Loading and unloading vehicle system based on shuttling carrying platform

Abstract

The utility model provides a loading and unloading vehicle system based on a shuttle mobile loading platform. The loading and unloading vehicle system comprises a first robot, a mobile loading platform and a second robot, the movable loading platform is used for shuttling and moving between the first robot and the second robot so as to transfer materials between the operation range of the first robot and the operation range of the second robot; the first robot is used for placing to-be-unloaded materials on a material tray on the movable carrying platform or loading the materials on the movable carrying platform onto the material tray; and the second robot is used for loading the materials conveyed by the movable loading platform or sequentially placing the materials in the carriage on the movable loading platform for unloading. According to the utility model, the loading and unloading efficiency of the container is improved, and the occupied space in loading and unloading operation is saved.

Description

Technical Field

[0001] This utility model relates to logistics robots, specifically to a loading and unloading system based on a shuttle mobile cargo platform. Background Technology

[0002] A robot is an intelligent device equipped with sensors, lenses, and electro-optical systems that can quickly sort and move goods.

[0003] More and more visual and force sensors will be used in robots, making them increasingly intelligent. With advancements in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled unidirectionally to storing and applying their own data, gradually becoming information-based.

[0004] In order to expand the application scenarios and scope of robots, existing technologies have created mobile robots by installing them on mobile bases, thereby enabling the robots to move and perform functions such as mobile depalletizing and mobile picking.

[0005] Container loading is a core component of warehousing and factory logistics, and its level of automation and efficiency are crucial to the overall efficiency of factory and warehouse operations. Mobile robots are gradually replacing manual labor in loading containers into smart factories. Improving loading efficiency is a key aspect of enhancing warehousing and logistics efficiency. Utility Model Content

[0006] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a loading and unloading system based on a shuttle mobile cargo platform.

[0007] The loading and unloading system based on a shuttle mobile cargo platform provided by this utility model includes: a first robot, a mobile cargo platform, and a second robot;

[0008] A mobile cargo platform is used to move between the first robot and the second robot to transfer materials between the working range of the first robot and the working range of the second robot.

[0009] The first robot is used to place materials to be unloaded from the material pallet onto the mobile loading platform or to load materials from the mobile loading platform onto the material pallet.

[0010] The second robot is used to load materials transported from the mobile platform onto a vehicle or to place materials from inside a vehicle onto the mobile platform for unloading.

[0011] Preferably, the mobile cargo platform is provided with a cargo-carrying flat plate on its upper side;

[0012] The loading plate is used for placing the material.

[0013] Preferably, the mobile loading platform is also used as a material rack, which carries the material to transfer the material between the working range of the second robot and the working range of the first robot.

[0014] Preferably, the mobile loading platform is also used to move to the underside of the material pallet, thereby dragging away the material pallet that has been unloaded, and to drag the material pallet loaded with materials to the working area of ​​the first robot.

[0015] Preferably, the number of the mobile cargo platforms is multiple;

[0016] During loading, when the materials on a mobile loading platform are stacked into the truck by the second robot, the mobile loading platform is controlled to start moving towards the first robot, while the other mobile loading platform is controlled to move into the working range of the second robot.

[0017] Once the first robot places materials on a mobile platform, it controls the platform to move toward the second robot, while simultaneously controlling another mobile platform to move into the working range of the first robot.

[0018] Preferably, the number of the mobile cargo platforms is multiple;

[0019] During unloading, once the second robot places materials on a mobile platform, the mobile platform is controlled to begin moving toward the second robot, while another mobile platform is controlled to move into the working range of the second robot.

[0020] When the material on a mobile platform is stacked onto a material pallet by the first robot, the mobile platform is controlled to start moving toward the second robot, while the other mobile platform is controlled to move into the working range of the first robot.

[0021] Preferably, the first robot includes:

[0022] The first movable base is used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0023] The first robotic arm, mounted on the first mobile base, is used to grab materials from the material tray and place them on the mobile platform or to stack materials from the mobile platform onto the material tray.

[0024] The first visual perception module is located at the end of the first robotic arm and is used to collect image information of the material tray or the material on the mobile loading platform.

[0025] Preferably, the second robot includes:

[0026] The second movable base is used to move to any position or pause at any position according to the received control command and to determine the orientation angle.

[0027] The second robotic arm, mounted on the second mobile base, is used to continuously grab and stack materials on the mobile loading platform or to place materials in the carriage sequentially onto the mobile loading platform.

[0028] A camera support rod is mounted on the rotating seat of the second robotic arm to rotate with the rotating seat. At least a second vision perception module is provided on the camera support rod. The second vision perception module includes a 2D camera and a lidar. The 2D camera and the lidar are used to cooperate to acquire image information of the material and the stack of boxes formed by the material.

[0029] Preferably, the end of the second robotic arm is provided with a bottom-supporting clamp, the bottom-supporting clamp comprising:

[0030] Fixture body;

[0031] A suction cup bracket, on which the suction cup array is provided, the suction cup array being used to pick up the target box, the suction cup bracket being disposed on the clamp body and being able to move along a first direction;

[0032] The bottom support mechanism is located on the clamp body and can move in a second direction opposite to the first direction;

[0033] The driving module is connected to the suction cup bracket and the bottom support mechanism through a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom support mechanism to move in opposite directions simultaneously.

[0034] Preferably, the second robotic arm includes a robotic arm body, a fixed base, and a rotating base;

[0035] The fixed base is mounted on the movable base, the rotating base is rotatably connected to the fixed base, and the lower end of the robotic arm body is connected to the rotating base, enabling it to rotate along its axial direction on the rotating base.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] In this invention, during loading, a first robot places the materials to be unloaded from the material pallet onto the mobile loading platform. During unloading, the materials on the mobile loading platform are loaded onto the material pallet. The mobile loading platform moves between the first robot and the second robot to transfer materials between the working ranges of the second robot and the first robot. The second robot sequentially loads materials from the mobile loading platform onto the vehicle or sequentially stacks materials from the vehicle compartment onto the mobile loading platform for unloading, thereby improving the efficiency of loading and unloading containers and saving space occupied during loading and unloading operations. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of this utility model will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0039] Figure 1 This is a schematic diagram of the initial state of the loading and unloading system in an embodiment of this utility model.

[0040] Figure 2 This is a schematic diagram showing the progress of the loading and unloading operation of the loading and unloading system in this embodiment of the present invention.

[0041] Figure 3 This is a schematic diagram of the loading and unloading safety mechanism of the loading and unloading system in this embodiment of the utility model;

[0042] Figure 4 This is a schematic diagram of the unloading operation status of the loading and unloading system in this embodiment of the utility model;

[0043] Figure 5 This is a schematic diagram of the structure of the second robot in this embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the structure of the first robot in this embodiment of the present invention;

[0045] Figure 7 This is a schematic diagram of the bottom support clamp in an embodiment of the present utility model;

[0046] Figure 8 This is a schematic diagram of the working state of the bottom support clamp in the embodiment of this utility model;

[0047] Figure 9 This is a schematic diagram of the camera support rod in an embodiment of the present invention; and

[0048] Figure 10 This is a schematic diagram of the control system of the loading and unloading vehicle system based on the shuttle mobile cargo platform in this embodiment of the present invention.

[0049] In the picture:

[0050] 1 is the first robot; 101 is the first mobile base; 102 is the first robotic arm; 103 is the gripper; 2 is the second robot; 201 is the second mobile base; 2031 is the bottom support mechanism; 2032 is the suction cup array; 2033 is the suction cup; 2034 is the conveyor belt; 202 is the second robotic arm; 2021 is the fixed seat; 2022 is the rotating seat; 203 is the gripper; 204 is the camera support rod; 2041 is the bracket motor; 2042 is the hollow shaft rotating platform; 2043 is the support column; 2044 is the first visual perception module; 3 is the mobile cargo platform; 4 is the carriage; 5 is the material pallet; 6 is the second safety radar; 7 is the first safety radar; 8 is the first support rod; 9 is the second support rod; 10 is the third safety radar; 11 is the safety fence; 12 is the control and management system. Detailed Implementation

[0051] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0052] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the utility model described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0053] The technical solution of this utility model will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0054] The technical solutions of this utility model and this application solve the above-mentioned technical problems in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this utility model will now be described with reference to the accompanying drawings.

[0055] Figure 1 This is a schematic diagram of the initial state of loading and unloading operations of the loading and unloading system based on the shuttle mobile cargo platform in an embodiment of this utility model. Figure 1 As shown, the loading and unloading system based on a shuttle mobile loading platform provided by this utility model includes: a first robot 1, a material pallet 5, a mobile loading platform 3, and a second robot 2.

[0056] The mobile loading platform 3 is used to move between the first robot 1 and the second robot 2 to transfer materials between the working range of the first robot 1 and the working range of the second robot 2.

[0057] The first robot 1 is used to place the materials to be unloaded from the material pallet 6 onto the mobile loading platform 3;

[0058] The second robot 2 is used to load materials transported from the mobile loading platform 3 onto vehicles.

[0059] In this embodiment of the invention, the material is the target box.

[0060] The mobile cargo platform 3 is equipped with a cargo-carrying flat plate on its upper side;

[0061] The loading plate is used for placing the material.

[0062] In a variation of this utility model, the mobile loading platform 3 is also used as a material rack, which carries the material to transfer the material between the working range of the second robot 2 and the working range of the first robot 1.

[0063] The mobile loading platform 3 is also used to move to the underside of the material pallet 6, thereby dragging away the material pallet 6 that has been unloaded, and to drag the material pallet 6 loaded with materials to the working area of ​​the first robot 1.

[0064] Figure 2 This is a schematic diagram illustrating the progress of the loading and unloading operation of the loading and unloading system in this embodiment of the present invention, as shown below. Figure 2 As shown, there are multiple mobile cargo platforms 3;

[0065] During loading, when the material on a mobile loading platform 3 is loaded into the truck by the second robot 2, the mobile loading platform 3 is controlled to start moving towards the first robot 1, and at the same time, the other mobile loading platform 3 is controlled to move into the working range of the second robot 2.

[0066] Once the first robot 1 places materials on a mobile platform 3, the mobile platform 3 is controlled to begin moving toward the second robot 2, while the other mobile platform 3 is controlled to move into the working range of the first robot 1.

[0067] During unloading, after the second robot 2 places materials on a mobile platform 3, the mobile platform 3 is controlled to start moving towards the second robot 1, while the other mobile platform 3 is controlled to move into the working range of the second robot 2.

[0068] When the material on a mobile platform 3 is stacked onto a material tray by the first robot 1, the mobile platform 3 is controlled to start moving towards the second robot 2, while the other mobile platform 3 is controlled to move into the working range of the first robot 1.

[0069] Figure 3 This is a schematic diagram illustrating the safety mechanism for loading operations in the loading and unloading system based on a shuttle mobile cargo platform, as described in this utility model embodiment. Figure 3 The front sides of the carriage shown are provided with a first support rod 8 and a second support rod 9;

[0070] The first support rod 8 is provided with a first safety radar 7 at its end, and the second support rod 9 is provided with a second safety radar 6 at its end;

[0071] The fields of view of the first support rod 8, the second support rod 9, the first safety radar 7, and the second safety radar 6 constitute the safe operating range of the second robot.

[0072] When the first safety radar 7 and the second safety radar 6 detect a moving object entering the safe working area, the control management system 12 controls the second robotic arm of the second robot 2 to reduce its speed or stop moving.

[0073] The first support rod 8 and the second support rod 9 are hinged to the front sides of the carriage. When the safe working area needs to be formed, the first support rod 8 and the second support rod 9 extend to be perpendicular to the sides of the carriage. When the safe working area does not need to be formed, the first support rod 8 and the second support rod 9 retract to fit against the sides of the carriage.

[0074] In this embodiment of the utility model, a safety fence 11 is provided on at least one side of the material pallet; the safety fence 11 is used to isolate the safe operating range of the first robot 1.

[0075] If a safety fence 11 is provided between adjacent material pallets 6, it can prevent the first robot 1 from colliding with the materials on the adjacent material pallet 6 or with people near the empty material pallet 6 when it is picking up or putting down materials on one material pallet 6, and can also isolate the empty material pallet 6 outside the working range of the first robot 1.

[0076] Figure 4 This is a schematic diagram illustrating the unloading operation of the loading and unloading system based on a shuttle mobile cargo platform in an embodiment of this utility model. Figure 4 As shown, the loading and unloading system based on a shuttle mobile loading platform provided by this utility model includes: a first robot 1, a material pallet 5, a mobile loading platform 3, and a second robot 2.

[0077] The mobile loading platform 3 is used to move between the first robot 1 and the second robot 2 to transfer materials between the working range of the first robot 1 and the working range of the second robot 2.

[0078] The first robot 1 is used to load materials from the mobile loading platform 3 onto the material tray 6;

[0079] The second robot 2 is used to place the materials in the carriage sequentially onto the mobile loading platform 3 for unloading operations.

[0080] The material is the target container.

[0081] Figure 8 This is a schematic diagram of the structure of the first robot in an embodiment of the present invention, as shown below. Figure 8 As shown, the first robot 1 includes:

[0082] The first movable base 101 is used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0083] The first robotic arm 102 is mounted on the first mobile base 101 and is used to continuously grab materials from the material tray 5 and place them on the mobile loading platform 3 or to stack materials from the mobile loading platform 3 onto the material tray 5.

[0084] The first visual perception module is located at the end of the first robotic arm 102 and is used to collect image information of the materials on the material tray 5 or the mobile loading platform 3.

[0085] Figure 5 This is a schematic diagram of the structure of the second robot in an embodiment of the present invention, as shown below. Figure 5 As shown, in this embodiment of the present invention, the second robot 2 includes:

[0086] The second mobile base 201 is used to move to any position or pause at any position according to the received control command and to determine the orientation angle.

[0087] The second robotic arm 202 is mounted on the second mobile base 201 and is used to continuously grab and stack materials on the mobile loading platform 3 or to place materials in the carriage onto the mobile loading platform 3 in sequence.

[0088] A camera support rod 204 is mounted on the rotating seat of the second robotic arm 202 to rotate with the rotating seat. At least a second visual perception module is mounted on the camera support rod. The second visual perception module includes a 2D camera and a lidar. The 2D camera and the lidar are used to cooperate to acquire image information of the material and the stack of boxes formed by the material.

[0089] The end of the second robotic arm 202 is provided with a clamp 203, which can be a bottom-supporting clamp; Figure 7 This is a schematic diagram of the bottom support clamp in an embodiment of the present invention. Figure 8 This is a schematic diagram of the working state of the bottom support clamp in an embodiment of this utility model, as shown below. Figure 7 , Figure 8 As shown, the bottom support clamp includes:

[0090] Fixture body;

[0091] A suction cup bracket is provided with a suction cup array 2032, which is used to pick up the target box. The suction cup bracket is located on one side of the clamp body and can move along a first direction. The suction cup array 2032 is provided with a plurality of suction cups 2033 arranged in a matrix.

[0092] The bottom support mechanism 2031 is located on the clamp body and is capable of moving in a second direction opposite to the first direction;

[0093] The driving module is connected to the suction cup bracket and the bottom support mechanism 2031 through a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom support mechanism 2031 to move in opposite directions at the same time.

[0094] In this embodiment of the utility model, the driving transmission mechanism includes: a driving wheel, a driven wheel, and a conveyor belt 2034;

[0095] The drive wheel is mounted on the output shaft of the drive module;

[0096] The driven wheel is disposed at the front end of the fixture body; the driving wheel is connected to the driven wheel via the conveyor belt;

[0097] The suction cup bracket is connected to one side of the conveyor belt 2034, and the bottom support mechanism 2031 is connected to the other side of the conveyor belt 2034, thereby realizing the reverse linkage between the suction cup bracket and the bottom support mechanism 2031.

[0098] In this embodiment of the utility model, the drive module is connected to the drive wheel via a reducer to drive the drive wheel to rotate; the driven wheel is located in the middle area of ​​the connecting crossbar at the front end of the clamp body, and the driven wheel is connected to the connecting crossbar via a synchronous wheel mounting plate. The synchronous wheel mounting plate is provided with four support rods, and the top of the support rods is provided with a synchronous wheel cover plate. The synchronous wheel cover plate and the four support rods form a protective cover for the driven wheel.

[0099] In various embodiments of this utility model, the second robotic arm 202 includes a robotic arm body, a fixed base 2021, and a rotating base 2022;

[0100] The fixed base 2021 is disposed on the movable base 200, the rotating base 2022 is rotatably connected to the fixed base 2021, and the lower end of the robotic arm body is connected to the rotating base 2022, which can rotate along its axial direction driven by the rotating base 2022.

[0101] Figure 9 This is a schematic diagram of the camera support rod in an embodiment of the present invention, as shown below. Figure 9 As shown, the camera support rod 204 includes a base and a support column 2043;

[0102] The base is connected to the rotating seat 2022 of the second robotic arm 202 via a mounting base plate 305;

[0103] The support column 2043 is disposed on the base, and the base is used to drive the support column 2043 to rotate;

[0104] The first visual perception module 2044 is disposed at the top of the support column 2043 so as to rotate with the support column 2043.

[0105] The base includes a hollow shaft rotary platform 2042 and a support motor 2041;

[0106] The power output end of the bracket motor 2041 is connected to the motor connection port 2042 of the hollow shaft rotating platform;

[0107] The support column 2043 is disposed on the rotating platform of the hollow shaft rotating platform 2042;

[0108] The bracket motor 2041 is used to drive the support column 2043 to rotate via the hollow shaft rotating platform 2042.

[0109] In various embodiments of this utility model, the support column 2043 is driven to rotate by the bracket motor 2041, so that when the rotating seat 2022 rotates in one direction, the support column 2043 can be driven to rotate in another direction, thus maintaining the acquisition of image information of the target box or the stack of boxes formed by the target box on the front side of the movable base 200.

[0110] The first visual perception module 2044 includes a 2D camera, a LiDAR, and a processor unit;

[0111] The 2D camera is used to acquire RGB images of the target box or the stack of boxes formed by the target box;

[0112] The lidar is used to acquire point cloud image information of the target box or the stack of boxes formed by the target box.

[0113] The processor unit is used to acquire RGB image and point cloud image information, detect the region of each target box on the RGB image through a pre-set deep learning model, project the RGB image of each target box position into the point cloud image, determine the pose of the target box according to the point cloud corresponding to each target box, and send the pose of each target box to the robotic arm so that the second robotic arm 202 performs a grasping action on the target box.

[0114] The lidar includes a first lidar and a second lidar;

[0115] The first and second lidars are symmetrically arranged back-to-back on a bracket;

[0116] The 2D camera is equipped with a first wide-angle lens;

[0117] The 2D camera is positioned between the first lidar and the second lidar, or above the junction of the first lidar and the second lidar.

[0118] Figure 10 This is a schematic diagram of the control system of the loading and unloading system based on the shuttle mobile cargo platform in an embodiment of this utility model, as shown below. Figure 10As shown, the first robot 1, the second robot 2, the mobile cargo platform 3, and the carriage 3 are wirelessly connected to the control and management system 12 via a network to achieve the overall orderly operation of the first robot 1, the second robot 2, the mobile cargo platform 3, and the carriage 3.

[0119] In this embodiment of the invention, a first robot places materials to be unloaded from a material pallet onto a mobile loading platform and loads materials from the mobile loading platform onto the material pallet. The mobile loading platform moves between the first robot and a second robot to transfer materials between the working ranges of the second robot and the first robot. The second robot sequentially loads materials from the mobile loading platform onto a vehicle or sequentially unloads materials from the vehicle compartment onto the mobile loading platform, thereby improving the efficiency of loading and unloading containers and saving space occupied during loading and unloading operations.

[0120] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0121] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A loading and unloading system based on a shuttle mobile cargo platform, characterized in that, include: The first robot, the mobile cargo platform, and the second robot; A mobile cargo platform is used to move between the first robot and the second robot to transfer materials between the working range of the first robot and the working range of the second robot. The first robot is used to place materials to be unloaded from the material pallet onto the mobile loading platform or to load materials from the mobile loading platform onto the material pallet. The second robot is used to load materials transported from the mobile platform onto a vehicle or to place materials from inside a vehicle onto the mobile platform for unloading.

2. The loading and unloading system based on a shuttle mobile cargo platform according to claim 1, characterized in that, The mobile cargo platform is equipped with a cargo-carrying flat plate on its upper side; The loading plate is used for placing the material.

3. The loading and unloading system based on a shuttle mobile cargo platform according to claim 1, characterized in that, The mobile cargo platform is also used to transport material racks, which are used to carry the materials to transfer the materials between the working range of the second robot and the working range of the first robot.

4. The loading and unloading system based on a shuttle mobile cargo platform according to claim 1, characterized in that, The mobile loading platform is also used to move to the underside of the material pallet, thereby dragging away the material pallet that has been unloaded, and to drag the material pallet loaded with materials to the working area of ​​the first robot.

5. The loading and unloading system based on a shuttle mobile cargo platform according to claim 1, characterized in that, The number of the mobile cargo platforms is multiple; During loading, when the materials on a mobile loading platform are stacked into the truck by the second robot, the mobile loading platform is controlled to move toward the first robot, and at the same time, another mobile loading platform is controlled to move into the working range of the second robot. Once the first robot places materials on a mobile platform, it controls the mobile platform to move toward the second robot, while simultaneously controlling another mobile platform to move into the working range of the first robot.

6. The loading and unloading system based on a shuttle mobile cargo platform according to claim 1, characterized in that, The number of the mobile cargo platforms is multiple; During unloading, once the second robot places materials on a mobile platform, the mobile platform is controlled to begin moving toward the second robot, while another mobile platform is controlled to move into the working range of the second robot. When the material on a mobile platform is stacked onto a material pallet by the first robot, the mobile platform is controlled to start moving toward the second robot, while the other mobile platform is controlled to move into the working range of the first robot.

7. The loading and unloading system based on a shuttle mobile cargo platform according to claim 1, characterized in that, The first robot includes: The first movable base is used to move to any position or pause at any position and determine the orientation angle according to the received control command; The first robotic arm, mounted on the first mobile base, is used to grab materials from the material tray and place them on the mobile platform or to stack materials from the mobile platform onto the material tray. The first visual perception module is located at the end of the first robotic arm and is used to collect image information of the material tray or the material on the mobile loading platform.

8. The loading and unloading system based on a shuttle mobile cargo platform according to claim 1, characterized in that, The second robot includes: The second movable base is used to move to any position or pause at any position according to the received control command and to determine the orientation angle. The second robotic arm, mounted on the second mobile base, is used to continuously grab and stack materials on the mobile loading platform or to place materials in the carriage onto the mobile loading platform in sequence. A camera support rod is mounted on the rotating seat of the second robotic arm to rotate with the rotating seat. At least a second vision perception module is provided on the camera support rod. The second vision perception module includes a 2D camera and a lidar. The 2D camera and the lidar are used to cooperate to acquire image information of the material and the stack of boxes formed by the material.

9. The loading and unloading system based on a shuttle mobile cargo platform according to claim 8, characterized in that, The second robotic arm is equipped with a bottom-supporting clamp at its end, the bottom-supporting clamp comprising: Fixture body; A suction cup bracket is provided with a suction cup array, which is used to pick up the target box. The suction cup bracket is disposed on the clamp body and can move along a first direction. The bottom support mechanism, located on the clamp body, is capable of moving in a second direction opposite to the first direction; The driving module is connected to the suction cup bracket and the bottom support mechanism through a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom support mechanism to move in opposite directions simultaneously.

10. The loading and unloading system based on a shuttle mobile cargo platform according to claim 8, characterized in that, The second robotic arm includes a robotic arm body, a fixed base, and a rotating base; The fixed base is mounted on the movable base, the rotating base is rotatably connected to the fixed base, and the lower end of the robotic arm body is connected to the rotating base, enabling it to rotate along its axial direction on the rotating base.

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