Soft and hard support self-adaptive loading and unloading method

Abstract

The invention relates to a soft and hard support self-adaption loading and unloading method which comprises the steps that S1, when a cargo container reaches a designated area, a crawler belt self-adaption soft and hard support robot scans the positions of the container and cargoes through vision and radar; s2, through position information scanned by vision and radar, the robot is controlled to run to a designated working place to prepare for loading and unloading work, and a clamping mechanism of the robot is controlled to be aligned with a protruding part of the soft support, or the front end of a lifting plate of a lifting mechanism is aligned with a groove of the hard support; s3, after the protruding part of the soft support is aligned, a clamping jaw of the robot is controlled to clamp the protruding part of the soft support, the goods are dragged to a fork plate through a dragging mechanism of the robot, or after the protruding part of the soft support is aligned to a hard dragging groove, the robot controls a lifting mechanism to ascend, and the goods are lifted up; s4, the vision and the radar are started again, the appropriate loading and unloading point of the combined conveying line is judged, and then the goods are dragged to the designated loading and unloading point; s5, the dragging and conveying mechanism of the robot is started again, the goods are pushed to the designated guide rail, or the lifting mechanism is started again, and the goods are placed on the designated guide rail; s6, the combined conveying line is started, and then the goods are conveyed to a warehouse according to a designated route; and S7, the steps S1-S6 are repeated until all the goods are conveyed.

Description

Technical Field

[0001] The present invention relates to the field of logistics loading and unloading methods, and mainly relates to a soft and hard pallet adaptive loading and unloading method. This method can achieve unmanned operation in the logistics loading and unloading link from the carriage to the warehouse, and significantly improve the working efficiency of logistics loading and unloading. Background Art

[0002] At present, the market transaction scale of China's intelligent logistics industry exceeds 600 billion yuan, with a year-on-year growth rate of more than 16%. Logistics automation and intelligent software and hardware facilities are widely used in the main links of logistics such as information, transportation, warehousing, handling, inventory, and packaging. Only the loading and unloading link is still completed manually, with low efficiency and insufficient to meet the needs of the development of the logistics economy.

[0003] The huge market demand is still completed by manual operations, with quite low efficiency. China's logistics loading and unloading link still belongs to a labor-intensive industry. More than 90% of the logistics product transfers are without pallet loading and unloading, and most of the loading and unloading workers are over 45 years old. Calculated by a 40ft container, for each container of goods, depending on the product size and specifications, there are about 1,500 - 3,000 pieces of goods. Taking the example of 2 loading and unloading workers loading and unloading 1 container of goods, it takes about 3 - 4 hours to complete. Without calculating the sorting time, it is difficult to match the logistics time efficiency requirements. Therefore, there are still some problems in the logistics loading and unloading link: one is the low degree of pallet standardization, the second is that logistics enterprises are more looking forward to a higher loading rate to increase logistics profits, and the third is that there is no industry standard in the loading and unloading industry, and the cost of automated research and development is high and the technical difficulty is great. Summary of the Invention

[0004] To solve the deficiencies of the prior art, the present invention designs a soft and hard pallet adaptive loading and unloading method. This method has the characteristics of high efficiency, path planning ability, and easy operation, and is especially suitable for goods transported using soft pallets such as boxed and bagged goods. The following is the detailed content of the present invention: The loading and unloading method includes: S1, when the goods container arrives at the designated area, the crawler adaptive soft pallet robot scans the positions of the container and the goods through vision and radar.

[0005] S2, based on the position information scanned by vision and radar, control the robot to drive to the designated working location to prepare for loading and unloading work, and control the clamping mechanism of the robot to align with the protruding part of the soft pallet, or make the front end of the lifting plate of the lifting mechanism align with the groove of the hard pallet.

[0006] S3, after aligning with the protruding part of the soft pallet, control the gripper of the robot to clamp the protruding part of the soft pallet, and use the towing mechanism of the robot to tow the goods onto the fork board, or after aligning with the groove of the hard pallet, the robot controls the lifting mechanism to rise and lift the goods.

[0007] S4, the vision and radar are restarted, the appropriate loading and unloading points of the combined conveyor line are judged, and the goods are then towed to the designated loading and unloading points.

[0008] S5, the towing mechanism of the robot is restarted to push the goods onto the designated guide rail, or the lifting mechanism is restarted to place the goods onto the designated guide rail.

[0009] S6, the combined conveyor line is started, and the goods are then conveyed to the warehouse along the designated route.

[0010] S7, repeat steps S1 - S6 until all the goods are conveyed.

[0011] The robot of the present invention mainly consists of a crawler - type walking platform, a clamping mechanism, a towing mechanism, a lifting mechanism, a front radar, a front vision, a rear radar, a rear vision system, a central control system, a pneumatic - hydraulic device, and a pure - electric power system, etc., and cooperates with the combined conveyor line to realize the automatic transportation of goods from the freight car compartment to the warehouse.

[0012] The pressing mechanism consists of a segmented grasping device and a clamping and loading mechanism. The segmented grasping device includes three clamping jaws, a connecting cross - beam, and a cylinder. The cylinder pushes the cross - beam to move up and down, realizing the synchronous upward or downward movement of the clamping jaws to adapt to the grasping of soft pallets at different heights.

[0013] A further solution is that the lifting plate is installed above the loading and unloading bottom plate, and a number of low - center - of - gravity casters are provided below it. A corresponding number of wedge - shaped blocks are provided on the loading and unloading bottom plate, and grooves are provided on the wedge - shaped blocks. The low - center - of - gravity casters roll on the groove tracks of the wedge - shaped blocks to realize the lifting and lowering movement of the lifting plate. The front end of the lifting plate is connected to the connecting platform through a stud; a low - center - of - gravity caster and a wedge - shaped block are provided below the connecting platform in the same way as the lifting plate. The caster cooperates with the groove track of the lower wedge - shaped block to complete the lifting movement, and a hydraulic driving device is provided above. When the hydraulic cylinder drives the connecting platform to move, the hydraulic cylinder and the connecting platform move together and drive the lifting plate to realize the lifting and lowering movement. When the lifting plate rises to the maximum height, the front - mounted camera transmits information to the central control system, and the central control system controls the clamping device to admit air, pushing the piston upward, and then driving the pressing plate to press down into the groove of the connecting platform, preventing the lifting plate from slipping back by locking the connecting platform to ensure the safety of the goods during the loading and unloading process.

[0014] A further solution is that the clamping jaws can adjust the grasping force of the clamping jaws in real time through the built - in control algorithm to adapt to goods of different weights, and anti - slip pads are provided on the inner sides of the clamping jaws, enhancing the friction during grasping and effectively preventing the goods from slipping during the handling process.

[0015] A further solution is that a high-definition camera, a radar and a lighting device are installed on the rotating gantry of the towing mechanism. The high-definition camera is used to capture images of the goods and the soft pallet inside the container, and the lighting device can assist the high-definition camera to work in an environment with insufficient light; the radar is used to measure the distance between the goods, the soft pallet and the robot in real time and transmit the data to the central control system. The two work together to improve the accuracy of goods positioning.

[0016] A further solution is that the towing mechanism consists of a baffle, a parallelogram mechanism, a hydraulic rod, a connecting rod, a push plate and a fork plate. The push plate and the baffle are connected by a parallelogram mechanism, and the parallelogram mechanism is hydraulically driven to realize the forward and backward movement of the push plate; a triangular wheel is provided below the connection between the fork plate and the baffle and is located in the space between every two adjacent fork plates, which improves the stability of the mechanism. During the process of towing goods, the triangular wheel contacts the ground and rolls, which can not only bear some pressure but also make it more convenient to tow the goods.

[0017] A further solution is that the rotating gantry of the towing mechanism can pitch at a certain angle; the fork plate is always perpendicular to the rotating gantry, and the hydraulic rod pushes the rotating gantry to rotate within a certain range in the clockwise and counterclockwise directions, thereby changing the height of the fork plate, which is beneficial for the fork plate to position soft pallets at different heights; in addition, when loading goods, rotating the fork plate a certain angle in the clockwise direction can prevent the goods from slipping back; when unloading goods, rotating the fork plate a certain angle in the counterclockwise direction is beneficial for unloading the goods.

[0018] A further solution is that a manipulator is provided beside the combined conveyor line, which can perform palletizing and depalletizing when the goods arrive on the conveyor line; the combined conveyor line consists of multiple detachable belt conveyors or roller units. A rotating disc is provided under the conveyor unit at the corner, which can adjust the direction of the guide rail by 360 degrees and can be flexibly arranged according to the warehouse layout. A gravity sensor is provided under the rotating disc. After sensing a change in weight, the gravity sensor sends the information to the central control system, thereby controlling the rotation of the guide rail to change the conveying direction and connect with the next section of the conveyor line. Quick plug-in design is adopted between each section of the guide rail, which is convenient for quickly adjusting the length and direction of the conveyor line according to the operation requirements. QR code recognition sensors are respectively provided at the entrance and exit of the guide rail, which can identify the goods information and send the goods information to the cloud information center.

[0019] A further solution is that the front radar front vision rear radar rear vision system includes front and rear high-definition cameras and radars. The front high-definition camera and radar system are equipped with advanced image processing algorithms and can identify various types of goods and obstacles. The rear camera uses panoramic scanning technology to provide the robot with an all-round environmental perception ability to ensure safe navigation in the working environment.

[0020] A further solution is that the central control system includes a central processing unit, which is responsible for receiving and processing data from the dual-vision dual-radar system and various sensors, and sending control instructions to each actuator to coordinate the normal operation of each mechanism. The system is built-in with a fault self-diagnosis program, which can monitor the working status of each component of the robot in real time. Once an abnormality is found, the emergency plan will be immediately activated to ensure operation safety. There is a liquid crystal display screen on the side of the robot body, which can display the working status of the robot in real time and can perform simple operations.

[0021] A further solution is that the robot has an automatic charging function. The autonomous charging function of the robot includes power monitoring, path planning, and automatic docking with the charging station. The central control system will monitor the power status of the robot in real time. When the power of the robot is lower than the set threshold, the central control system will issue an instruction. After completing the current work process, the robot will automatically navigate to the nearest charging station and use automatic docking technology for charging.

[0022] The robot identifies the working area through the vision and radar systems. The central control system controls the robot to reach the specified position, clamp the soft pallet, and tow it to the platform. Then, the central control system judges which section of the guide rail is suitable for transporting goods according to the information recognized by the camera, and then sends an instruction to make the robot drive to the side of the specified guide rail and push the goods onto the guide rail. Then, the two-dimensional code identification sensor identifies the goods information and sends the information to the information center, indicating that the goods have been unloaded onto the guide rail. When the goods are transported to the end of the guide rail and are ready to be stored in the warehouse, another two-dimensional code identification sensor is activated to identify the goods information and send the information to the information center, indicating that the goods have been stored in the warehouse.

[0023] Through these technical solutions, the crawler adaptive soft pallet loading and unloading robot of the present invention not only improves the automation level of logistics loading and unloading, but also brings multiple economic, environmental and social benefits to the logistics industry, and has broad application prospects and market potential.

[0024] The beneficial effects of the present invention: 1. In the present invention, the crawler adaptive soft and hard pallet loading and unloading robot uses a dual-vision dual-radar system composed of a high-definition camera and a radar. The robot can automatically perform cargo positioning and environment recognition, reducing the error of manual operation and improving the accuracy and overall safety of the loading and unloading operation.

[0025] 2. The crawler adaptive soft and hard pallet loading and unloading robot of the present invention realizes precise power transmission and control through the central control system, enabling the robot to show good stability in the loading and unloading operation, ensuring the smoothness of the goods during the loading and unloading process.

[0026] 3. The crawler self - adaptive soft - to - hard loading and unloading robot of the present invention adopts a highly integrated design of the central control system, making the operation more simple and intuitive. The intelligent level of the robot is significantly improved, greatly reducing the dependence on the skills of operators. At the same time, the degree of automation of the operation is also increased, thereby enhancing the efficiency of the loading and unloading process.

[0027] 4. The crawler self - adaptive soft - and - hard - support loading and unloading robot of the present invention adopts a segmented modular design. Each module can be selected and combined according to specific operation requirements, enabling the robot to better meet diverse loading and unloading needs. Brief Description of the Drawings

[0028] Figure 1 It is a schematic diagram of the structure of the loading and unloading robot.

[0029] Figure 2 It is a schematic diagram of the structure of the lifting mechanism.

[0030] Figure 3 It is a schematic diagram of the jaws of the clamping mechanism.

[0031] Figure 4 It is a schematic diagram of the structure of the unit conveyor line.

[0032] Figure 5 It is a schematic diagram of the structure of the rotatable unit conveyor line.

[0033] Figure 6 It is a schematic diagram of the clamping and locking device.

[0034] Figure 7 It is a schematic diagram of the installation position of the triangular wheel.

[0035] Figure 8 It is a schematic diagram of the structure of the triangular wheel.

[0036] Figure 9 It is a schematic diagram when the goods just enter the conveyor line.

[0037] Figure 10 It is a schematic diagram when the goods are about to be stored in the warehouse.

[0038] Figure 11 It is a schematic diagram of the soft - supported goods.

[0039] Figure 12 It is a schematic diagram of the hard - supported goods.

[0040] Figure 13 It is a schematic diagram of the visual scanning space.

[0041] Figure 14 It is a schematic diagram of the radar scanning space.

[0042] Figure 15 It is a schematic diagram of the loading and unloading robot and other supporting devices. Detailed Embodiment

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part rather than all of the embodiments of the present application. The following description of at least one exemplary embodiment is actually illustrative only and in no way limits the present application and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0044] In the description of the present application, it should be understood that using terms such as "first" and "second" to limit components is only for the convenience of differentiating the corresponding components. Without additional statements, the above terms have no special meanings, and thus cannot be construed as limiting the scope of protection of the present application.

[0045] In the description of the present application, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description. Without contrary explanations, these orientation words do not indicate and imply that the devices or elements referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the scope of protection of the present application; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0046] It should be noted that the illustrations provided in this embodiment only schematically illustrate the basic concept of the present invention. Therefore, only the components related to the present invention are shown in the illustrations, rather than being drawn according to the number, shape and size of the components in actual implementation. The form, quantity and proportion of each component in actual implementation can be arbitrarily changed, and the layout form of its components may also be more complex.

[0047] As Figure 1 and Figure 15 shown, the present invention discloses a crawler self-adaptive soft towing loading and unloading robot, which includes a crawler walking platform 1, a towing mechanism 3, a lifting mechanism 4, a front radar 5, a front vision 6, a rear radar, a rear vision system, a central control system, a pneumatic and hydraulic device, and a pure electric power system. After the robot is started, it first performs a system self-check to ensure that all hardware components and sensors are in normal working conditions. The self-check includes, but is not limited to, the inspection of key components such as the crawler walking platform 1, the towing mechanism 3, the lifting mechanism 4, the front radar 5, the front vision 6, the rear radar, the rear vision system, and the central control system. During the initialization process, the central control system loads preset working parameters and map information to prepare for autonomous navigation and automatic loading and unloading operations.

[0048] According to the specific requirements of the goods loading and unloading tasks, the central control system uses advanced algorithms for path planning. This includes the shortest path from the truck carriage to the designated storage point in the warehouse, while avoiding fixed obstacles and dynamic obstacles.

[0049] After receiving the operation instructions, the autonomous navigation system of the robot is immediately activated. Through radar 5 and high-definition camera 6, the robot accurately identifies its current position and automatically drives along the planned path to the loading and unloading area beside the truck.

[0050] After the robot arrives at the loading and unloading area, the front high-definition camera 62 and radar 51 system start to work. The camera 62 scans and captures the images of the goods, and the radar 51 measures the distance. The two work together to achieve the precise identification and positioning of the goods on the soft pallet 101, or the identification and positioning of the goods on the hard pallet 91.

[0051] Based on the results of identification and positioning, the central control system sends instructions to the walking platform to move forward slowly until the upper surface of the front end of the fork plate 32 contacts the lower surface of the clamped part of the soft pallet. Then it sends instructions to the hydraulic rod 38. The hydraulic rod 38 extends and retracts backward, causing the fork plate 32 to tilt upward slightly, so that the clamped part of the soft pallet tilts upward. Then it issues instructions to the pressing device. The air cylinder drives the connecting crossbeam 44 to descend, and the jaws follow the connecting crossbeam to descend synchronously. The anti-slip pads on the jaws are used to increase the friction and the clamping force, ensuring that the soft pallet 101 is firmly clamped and preventing the goods from slipping during loading and unloading. For the hard pallet 91, based on the results of identification and positioning, the central control system sends instructions to the walking platform to move forward slowly until the surface of the lifting plate 43 of the lifting mechanism 4 enters the groove of the hard pallet 91. Then it sends instructions to the hydraulic rod to move the connecting platform 44 upward, driving the lifting plate 43 to move upward, thus lifting the goods.

[0052] After clamping the goods, the towing mechanism 3 of the robot starts to work. The hydraulic rod 36 connected to the connecting rod 35 moves backward, driving the parallelogram mechanism 33 to move backward, so that the baffle 34 moves backward, dragging the goods onto the fork plate 32. Then, the central control system issues an instruction to the hydraulic rod 38, and the hydraulic rod 38 contracts backward, tilting the fork plate 32 upward at a certain angle, combined with the auxiliary movement of the triangular wheel 371, to facilitate the smooth transportation of the goods. The robot smoothly drags the goods out of the freight car compartment, and then, according to the information recognized by the camera 63, determines the appropriate conveyor line and transports the goods to the loading point of the combined conveyor line 7. For the hard pallet 91, after lifting the goods, the pressing device starts to work. The central control system of the robot sends an instruction to the cylinder 321, and the cylinder 321 starts to intake air, pushing the piston 322 upward, and then driving the pressing plate 323 to move downward and clamp into the groove of the connecting platform 35 to lock the lifting platform 33. Then the robot smoothly drags the goods out of the freight car compartment, and then, according to the information recognized by the camera 51, determines the appropriate conveyor line and transports the goods to the loading point of the combined conveyor line 7.

[0053] After the goods are placed on the guide rail 7, the conveying unit of the combined conveyor line 7 starts. The motor 71 drives the belt or roller to rotate, automatically conveying the goods along the planned path to the designated storage area inside the warehouse.

[0054] At the beginning of the conveying process, the two-dimensional code recognition sensor 9 recognizes the goods information and sends the goods information to the information center, indicating that the goods have been unloaded and entered the conveyor line; when the goods reach the corner of the guide rail, the gravity sensor 88 under the rotating disc 83 recognizes the gravity change, and the central control system issues an instruction to the motor 87 to rotate the guide rail 90 degrees and enter the next section of the conveying guide rail; at the end of the conveying process, another two-dimensional code recognition sensor 9 recognizes the goods information and sends the goods information to the information center, indicating that the goods have been stored in the warehouse.

[0055] In this embodiment, the loading method includes: S1, when the goods container arrives at the designated area, the tracked adaptive soft pallet robot scans the positions of the container and the goods through the vision 6 and the radar 5.

[0056] S2, based on the position information scanned by the vision 6 and the radar 5, the central control system controls the robot to drive to the designated working location to prepare for loading and unloading work, and controls the clamping mechanism 4 of the robot to align with the protruding part of the soft pallet, or makes the front end of the lifting plate 43 of the lifting mechanism 4 align with the groove of the hard pallet.

[0057] S3, after aligning with the protruding part of the soft pallet, the central control system controls the gripper 43 of the robot to clamp the protruding part of the soft pallet, and drags the goods to the fork plate 32 through the towing mechanism 3 of the robot, or after aligning with the groove of the hard pallet, the robot controls the lifting mechanism 4 to rise and lift the goods.

[0058] S4, Vision 6 and Radar 5 are started again to determine the appropriate loading and unloading points of the combined conveyor line 7, and then the goods are towed to the designated loading and unloading points.

[0059] S5, The towing mechanism 3 of the robot is started again to push the goods onto the designated guide rail 7, or the lifting mechanism 4 is started again to place the goods on the designated guide rail.

[0060] S6, The manipulator first performs palletizing or depalletizing, then the combined conveyor line 7 is started, and the goods are conveyed to the warehouse along the designated route.

[0061] S7, Repeat steps S1 - S6 until all the goods are conveyed.

[0062] During the entire loading, unloading and conveying process, the rear high - definition camera 63 and radar 52 of the robot continuously monitor the surrounding environment. Through advanced image processing and pattern recognition algorithms, the robot can identify and actively avoid obstacles to ensure the safety of operations.

[0063] The central control system continuously monitors the power status of the robot. When the power is lower than the preset threshold, the robot automatically navigates to the charging station for charging. The charging station is equipped with an automatic docking device to ensure the efficiency and safety of the charging process.

[0064] The staff can monitor the working status of the robot in real - time through the liquid crystal display screen 2 on the side of the robot body. The liquid crystal display screen 2 provides a graphical interface, showing information such as the current position, power, and operation progress of the robot, and providing options for manual intervention when necessary.

[0065] After the goods are successfully transported to the designated storage point, the robot receives a task - completion signal. Subsequently, the robot automatically executes the return path planning, navigates to the standby area and enters the standby state, ready to execute the next task. Thus, a loading and unloading process is completed. In addition, during the operation process, in case of system failures or abnormal situations, the central control system will activate the emergency plan. This may include measures such as pausing the operation, sending warning signals, and automatically navigating to a safe area to ensure the safety of personnel and equipment.

Claims

1. A method for self-adapting loading and unloading of soft and hard supports, characterized in that: The loading and unloading method is based on a crawler adaptive soft and hard support robot, which mainly comprises a crawler walking platform (1), a towing mechanism (3), a lifting mechanism (4), a front radar (5), a front vision system (6), a rear radar and rear vision system, a combined conveyor line (7) and a central control system; The rear end of the dragging mechanism (3) is connected to the crawler walking platform (1) through a rotating gantry (37); the rotating gantry (37) and the crawler walking platform (1) are connected at the top through a hydraulic cylinder (38); and the lower connection is a rotatable connection; the dragging mechanism (3) also includes a clamping device, which is fixed to the baffle (34) of the dragging mechanism (3) through a sliding guide rail, and is connected to the crossbeam (44) through a cylinder drive, thereby driving the clamping claw (43) to move up and down; the front radar (5), the front vision (6), the rear radar and the rear vision system are divided into a front camera The front camera (62) is located above the rotating gantry (37), the front radar (51) is located directly above the rotating gantry (37), the rear camera (63) is located behind the crawler walking platform (1), and the rear radar (52) is located directly behind the crawler walking platform (1); the central control system (2) is located inside the crawler walking platform body; the combined conveyor line (7) is distributed on the route between the cargo loading and unloading point and the warehouse through path planning. The rear end of the lifting mechanism (4) is connected to the robot gantry (37) via a connecting platform (44), and the connecting platform (44) and the bottom of the robot gantry (37) are connected via a hydraulic cylinder; the front end of the lifting mechanism (4) is connected to the lifting plate (43); the clamping device is fixed on the connecting platform (44), and drives the piston (322) via the cylinder (321), thereby driving the clamping plate (323) to move up and down; The loading and unloading method comprises: S1, when the cargo container arrives at the designated area, the tracked adaptive soft and hard support robot scans the container and cargo location through vision (6) and radar (5); S2, based on the position information scanned by the vision (6) and the radar (5), the central control system controls the robot to travel to the designated work location to prepare for loading and unloading work, and controls the robot's clamping mechanism (4) to align with the protruding part of the soft support, or aligns the front end of the lifting plate (43) of the lifting mechanism (4) with the hard drag groove; S3, after aligning with the protruding part of the soft support, the central control system controls the robot's gripper (43) to clamp the protruding part of the soft support, and drags the goods to the fork plate (32) through the robot's dragging mechanism (3), or after aligning with the hard dragging groove, the robot controls the lifting mechanism (4) to rise and lift the goods; S4, the vision (6) and radar (5) are activated again to determine the appropriate loading and unloading point of the combined conveyor line (7), and then the goods are towed to the designated loading and unloading point; S5, the robot's towing mechanism (3) starts again to push the goods onto the designated guide rail (7), or the lifting mechanism (4) starts again to place the goods onto the designated guide rail S6, the combined conveyor line (7) is started, and the goods are then transported to the warehouse along the designated route; S7, repeat steps S1-S6 until all the goods are transported.

2. The method for self-adapting loading and unloading of soft and hard supports according to claim 1, characterized in that: The segmented grasping device of the clamping mechanism (4) in step S2 is composed of three adjustable clamping claws (43), a connecting beam (44), a cylinder (41) and a sliding guide rail (42). The cylinder (41) pushes the connecting beam (44) to move up and down, so that the clamping claws (43) can move up or down synchronously, thereby realizing adaptive grasping of soft pallets (101) of different heights; at the same time, the clamping claws (43) can adjust the grasping force in real time to adapt to goods of different weights, and an anti-slip pad is provided on the inner side of the clamping claw to enhance the friction during grasping and effectively prevent the goods from slipping during transportation.

3. The method for self-adapting loading and unloading of soft and hard supports according to claim 1, characterized in that: The lifting plate is installed above the loading and unloading base plate, and a plurality of low-center-of-gravity casters (42) are arranged below the lifting plate. A plurality of corresponding wedge blocks are arranged on the loading and unloading base plate (41), and the wedge blocks are provided with grooves. The low-center-of-gravity casters (42) roll on the tracks of the grooves of the wedge blocks to realize the lifting action of the lifting plate (43). The front end of the lifting plate (43) is connected to the connecting platform through studs. The connecting platform (44) is provided with a low-center-of-gravity caster (42) and a wedge block below the lifting plate (43), and the caster (42) cooperates with the groove track of the wedge block below to complete the lifting action. A hydraulic driving device is arranged above. When the hydraulic cylinder drives the connecting platform (44) to move, the hydraulic cylinder moves together with the connecting platform (44) and drives the lifting plate (43) to realize the lifting action. When the lifting plate (43) rises to the maximum height, the front camera (51) transmits information to the central control system, and the central control system controls the air intake of the clamping device to push the piston (322) upward, thereby driving the clamping plate (323) downward into the groove of the connecting platform (44), and locking the connecting platform (44) to prevent the lifting plate (43) from rolling back, thereby ensuring the safety of the goods during the loading and unloading process.

4. The method for self-adapting loading and unloading of soft and hard supports according to claim 1, characterized in that: The revolving gantry (37) of the towing mechanism (3) in step S3 can be pitched at a certain angle, the fork plate (32) is always perpendicular to the revolving gantry (37), and the hydraulic rod (38) pushes the revolving gantry (37) to rotate in a certain range of clockwise and counterclockwise directions, thereby changing the height of the fork plate (32), which is beneficial for the fork plate (32) to position the soft pallets (101) of different heights; in addition, when loading goods, the fork plate (32) is rotated clockwise at a certain angle to prevent the goods from rolling back; when unloading goods, the fork plate (32) is rotated counterclockwise at a certain angle to facilitate the unloading of goods.

5. The method for self-adapting loading and unloading of soft and hard supports according to claim 1, characterized in that: Each conveying unit of the combined conveyor line (7) is equipped with an independent motor (71) to drive; the combined conveyor line (7) is composed of multiple sections of detachable belt conveyors or roller units. A rotating disc (83) is provided under the conveying unit at the corner, which can adjust the direction of the guide rail by 360 degrees and can be flexibly arranged according to the warehouse layout. A gravity sensor (88) is provided under the rotating disc (83). After sensing the weight change, a signal is sent to the central control system (2), and then the motor (81) is controlled to work, so that the guide rail rotates, thereby changing the conveying direction and docking with the next section of the conveyor line. A quick plug-in design is adopted between each section of the guide rail, which is convenient for quickly adjusting the length and direction of the conveyor line according to the operation requirements. A two-dimensional code recognition sensor (9) is provided at the entrance and exit of the guide rail, which can recognize the cargo information and send the cargo information to the cloud information center.

6. The method for self-adapting loading and unloading of soft and hard supports according to claim 1, characterized in that: The front radar (5), front vision (6), rear radar and rear vision systems in steps S1 and S2 include front and rear high-definition cameras and radars. The front high-definition camera (62) and radar (51) systems are equipped with advanced image processing algorithms and are capable of identifying various types of goods and obstacles. The rear camera (63) uses panoramic scanning technology to provide the robot with all-round environmental perception capabilities to ensure safe navigation in the working environment.

7. The method for self-adapting loading and unloading of soft and hard supports according to claim 1, characterized in that: The central control system in steps S2 and S3 includes a central processing unit, which is responsible for receiving and processing data from the front radar (5), the front vision (6), the rear radar and the rear vision system and various sensors, and sending control instructions to various actuators to coordinate the normal operation of various mechanisms. The system has a built-in fault self-diagnosis program, which can monitor the working status of various components of the robot in real time. Once an abnormality is found, the emergency plan is immediately activated to ensure the safety of the operation. A liquid crystal display (2) is provided on the side of the robot body, which can display the working status of the robot in real time and can perform simple operations.

8. The method for self-adapting loading and unloading of soft and hard supports according to claim 1, characterized in that: The crawler adaptive soft and hard support robot has an autonomous charging function, which includes power monitoring, path planning and automatic docking with charging stations. The central control system monitors the power status of the robot in real time. When the robot's power is lower than the set threshold, the central control system will issue a command. After completing the current workflow, it will automatically navigate to the nearest charging station and use automatic docking technology for charging.

9. The method for self-adapting loading and unloading of soft and hard supports according to claim 1, characterized in that: A high-definition camera (62), a radar (51) and a lighting device (61) are installed on the rotating gantry (37) of the towing mechanism (3), and the high-definition camera (62) is used to capture images of goods in the container and images of soft and hard pallets (101); The radar (51) is used to measure the distance between the cargo, the soft pallet (101) and the robot in real time, and transmit the data to the central control system (2). The two work together to improve the accuracy of cargo positioning.

10. The method for self-adapting loading and unloading of soft and hard supports according to claim 1, characterized in that: The towing mechanism (3) is composed of a baffle plate (34), a parallelogram mechanism (33), a hydraulic rod (36), a connecting rod (35), a push plate (31) and a fork plate (32). The push plate (31) and the baffle plate (34) are connected by the parallelogram mechanism (33). The parallelogram mechanism (33) is driven by hydraulic pressure to realize the forward and backward movement of the push plate (31). A triangular wheel (371) is provided below the connection between the fork plate (32) and the baffle plate (34) and is located in the space between each adjacent fork plate (32), thereby improving the stability of the mechanism. In the process of towing goods, the triangular wheel (371) contacts the ground and rolls, which can bear some pressure and realize the towing of goods more conveniently.

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