Five-axis mobile transfer robot based on differential mechanism integration and control method of five-axis mobile transfer robot

Abstract

The invention discloses a five-axis mobile transfer robot based on differential mechanism integration and a control method, and belongs to the technical field of robots. The robot comprises a moving base, a plane moving assembly, a five-axis mechanical arm, a sensing system and a control system. A fourth shaft and a fifth shaft of the five-shaft mechanical arm are integrated through a differential mechanism, a planetary gear train is driven by double motors, pitching and rolling movement of an end effector is synchronously controlled, five driving units are reduced to three while the five-shaft freedom degree is reserved, the manufacturing cost and control complexity are remarkably reduced, and the mechanical arm is suitable for large-scale popularization and application. The sensing system adopts global and local visual cameras to cooperatively work, the global camera carries out coarse positioning on a goods shelf area, the local camera carries out millimeter-level fine correction before grabbing, and the omni-directional movement capability of Mecanum wheels and a portal frame lifting mechanism realize autonomous navigation, accurate grabbing and dynamic obstacle avoidance of the robot. And high-efficiency, low-energy-consumption and high-precision automatic warehousing operation is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a five-axis mobile handling robot based on differential integration and a control method thereof. BACKGROUND

[0002] With the rapid development of e-commerce and retail industry, the logistics and warehousing industry is facing increasing efficiency demand and cost control pressure. As a key equipment to improve the efficiency of warehouse operation, automated handling robots have been widely used in various logistics scenarios.

[0003] At present, the automated handling devices used in the field of warehousing and logistics mainly fall into two categories: one is a handling equipment using a single-axis mechanical arm. This type of equipment can usually only perform linear motion in a single direction or simple planar motion. In actual warehousing operations, in order to complete a single picking, the robot body often needs to be repeatedly adjusted and aligned in position, which seriously sacrifices the operation efficiency. More importantly, its limited degree of freedom cannot adapt to the diversity of material placement posture, especially when it comes to tilted or overturned picking scenarios, it is helpless and has poor application flexibility. Therefore, the second type of handling scheme using multi-axis industrial robots is born. Although this type of robot has obtained flexible operation capability in three-dimensional space by increasing the number of joints, each joint usually relies on an independent servo motor, encoder and drive module, which directly leads to the sharp expansion of the system architecture and the high overall energy consumption. The independent driving unit of each joint increases the inertia and control loop complexity of the system, resulting in low energy efficiency. SUMMARY

[0004] The purpose of the present application is to overcome the problems in the prior art and provide a five-axis mobile handling robot based on differential integration and a control method thereof.

[0005] The application provides a five-axis mobile transfer robot based on differential integration, which comprises a mobile base, a planar moving assembly and a lifting mechanism mounted thereon, and further comprises: a five-axis mechanical arm connected with the moving end of the planar moving assembly, wherein the five-axis mechanical arm comprises a first axis, a second axis, a third axis, and a fourth axis and a fifth axis integrated through a differential mechanism; the first axis is mounted on the mobile base to perform horizontal left-right steering; the second axis is connected with the output end of the first axis to realize pitching motion; the third axis is connected with the output end of the second axis to realize continuous rolling motion; the fourth axis and the fifth axis are mounted at the end of the third axis through the differential mechanism, and the differential mechanism comprises a pair of driving wheels, a pair of driven wheels and a central wheel sleeved on the fifth axis; the pair of driven wheels and the central wheel form a planetary gear system; each of the pair of driving wheels is connected with the output end of a motor respectively; the driving wheels and the driven wheels are connected through synchronous belts; when the pair of driven wheels rotate at the same speed in the same direction, the fifth axis is controlled to move up and down; when the pair of driven wheels rotate at different speeds in the same direction or in opposite directions, the fifth axis is controlled to rotate forward or reversely; a sensing system comprises a global vision camera and a local vision camera; the global vision camera is mounted behind the lifting mechanism and is used for scanning and identifying goods on a shelf; the local vision camera is mounted near the third axis; a control system is based on an embedded system or a ROS platform and integrates a motor driving module, a sensor data processing module, a path planning module, a motion planning module and a task scheduling module, and is used for coordinating the work of the five-axis mechanical arm, the mobile base and the sensing system. Preferably, the sensor data processing module receives and fuses data from the global vision camera and the local vision camera; the path planning module generates a motion path of the mobile base according to the identification result of the global vision and a task target; the motion planning module generates a motion trajectory of each joint of the five-axis mechanical arm according to the identification result of the local vision camera and path information planned by the path planning module; and the task scheduling module coordinates the sequential operation and synchronous control of the mobile base, the planar moving assembly and the five-axis mechanical arm.

[0006] Preferably, the pair of motors are directly controlled by the motion planning module, and according to the calculated compound motion instruction, the differential mechanism is driven through the motor driving module, so as to control the pitching motion of the fourth axis and the rolling motion of the fifth axis respectively.

[0007] Preferably, the lifting mechanism is a two-stage lifting device of a portal frame Z-axis, which adopts a servo motor and a vertical linear guide rail to realize vertical movement and covers the height of a standard shelf; the servo motor is controlled by the motor driving module, and a built-in encoder of the servo motor feeds back real-time position data to the sensor data processing module for closed-loop control.

[0008] Preferably, the planar moving assembly comprises a synchronous belt transverse moving device and a synchronous belt forward moving device; the synchronous belt transverse moving device is installed on the lifting rod of the lifting mechanism and is used to drive the five-axis mechanical arm to move horizontally along the X axis; the synchronous belt forward moving device is installed on the base of the five-axis mechanical arm and is used to drive the five-axis mechanical arm to move forward along the Y axis; the synchronous belt transverse moving device and the synchronous belt forward moving device are controlled by the motor driving module, and the position information is fed back to the sensor data processing module, and then accurate end effector planar coordinates are provided for the motion planning module.

[0009] Preferably, the moving base bottom is provided with four Mecanum wheels driven by independent motors, each of the driving motors receives instructions from the path planning module and is executed through the motor driving module; the real-time pose of the moving base is detected by a wheel hub encoder and provided to the sensor data processing module.

[0010] Preferably, in the perception system, the global vision camera first performs coarse positioning and transmits the identified shelf and material coordinate information to the path planning module; the local vision camera performs fine positioning when the five-axis mechanical arm approaches the target and transmits the identified accurate pose information of the material to the motion planning module for final grasping correction.

[0011] Preferably, it further comprises a power supply system, which is a lithium battery module and supports wireless power supply and automatic charging functions; the power supply system continuously monitors the battery state and transmits the power information to the task scheduling module; when the power is lower than the set threshold, the task scheduling module interrupts the current task, calls the path planning module to generate a path to the charging station, and controls the moving base to go to the charging station.

[0012] Compared with the prior art, the present application has the following beneficial effects: The differential mechanism combines the driving functions of the fourth axis and the fifth axis, and a pair of motors cooperate with a planetary gear system to distribute power, replacing the design of two independent joints in the traditional scheme, which not only reduces the cost of motors, encoders, drivers and other hardware, but also simplifies the mechanical transmission chain and the overall structure, and improves the system reliability.

[0013] The planetary gear train in the differential mechanism can control the fourth shaft and the fifth shaft to move respectively or synchronously under the condition of dual-motor differential or constant-speed input, realize the accurate output of pitching, rolling and compound attitude, retain the core operation ability of the five-axis mechanical arm in the three-dimensional space, avoid joint interference through kinematic decoupling, significantly improve the adaptability of the end effector when facing different grabbing angles and material attitudes, and reduce the number of drive units, which directly leads to the reduction of power consumption. Since the differential mechanism shares part of the motion combination function, the upper control node does not need to plan complex trajectories for the fourth and fifth axes respectively, thereby reducing the computing power burden of the motion planning module; in combination with the cooperative positioning strategy of the global vision camera and the local vision camera, the integrated mechanical arm can quickly respond to the vision feedback signal, realize the end fine adjustment through the differential mechanism, complete the high-precision grabbing of the material, improve the grabbing precision and thus improve the overall operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0014] Fig. 1 It is a schematic diagram of the overall structure of the present application.

[0015] Fig. 2 It is a schematic diagram of the five-axis mechanical arm structure of the present application.

[0016] Fig. 3 It is a robot work flowchart of the present application.

[0017] Fig. 4 It is a control system architecture block diagram of the present application.

[0018] Marked with 1, mobile base; 2, planar moving assembly; 3, five-axis mechanical arm; 4, first axis; 5, second axis; 6, third axis; 7, differential mechanism; 71, driven wheel; 72, center wheel; 8, fourth axis; 9, fifth axis; 10, lifting mechanism; 11, Mecanum wheel. DETAILED DESCRIPTION

[0019] The specific embodiments of the present application will be described below with reference to the accompanying drawings. Figs. 1-4 In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all. Based on the described embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application, unless otherwise defined. The technical terms or scientific terms used herein should be understood as the usual meaning by those skilled in the art in the field of the present application.

[0020] The terms "first," "second," and similar words used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "inner," "outer," "upper," "lower," "far," "near," "front," and "rear" are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. The drawings in this invention are not strictly drawn to scale; the specific dimensions and quantity of each structure can be determined according to actual needs. The drawings described in this invention are merely structural schematic diagrams.

[0021] This invention provides a five-axis mobile transport robot based on differential integration, such as... Figs. 1-4As shown, the device includes a movable base 1, a planar moving assembly 2 mounted thereon, and a lifting mechanism 10. It also includes a five-axis robotic arm 3 connected to the moving end of the planar moving assembly 2. The five-axis robotic arm 3 includes a first axis 4, a second axis 5, a third axis 6, and a fourth axis 8 and a fifth axis 9 integrated via a differential mechanism 7. The first axis 4 is mounted on the movable base 1 and performs horizontal left and right turning. The second axis 5 is connected to the output end of the first axis 4 and performs pitch motion. The third axis 6 is connected to the output end of the second axis 5 and performs continuous tumbling motion. The fourth shaft 8 and the fifth shaft 9 are integrated and mounted at the end of the third shaft 6 via a differential mechanism 7. The differential mechanism 7 includes a pair of driving gears, a pair of driven gears 71, and a central gear 72 sleeved on the fifth shaft 9. The pair of driven gears 71 and the central gear 72 form a planetary gear system. Each of the pair of driving gears is connected to a motor output end. The driving gears and driven gears 71 are connected by a synchronous belt. When the pair of driven gears 71 rotate in the same direction and at the same speed, they control the up and down movement of the fifth shaft. When the pair of driven gears 71 rotate in the same direction but at different speeds or in opposite directions but at different speeds, they control the up and down movement of the fifth shaft. The system comprises: a forward and reverse rotation axis; a sensing system including a global vision camera and local vision cameras, with the global vision camera mounted behind the lifting mechanism for scanning and identifying materials on the shelf; and local vision cameras mounted near the third axis (6th axis); a power system consisting of lithium battery modules supporting wireless power supply and automatic charging; and a control system based on an embedded system or ROS platform, integrating a motor drive module, sensor data processing module, path planning module, motion planning module, and task scheduling module to coordinate the operation of the five-axis robotic arm 3, the mobile base 1, and the sensing system; the sensor data processing module receiving and fusing data from the global vision camera, local vision camera, and power system; the path planning module generating the motion path of the mobile base 1 based on the recognition results of the global vision camera and the task objective; the motion planning module generating the motion trajectories of each joint of the five-axis robotic arm 3 based on the recognition results of the local vision camera and the path information planned by the path planning module; and the task scheduling module coordinating the sequential operation and synchronous control of the mobile base 1, the planar motion component 2, and the five-axis robotic arm 3.

[0022] By using differential mechanism 7 to combine the drive functions of the fourth axis 8 and the fifth axis 9, the power is uniformly distributed by dual motors and planetary gear system, replacing the traditional design where the two joints are driven independently. This reduces the number of drive units in the five-axis robotic arm from five to three, which not only reduces the cost of hardware such as motors, encoders, and drivers, but also simplifies the mechanical transmission chain and the overall structure, and improves system reliability.

[0023] Under dual-motor differential or same-speed input conditions, the planetary gear system in differential mechanism 7 can control the movement of the fourth axis 8 and the fifth axis 9 separately or synchronously, achieving precise output of pitch, roll, and compound postures. This retains the core operational capabilities of the five-axis robotic arm in three-dimensional space while avoiding joint interference through kinematic decoupling, significantly improving the adaptability of the end effector to different gripping angles and material postures. The reduction in the number of drive units directly leads to a reduction in power consumption. At the same time, since differential mechanism 7 shares some motion synthesis functions, the upper control node does not need to plan complex trajectories for the fourth axis 8 and the fifth axis 9 separately, reducing the computational burden on the motion planning module. Combined with the global vision camera and local vision camera collaborative positioning strategy, the integrated robotic arm can quickly respond to visual feedback signals and achieve end-effector fine-tuning through differential mechanism 7 to complete high-precision gripping of materials, improving gripping accuracy and thus improving overall operating efficiency.

[0024] The first axis 4 is the Yaw axis, which is mounted on the movable base 1 and realizes a yaw motion range of ±180°; the second axis 5 is the Pitch axis, which is connected to the output end of the first axis 4 and realizes a pitch motion range of -90° to +90°; the third axis 6 is the Roll axis, which is connected to the output end of the second axis 5 and realizes a continuous 360° roll motion.

[0025] Preferred, such as Figs. 1-2 As shown, a pair of motors are directly controlled by the motion planning module. Based on the calculated composite motion command, the motor drive module drives the differential mechanism 7, thereby controlling the pitch motion of the fourth axis 8 and the roll motion of the fifth axis 9 respectively.

[0026] In this embodiment, precise, decoupled, and coordinated control of the composite motion of the fourth axis 8 and the fifth axis 9 is achieved. The planetary gear system provides a stable and efficient power distribution and speed change foundation, while the motion planning module can precisely coordinate the speed and torque of the two motors based on the complex trajectory commands calculated from inverse kinematics, thereby driving the output shaft of the differential mechanism 7 to move according to predetermined requirements. This not only ensures that the end effector can achieve any required posture angle during the grasping process, but also significantly improves the accuracy and stability of the motion.

[0027] Preferred, such as Figs. 1-2 As shown, the mobile base 1 is equipped with a lifting mechanism 10, which is a two-stage lifting device for the Z-axis of the gantry frame. It adopts a servo motor drive and a vertical linear guide rail to realize vertical travel and cover the standard shelf height. The servo motor is controlled by the motor drive module, and its built-in encoder feeds back the real-time position data to the sensor data processing module for closed-loop control.

[0028] In this embodiment, the robot's vertical workspace is greatly expanded, enabling it to flexibly handle warehouse racks of varying heights. Utilizing a high-rigidity guide rail structure and servo motor drive, a vertical travel range of 800mm to 1500mm is achieved, fully covering industry-standard rack heights. Simultaneously, the gantry structure provides excellent anti-tipping capability and high load-bearing capacity, ensuring the stability and reliability of the five-axis robotic arm 3 during lifting and high-speed movement. This allows the robot to quickly adapt to various warehousing environments, improving the equipment's versatility and utilization.

[0029] Preferred, such as Figs. 1-2 As shown, the planar movement component 2 includes a synchronous belt lateral movement device and a synchronous belt forward extension device; the synchronous belt lateral movement device is mounted on the lifting rod of the lifting mechanism 10 and is used to drive the five-axis robotic arm 3 to move horizontally along the X-axis; the synchronous belt forward extension device is mounted on the base of the five-axis robotic arm 3 and is used to drive the five-axis robotic arm 3 to extend forward along the Y-axis. Both the synchronous belt lateral movement device and the synchronous belt forward extension device are controlled by the motor drive module, and their position information is fed back to the sensor data processing module through the encoder, thereby providing the motion planning module with accurate end effector planar coordinates.

[0030] In this embodiment, the planar movement component 2 provides the five-axis robotic arm 3 with a wide range and high precision movement capability in the horizontal plane. Compared with solutions such as lead screws, the synchronous belt drive has the advantages of low noise, high speed, low cost and simple maintenance. The X-axis is installed on the gantry beam and drives the five-axis robotic arm 3 to move laterally, with a maximum stroke of 2000mm. The Y-axis is installed on the base of the five-axis robotic arm 3 and drives the five-axis robotic arm 3 to extend forward, with a maximum stroke of 1500mm.

[0031] Preferred, such as Figs. 1-2 As shown, the bottom of the mobile base 1 is equipped with four Mecanum wheels driven by independent motors. Each drive motor receives instructions from the path planning module and executes them through the motor drive module. The real-time pose of the mobile base 1 is detected by the wheel hub encoder and provided to the sensor data processing module.

[0032] In this embodiment, the Mecanum wheels support lateral movement, diagonal movement, and in-situ rotation, enabling the robot to move freely in narrow passages and accurately approach the shelf laterally without needing to adjust its posture multiple times. The four wheels are independently driven and coordinated by the path planning module, achieving precise pose control and trajectory tracking, providing a strong foundation for the robot's mobility.

[0033] Preferred, such as Figs. 1-4As shown, in the perception system, the global vision camera first performs coarse positioning and transmits the coordinate information of the shelf and materials it identifies to the path planning module; the local vision camera performs fine positioning when the five-axis robotic arm 3 approaches the target and transmits the precise pose information of the materials it identifies to the motion planning module for final grasping correction.

[0034] In this embodiment, a highly efficient, reliable, and clearly defined multi-level visual perception closed loop is formed. The global vision camera first performs a large-scale rapid search, providing a target for the robot's macroscopic path planning and saving time in approaching the target object; the local vision camera performs millimeter-level precise correction before final grasping, compensating for robot movement, positioning, and the pose error of the target object itself.

[0035] Preferred, such as Figs. 1-4 As shown, the power system continuously monitors the battery status and transmits the power information to the task scheduling module. When the power is lower than the set threshold, the task scheduling module interrupts the current task, calls the path planning module to generate a path to the charging station, and controls the mobile base 1 to go to the charging station.

[0036] In this embodiment, intelligent and automated energy management is achieved, ensuring the robot's continuous operation capability and unmanned maintenance. By continuously monitoring the battery status and automatically triggering a series of actions such as interrupting the current task, planning a route, and heading to a charging station when the battery level falls below a threshold, the online rate and work efficiency of the equipment are significantly improved, avoiding interruptions in operation due to battery depletion or the need for manual intervention to charge.

[0037] The control method for a five-axis mobile handling robot is as follows: A global vision camera scans the work area to identify the approximate location of shelves and materials; a sensor data processing module processes the image information and sends the coordinates to a path planning module; the path planning module combines the map information to generate the optimal path from the mobile base 1 to the target shelf and sends instructions to the motor drive module to drive the Mecanum wheels 11 to move. After the mobile base 1 is in place, the task scheduling module starts the lifting mechanism 10 and the planar moving component 2 to move the end of the five-axis robotic arm 3 above the target material; the local vision camera is activated to acquire close-range images; the sensor data processing module extracts the precise pose of the material, and the motion planning module generates the motion trajectory of each joint of the five-axis robotic arm 3 based on the pose; The motor drive module receives motion trajectory instructions and drives the first axis 4, the second axis 5, the third axis 6, the fourth axis 8, and the fifth axis 9 to move in coordination, so that the end effector can grasp the material with a precise posture; after the grasping is completed, the motion planning module plans a recovery path to transport the material back. The power system monitors the power level in real time. When the power level is low, it sends a request to the task scheduling module. The task scheduling module pauses the current task, calls the path planning module to plan a path to the charging station, and controls the mobile base 1 to move to the charging station for wireless charging.

[0038] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A five-axis mobile transport robot based on differential integration, comprising a mobile base and a planar movement component and a lifting mechanism mounted thereon, characterized in that, Also includes: A five-axis robotic arm is connected to the moving end of the planar motion component. The five-axis robotic arm includes a first axis, a second axis, a third axis, and a fourth and fifth axis integrated through a differential mechanism. The first axis is mounted on the moving base and performs horizontal left and right turning. The second axis is connected to the output end of the first axis and realizes pitch motion. The third axis is connected to the output end of the second axis and realizes continuous tumbling motion. The fourth and fifth axes are integrated and mounted at the end of the third axis through a differential mechanism. The differential mechanism includes a pair of driving wheels, a pair of driven wheels, and a center wheel sleeved on the fifth axis. The pair of driven wheels and the center wheel form a planetary gear system. Each of the pair of driving wheels is connected to a motor output end. The driving wheels and driven wheels are connected by a synchronous belt. When the pair of driven wheels rotate in the same direction and at the same speed, the fifth axis is controlled to tumble up and down. When the pair of driven wheels rotate in the same direction but at different speeds and in opposite directions but at different speeds, the fifth axis is controlled to rotate in both directions. The sensing system includes a global vision camera and a local vision camera. The global vision camera is installed behind the lifting mechanism and is used for scanning and identifying materials on the shelf. The local vision camera is installed on the third axis housing. The control system, based on an embedded system or ROS platform, includes a motor drive module, a sensor data processing module, a path planning module, a motion planning module, and a task scheduling module, used to coordinate the operation of the five-axis robotic arm, the mobile base, and the sensing system.

2. The five-axis mobile transport robot based on differential integration as described in claim 1, characterized in that, The sensor data processing module receives and fuses data from the global vision camera and the local vision camera; the path planning module generates the motion path of the mobile base based on the recognition results of the global vision camera and the task objective; the motion planning module generates the motion trajectory of each joint of the five-axis robotic arm based on the recognition results of the local vision camera and the path planning information planned by the path planning module. The task scheduling module coordinates the sequential operation and synchronous control of the mobile base, the planar motion component, and the five-axis robotic arm.

3. A five-axis mobile transport robot based on differential integration as described in claim 1, characterized in that, The pair of motors are directly controlled by the motion planning module. Based on the calculated composite motion command, the motor drive module drives the differential mechanism, thereby controlling the pitch motion of the fourth axis and the roll motion of the fifth axis respectively.

4. A five-axis mobile transport robot based on differential integration as described in claim 1, characterized in that, The lifting mechanism is a two-stage lifting device on the Z-axis of a gantry frame. It uses a servo motor drive and a vertical linear guide rail to achieve vertical travel, covering the standard shelf height. The servo motor is controlled by the motor drive module, and its built-in encoder feeds back real-time position data to the sensor data processing module for closed-loop control.

5. A five-axis mobile transport robot based on differential integration as described in claim 1, characterized in that, The planar movement component includes a synchronous belt lateral movement device and a synchronous belt extension device. The synchronous belt lateral movement device is mounted on the lifting rod of the lifting mechanism and is used to drive the five-axis robotic arm to move horizontally along the X-axis. The synchronous belt extension device is mounted on the base of the five-axis robotic arm and is used to drive the five-axis robotic arm to extend forward along the Y-axis. Both the synchronous belt lateral movement device and the synchronous belt extension device are controlled by the motor drive module, and their position information is fed back to the sensor data processing module through an encoder, thereby providing the motion planning module with accurate end effector planar coordinates.

6. A five-axis mobile transport robot based on differential integration as described in claim 1, characterized in that, The bottom of the mobile base is equipped with four Mecanum wheels driven by independent motors. Each of the drive motors receives instructions from the path planning module and executes them through the motor drive module. The real-time pose of the mobile base is detected by the hub encoder and provided to the sensor data processing module.

7. A five-axis mobile transport robot based on differential integration as described in claim 1, characterized in that, In the perception system, the global vision camera first performs coarse positioning and transmits the coordinate information of the shelf and materials it identifies to the path planning module; the local vision camera performs precise positioning when the five-axis robotic arm approaches the target and transmits the precise pose information of the materials it identifies to the motion planning module for final grasping correction.

8. A five-axis mobile transport robot based on differential integration as described in claim 1, characterized in that, It also includes a power system, which is a lithium battery module that supports wireless power supply and automatic charging; the power system continuously monitors the battery status and transmits the power information to the task scheduling module. When the battery level is below a set threshold, the task scheduling module interrupts the current task, calls the path planning module to generate a path to the charging station, and controls the mobile base to head to the charging station.

9. A control method for a five-axis mobile handling robot as described in any one of claims 1-8, characterized in that, The global vision camera scans the working area to identify the approximate location of the shelves and materials; the sensor data processing module processes the image information and sends the coordinates to the path planning module; the path planning module combines the map information to generate the optimal path from the mobile base to the target shelf and sends a command to the motor drive module to drive the Mecanum wheels to move. After the mobile base is in place, the task scheduling module activates the planar movement component to move the end effector of the five-axis robotic arm above the target material; the local vision camera is activated to acquire close-range images; the sensor data processing module extracts the precise pose of the material, and the motion planning module generates the motion trajectory of each joint of the five-axis robotic arm based on the pose; The motor drive module receives motion trajectory instructions and drives the first axis, the second axis, the third axis, the fourth axis and the fifth axis to move in coordination, so that the end effector can grasp the material with a precise posture; After the material is grasped, the motion planning module plans a recovery path to transport the material back.

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