meters, the automatic obstacle avoidance module 18 feeds back the information to the microcontroller 21. After processing the information, the microcontroller 21 deflects the mecanum wheels 4. During the traveling process, the visual recognition module 6-6 detects the distance between the octopus robotic arm 6 and the obstacle ahead through infrared scanning. When the distance is less than or equal to 5 meters, the visual recognition module 6-6 feeds back the information to the microcontroller 21. After processing the information, the microcontroller 21 feeds back the information to the octopus robotic arm 6. The octopus robotic arm 6 reduces the height of the octopus robotic arm 6 by controlling the grasping part composed of the octopus node 6-10 and the octopus fulcrum 6-11, the robotic forearm 6-7, the spring actuator 6-8, the robotic upper arm 6-5, the servo 6-4, the spring shock absorber 6-3 and the turntable 6-2. During the traveling process, the automatic obstacle avoidance module 18 judges the distance between the loading and unloading vehicle 15 and the obstacle through infrared scanning. When the distance is less than or equal to 5 meters, the automatic obstacle avoidance module 18 feeds back the information to the microcontroller 21. After processing the information, the microcontroller 21 feeds back the information to the hydraulic lift 7, and the hydraulic lift 7 realizes the reduction of the height of the unloading module. This automatic obstacle avoidance method ensures that the loading and unloading vehicle 15 will not be damaged due to collision. Through the operation system with the microcontroller 21 as the leading factor and the cooperation of the remaining modules, the originally cumbersome and complex usage method is optimized, the autonomous operation and self-decision-making of the loading and unloading vehicle 15 are realized, thereby reducing the working intensity of the user and realizing the intelligentization and high efficiency of the goods loading, unloading and transportation.

[0031] Further, during the operation of the loading and unloading vehicle 15, the sensor 10 continuously collects the current position, target position, movement speed, etc. of the storage box 9, and the gravity detection plate 9-1 continuously collects the load weight in real time. The sensor 10 and the gravity detection plate 9-1 transmit the collected signals to the microcontroller 21. The microcontroller 21 processes the data according to a preset control algorithm to generate a control signal, and the microcontroller 21 outputs the control signal to the hydraulic lift 7, so as to be able to normally control the lifting movement of the hydraulic lift 7. The sensor 10 continuously detects the movement state of the storage box 9, and the gravity detection plate 9-1 continuously monitors the weight of the goods. The two transmit the signals to the microcontroller 21, and the microcontroller 21 realizes the control adjustment method through processing to achieve closed-loop control. In the whole adjustment process, an algorithm combining the PID control algorithm (performing proportional, integral, and differential operations according to the deviation between the current position and the target position of the storage box 9 and outputting a control signal) and the fuzzy control algorithm (establishing a fuzzy rule base according to the movement state and operation experience of the storage box 9, performing fuzzy reasoning, and outputting a control signal) is mainly adopted. Such an adjustment method can continuously adjust the input according to the result output by the system, make the activities of the system accurately maintain at a specific level or within a specific range, quickly respond to changes in external conditions, timely adjust the system function, and at the same time reduce the power consumption caused by excessive regulation of the system and reduce energy consumption.

[0032] Further, the adoption of the octopus robotic arm 6 can accurately grasp and transport goods, making it difficult for the goods to slip. Moreover, the octopus robotic arm 6 equipped on the loading and unloading vehicle 15 has high adaptability, saves the time of continuously replacing the gripper, and improves the loading and unloading efficiency. The settings of the Mecanum wheels 4 and the spring shock absorbers 2, as well as the suction cup function of the mechanical toe plates 5-4 on the bottom support small arm 5-3, realize the functions of flexible movement, shock absorption, and anti-slip fixation, are applicable to complex environments, and improve the stability and adaptability of the vehicle. Thus, the practical value of the loading and unloading vehicle 15 is greatly improved.

[0033] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art in the said technical field, various changes can be made without departing from the gist of the present invention.

Claims

1. A cargo handling vehicle, comprising a loading and unloading vehicle (15), characterized in that: The bottom of the loading and unloading vehicle (15) is provided with a loading and unloading vehicle chassis (1), a vehicle shell (11) is welded around the loading and unloading vehicle chassis (1), six spring shock absorbers (2) are equidistantly arranged at the bottom of the loading and unloading vehicle chassis (1), an axle (3) is connected below the spring shock absorber (2), a Mecanum wheel (4) is connected to the axle (3), a small controller (12) is welded below the axle (3), and supporting mechanical arms (5) are arranged on four sides of the small controller (12). The supporting mechanical arm (5) comprises a supporting large arm (5-1), a supporting middle arm (5-2), a supporting small arm (5-3) and a mechanical toe plate (5-4); an octopus mechanical arm (6) is arranged at the rear of the loading and unloading vehicle (15); the octopus mechanical arm (6) comprises a mechanical base (6-1), a turntable (6-2), a spring shock absorber (6-3), a steering gear (6-4), a mechanical large arm (6-5), a visual recognition module (6-6), a mechanical small arm (6-7), a spring driver ( 6-8), a turntable (6-9), an octopus node (6-10) and an octopus fulcrum (6-11), a baffle (13) is arranged in the middle of the loading and unloading vehicle (15), an identification control module (14) is arranged on the top of the baffle (13), a hydraulic lift (7) is arranged in the front of the loading and unloading vehicle (15), an electric control box (8) is arranged in the middle of the hydraulic lift (7), a storage box (9) is arranged on the top of the hydraulic lift (7), and the storage box (9) consists of The vehicle body (11) is composed of a gravity detection plate (9-1) and a connecting rod (9-2); rotating mechanical arms (16) are symmetrically arranged on the left and right sides of the storage box (9); the rotating mechanical arms (16) include a connecting arm (16-1), a rotating arm (16-2) and an object blocking arm (16-3); a stretching conveyor belt (17) is installed above the storage box (9); an automatic obstacle avoidance module (18) is arranged at the front end of the vehicle body (11); and a sensor (10) is arranged on the front side of the connecting rod (9-2).

2. A cargo handling vehicle according to claim 1, characterized in that: The mechanical arm (6-5) at the lower end of the octopus mechanical arm (6) is key-connected to the steering gear (6-4), the lower surface of the steering gear (6-4) is fixedly connected to the upper surface of the turntable (6-2), the rotating part of the turntable (6-2) is fixedly connected to the upper surface of the spring shock absorber (6-3), the mechanical arm (6-5) and the steering gear (6-4) move radially, the mechanical arm (6-5) is key-connected to the spring driver (6-8), the mechanical arm (6-7) is key-connected to the spring driver (6-8), the visual recognition module (6-6) is embedded in the mechanical arm (6-7), the mechanical arm (6-7) is rotatably connected to a turntable (6-9), the turntable (6-9) is welded with an octopus node (6-10), and the octopus node (6-10) is alternately connected to the octopus fulcrum (6-11), together forming a grasping part of the octopus mechanical arm (6).

3. A cargo handling vehicle according to claim 1, characterized in that: The supporting mechanical arm (5) is key-connected to the small controller (12), the supporting large arm (5-1) is key-connected to the supporting middle arm (5-2), the supporting middle arm (5-2) is key-connected to the supporting small arm (5-3), and a mechanical toe plate (5-4) is embedded in the bottom of the front end of the supporting small arm (5-3).

4. A cargo handling vehicle according to claim 1, characterized in that: The storage box (9) is composed of a gravity detection plate (9-1) and a connecting rod (9-2); the connecting rods (9-2) are welded to the left and right sides of the gravity detection plate (9-1); the connecting rods (9-2) are connected to a connecting arm (16-1); the connecting arm (16-1) is key-connected to a rotating arm (16-2); and the rotating arm (16-2) is key-connected to an object-blocking arm (16-3).

5. The cargo handling vehicle according to claim 1, characterized in that: The front end of the vehicle shell (11) is provided with an automatic obstacle avoidance module (18); a storage battery (19) is fixedly installed inside the electric control box (8); the storage battery (19) is connected to a voltage conversion circuit (20); a microcontroller (21) is fixedly installed inside the electric control box (8); the microcontroller (21) is connected to an octopus mechanical arm (6), a visual recognition module (6-6), a Mecanum wheel (4), a small controller (12), an automatic obstacle avoidance module (18), a voltage conversion circuit (20), an identification control module (14), a hydraulic lift (7), a gravity detection plate (9-1), a wireless communication module (22) and a sensor (10) through a circuit; and the identification control module (14) is connected to a rotating mechanical arm (16) and a stretch conveyor belt (17) through a circuit.

6. A working method based on the cargo loading and unloading vehicle according to any one of claims 1 to 5, characterized in that: The method comprises the following steps: step 1, when working, firstly, the visual recognition module (6-6) recognizes the area required for handling goods and determines the position of the goods; step 2, then, the visual recognition module (6-6) feeds back the information to the microcontroller (21), and the microcontroller (21) drives the Mecanum wheel (4) and the octopus mechanical arm (6) so that the grasping part composed of the octopus node (6-10) and the octopus fulcrum (6-11) reaches the position of the grasped goods; step 3, the microcontroller (21) controls the grasping part composed of the octopus node (6-10) and the octopus fulcrum (6-11) on the octopus mechanical arm (6) The grasping part is opened to a suitable size to grasp the goods; step 4, the rotating mechanical arms (16) on the left and right sides of the storage box (9) are opened, and the stretching conveyor belt (17) and the hydraulic lift (7) are coordinated to extend the stretching conveyor belt (17) to the storage place; step 5, the octopus mechanical arm (6) transports the goods to the stretching conveyor belt (17) above the storage box (9), and when the gravity detection plate (9-1) detects that the weight reaches a certain amount, the bottom supporting mechanical arm (5) of the loading and unloading vehicle (15) is opened to contact the supporting ground; step 6, the goods are transported to the target location through the stretching conveyor belt (17).

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