JP3353966B2 - Refueling robot device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a refueling robot device, and more particularly to a refueling robot device configured to automatically insert a refueling nozzle into a refueling port of an automobile by a refueling robot.

[0002]

2. Description of the Related Art For example, in a refueling station, a refueling worker inserts a refueling nozzle into a refueling port of an automobile to perform refueling. However, it is necessary to rationalize by installing a refueling robot device on behalf of the refueling worker. Is being considered.
For this reason, various refueling robot devices have been conventionally developed. For example, it is considered that a refueling nozzle is inserted into a refueling port of an automobile to perform refueling using an articulated robot.

[0003] As this kind of refueling robot apparatus, an imaging camera captures an image of a refueling port of an automobile, detects a position of the refueling port of the automobile, and operates an arm of the refueling robot based on the refueling port position data. A refueling nozzle provided at the tip is inserted into the refueling port. Then, the main valve of the refueling nozzle is opened to start refueling, and after refueling is completed, the refueling nozzle is pulled out from the refueling port to complete the refueling operation.

[0004]

In the refueling robot apparatus described above, the position of the fuel filler is detected by using the imaging camera. However, in order to improve the position detection accuracy by the imaging camera, the stop position of the vehicle is regulated. It is necessary to stop the vehicle so that the side of the vehicle body is parallel to the island where the refueling robot is installed, and to stop the vehicle so that the refueling port is located in front of the refueling robot. is there.

[0005] However, actually, the stop position of the vehicle is not fixed by the driver, and the vehicle may be stopped obliquely with respect to the refueling robot. In this case, the refueling port is imaged in an elliptical shape by the imaging camera, so that a position detection error easily occurs, and the refueling robot is inserted so that the refueling nozzle is inserted from the front of the refueling port with respect to the position of the refueling port. Since the arm must be moved in the left-right direction, the refueling nozzle may collide with the vehicle body and damage the paint.

For this reason, conventionally, it has been necessary to provide a worker for guiding the stop position of the vehicle, a guide device for stopping the vehicle at a predetermined stop position, and the like.

Accordingly, an object of the present invention is to provide a refueling robot apparatus which solves the above-mentioned problems.

[0008]

SUMMARY OF THE INVENTION The present invention relates to a refueling robot having a refueling nozzle provided at the tip of an arm, an image sensor for imaging a refueling port of an automobile and detecting the position of the refueling port, and a refueling robot. and the tire position detecting means for detecting a tire position of the motor vehicle, on the basis of the tire position data detected by the tire position detecting means, wherein
From the stop position and inclination of the car with respect to the refueling robot,
Stopping position data creating means for creating stop position data, and refueling port position data detected by the image sensor based on the stopping position and inclination of the vehicle included in the stopping position data created by the stopping position data creating means. Correction means for correcting the position data of the fuel supply port with respect to the fuel supply robot.

[0009]

According to the present invention, the tire position detecting means detects the tire position of the vehicle relative to the refueling robot, and based on the tire position data, the stopping position of the vehicle relative to the refueling robot and the stopping position comprising the inclination. know exactly the vehicle body inclination and the distance to the correct stopping position and fueling robot car by creating a data, the stop position data created by the stop position data creating means with the fuel supply port position data detected by the image sensor Own
By correcting the position data of the refueling port with respect to the refueling robot on the basis of the stopping position and the inclination of the moving vehicle, it becomes possible to insert the refueling nozzle into the refueling port accurately without colliding with the automobile to refuel.

[0010]

1 and 2 show a first embodiment of a refueling robot apparatus according to the present invention.

In both figures, a refueling robot apparatus 1 includes a refueling robot 3 and a refueling port detecting unit 4 on an island 2 of a refueling station.
And a control unit 5, and a tire position detecting unit 6 is laid on the ground of the gas station.

The refueling robot 3 is an articulated robot having six degrees of freedom and comprises a turning base 8, a first arm 9, a second arm 10, and a wrist 11 on a base 7 fixed on the island 2. . And, at the tip of the second arm 10,
A refueling nozzle 12 supported by a wrist 11 is mounted.

The filler opening detecting section 4 comprises a manipulator 14 having five degrees of freedom and an image sensor 15 supported at the tip of the manipulator 14. The image sensor 15 operates the manipulator 14 to accurately detect the position of the fuel filler 24 as described later.
4 and an image is taken. Then, filler opening position data is created based on the image captured by the image sensor 15.

The control unit 5 is a control circuit 16 for controlling the operation of the manipulator 14 of the refueling robot 3 and the refueling port detecting unit 4, a memory 17 for storing various data, a tire position detecting unit 6 and an image sensor 15. It has an arithmetic circuit 18 for calculating the position of the filler port based on the data. The memory 17 stores position data in the vehicle body coordinate system from the center O of the automobile 20 to the center E of the fuel filler 24 as described later.

A refueling start button 19 operated by the driver is provided on the upper surface of the control unit 5. Further, a refueling hose 13 connected to the refueling nozzle 12 is guided into the casing of the control unit 5, and a pipe (not shown) in which a pump and a flow meter are disposed.
The control unit 5 is also connected to the underground tank via a pump, and also controls the driving of the pump and calculates the amount of refueling based on the measurement of the flow meter.

The tire position detecting section 6 is provided with tires 20a to 20a-2 of the automobile 20 stopped before the refueling robot 3 for refueling.
In order to detect the position of 0d, it is formed in the shape of a sheet and laid at the place where the left and right front and rear tires 20a to 20d of the automobile 20 stop, and the area A, that is, the tire position closer to the island 2 (shown in FIG. A first sensor unit 21 for detecting the right tire position in the traveling direction of the car 20).
And a second sensor unit 22 for detecting a tire position on the region B, that is, a tire position farther from the island 2 (a tire position on the left side in the traveling direction of the vehicle 20 shown in FIG. 1). In a region C between the island 2 and the first sensor unit 21, a failure detection sensor unit 23 for detecting that there is no person or an unnecessary obstacle between the refueling robot 3 and the automobile 20 is provided. Has been laid.

The first and second sensor sections 21 and 22
In the failure detection sensor unit 23, for example, piezoelectric elements that output an electric signal when pressurized are arranged at regular intervals in the front-back, left-right direction (X, Y direction). Therefore, the first and second
The position of each of the tires 20a to 20d can be measured by detecting at which position of the piezoelectric element disposed in the sensor unit 21 or 22 the signal is output. Then, by obtaining a line connecting the midpoints of the tires 20a to 20d, the stop position and inclination (inclination angle) of the automobile 20 with respect to the refueling robot 3 are automatically detected.

Further, from the output from the failure detection sensor unit 23, it is possible to confirm that there is no obstacle between the refueling robot 3 and the automobile 20 that hinders the operation of the refueling robot 3, and that the refueling robot 3 is operated by the driver or the driver. Collision with an obstacle or the like is prevented, and the fuel can be supplied more safely.

Here, a method of detecting the positions of the tires 20a to 20d of the automobile 20 by the tire position detecting section 6 will be described.

The sensor units 21 and 21 provided in the A and B areas
2 is registered as a work coordinate system in which each piezoelectric element has the origin at the installation position of the filler opening detection unit 4, and the tires 20a to 20a are registered.
The position data of (X, Y) of the portion pressurized by 20d is output. That is, as shown in FIGS.
When 0 stops at the sensor units 21 and 22, the tires 20a to 20a
Only the piezoelectric element corresponding to the ground plane H of 20d is pressurized and outputs a detection signal. Then, the arithmetic circuit 18
For each tire 20a~20d seek midpoint O ₁ ~ O ₄ at the ground surface M ₁ ~M ₄ contours. For example, tire 20
If the case of a is described as an example, the maximum and minimum points in the X direction and the maximum and minimum points O ₁₁ , O _{12 and} O in the Y direction in the range corresponding to the ground contact surface M ₁ of the tire 20 a.
_13, obtains a middle point O ₁ than O _14.

In the same manner as described above, as shown in FIG. 5, the midpoints O ₂ to M ₄ of the ground contact surfaces M _{2 to} M ₄ of the respective tires 20b to 20d.
After obtaining O ₄ , midpoints O _{1 to} O at the center of the car 20
₄ of the center _{O (X 11, Y 11,} Z 11) obtained. In this case, since the position data (X _, Y) output from the first and second sensor units 21 and 22 are two-dimensional, Z ₁₁ = 0. Thereby, the center of the stop position of the automobile 20 can be known.

Also, as shown in FIG.
8 is a calculated midpoint O _{1 of the} rear tires 20a and 20d.
From (X _01, Y ₀₁ ) and O ₄ (X _04, Y ₀₄ ), the inclination θ _Z1 of the rear tire around the Z axis is determined by the following equation (1). The inclination θ _Z1 is the inclination of the stop position of the automobile 20 with respect to the extending direction of the refueling robot 3 and the island 2.

Θ_Z1= Tan^-1｛(Y₀₄-Y₀₁) / (X₀₄-X₀₁(1) Further, the arithmetic circuit 18 is stored in the memory 17 in advance.
From the center O of the car 20
Position data (x _11,y
_11,z₁₁) Is read. As shown in FIGS.
L from the oil port 24 in the body coordinate system x-axis direction (necessary for detection
The distance between points is F, and the seat of F in the body coordinate system
Mark (x_1,y_1,z₁) To convert to the working coordinate system
T₁Then

[0024]

(Equation 1)

Then, the arithmetic circuit 18 calculates the above (2)
From equation (3), the coordinates of F expressed in the working coordinate system (X _1, Y
_1, Z ₁ ) is calculated.

Next, the coordinate data (X _1, Y _1, Z ₁ ) of the work coordinate system calculated as described above and the inclination θ _{Z1 of the} vehicle 20 are output to the control circuit 16. The control circuit 16 operates the manipulator 14 so that the image sensor 15 supported at the tip of the manipulator 14 (X _1, Y
_1, Z ₁ ) to move around the Z axis at an angle θ _Z1 . As a result, even if the stop position of the automobile 20 is inclined with respect to the extending direction (Y-axis direction) of the refueling robot 3 and the island 2, the image sensor 15 supported at the tip of the manipulator 14 At a position F away from the center E of the refueling port 24 by a distance L so as to be perpendicular to the stop position of the automobile 20 and parallel to a plane (site surface) defined by the X axis and the Y axis. Will be located.

Then, as shown in FIG.
In this state, while receiving an image related to the opening shape of the fuel supply port 24 from the image sensor 15 and comparing the image with a predetermined reference image (for example, a circle) related to the opening shape of the fuel supply port 24, the reference image The position data in the work coordinate system of the manipulator 14 obtained from the image sensor 15 is output to the control circuit 16. Thereby, the manipulator 14
The image sensor 15 supported at the tip is adjusted and moved to a position where the same image as the reference image is obtained.

Thereafter, the arithmetic circuit 18 calculates the position data of the adjusted and moved manipulator 14 in the working coordinate system,
Based on the position data (x _1, y _1, z ₁ ) of the center E of the refueling port 24 in the vehicle body coordinate system calculated by the arithmetic circuit 18 and the position data obtained by converting the position data into the work coordinate system of the manipulator 14, A movement locus as position data in the work coordinate system of the manipulator 14 for moving the manipulator 14 from the standby position to the center E of the refueling port 24 is calculated, and this is further converted into position data in the work coordinate system of the refueling robot 3 to control the control circuit. 16 is output.

Thus, the control circuit 16 drives the manipulator 14 to return to the original standby position, and based on the movement locus of the refueling robot 3 in the work coordinate system whose position data has been converted, the movement of the refueling robot 3 That is, the movement trajectory of the refueling nozzle 12 is corrected to perform the refueling operation.

For example, when the driver enters the area C, or when a load or the like is placed in the area C, the sensor unit 23 immediately detects this. And the control circuit 16
Stops the operation of the refueling robot 3 and the manipulator 14 when there is a detection signal from the sensor unit 23.
Then, when the driver leaves or the luggage is removed from the area C, the refueling robot 3 and the manipulator 14 are operated.

FIG. 9 shows a flowchart executed by the control circuit 16 together with the operation of the refueling robot device 1.

First, when the vehicle 20 arrives at the gas station for refueling, the driver stops the vehicle 20 in front of the refueling robot 3 as shown in FIG. At this time, since the sensor portions 21 and 22 for detecting the tire position are laid on the ground, the driver stops the automobile 20 using this as a mark. In other words, the driver can use the tires 20 a to 20 a of the automobile 20.
The steering wheel is operated so that d stops on the sensor units 21 and 22.

However, the automobile 20 does not always stop in parallel with the island 2. For example, if the driver has little driving experience and is inexperienced in driving, or enters the vehicle from an oblique direction due to a narrow refueling station, the island 20 may not be stopped. There is a case where the vehicle stops at an angle with respect to 2.

Normally, the driver is informed that the vehicle 20 is substantially parallel to the island 2 and the refueling port 24 is
Stop so that it is in front of. And the driver
After opening the fuel lid 26 covering the fuel supply port 24, the fuel supply cap (not shown) of the fuel supply port 24 is removed, and then the fuel supply start button 19 is turned on.

In FIG. 9, in step S1 (hereinafter "step" is omitted), the control unit 5
It is checked whether or not 9 has been turned on. When the driver turns on the refueling start button 19, the process proceeds to S2, where the detection signals from the sensor units 21 and 22 are read.

In the next S3, as described above, the tires 20a to 20a-2 based on the detection signals from the sensor sections 21 and 22 are detected.
The coordinate data of the midpoints O _{1 to} O ₄ of 0d is calculated. Subsequently, the coordinate data of the center O of the automobile 20 (X11 _, Y11 _, Z
₁₁ ) is calculated (S4).

Further, in S5, the rear tires 20a, 20a
0d midpoint O₁(X₀₁, Y₀₁), O _Four(X₀₄, Y₀₄)
Ask. Then, the inclination θ about the Z axis from the coordinates of the rear wheel
_Z1Is calculated from the above equation (1) (S6).

[0038] Subsequently, the read position data of the vehicle body coordinate system from the memory 17 from the center O of the vehicle 20 to the center E of the fuel supply port _{24 (x 11, y 11,} z 11) (S7), of the vehicle body coordinate system The position data is converted into a work coordinate system (S8).

In the next step S9, the manipulator 14 is operated based on the coordinate data (X _1, Y _1, Z ₁ ) of the working coordinate system and the inclination θ _{Z1 of the} vehicle 20, and the image sensor 15 is set to (X _1, Y _1, Z ₁ ), the angle θ _{Z1 is} tilted around the Z axis. Then, in S10, the opening direction of the refueling port 24 is detected by the image sensor 15, and the movement trajectory of the refueling robot 3 to the refueling port 24, which is converted into position data in the work coordinate system of the refueling robot 3, is calculated.

When the movement locus of the refueling robot 3 up to the refueling port 24 is calculated in S10, the process proceeds to S11, and the image sensor 15 is returned to the original standby position. Then, the control circuit 16 corrects the movement of the refueling robot 3, that is, the movement trajectory of the refueling nozzle 12, based on the position data of the refueling port 24, and inserts the refueling nozzle 12 into the refueling port 24 (S12).

As described above, the tire position is detected, the fueling nozzle 12 is moved in accordance with the direction of the automobile 20, and the fueling nozzle 12 is accurately positioned based on the position data of the fueling port 24 detected by the image sensor 15. It can be inserted into the filler port 24.

In the next step S13, the pump provided in the pipeline communicating with the refueling nozzle 12 is started to start refueling. Then, in S14, when the refueling corresponding to the full tank refueling or the preset value is completed, the process proceeds to S15, in which the pump is stopped and the liquid supply to the refueling nozzle 12 is stopped.

Thereafter, in S16, the refueling robot 3 is operated so as to pull out the refueling nozzle 12 from the refueling port 24 to return to a standby state before refueling. Then, the driver fits a fuel filler cap (not shown) into the fuel filler port 24, closes the fuel lid 26, and starts the automobile 20.

When a detection signal is output from the sensor section 23 in the area C during the above-described series of processing operations, an interruption process is performed and the operations of the refueling robot 3 and the manipulator 14 are stopped. Then, when the driver leaves or the luggage is removed from the area C, the refueling robot 3 and the manipulator 14 are operated.

FIG. 10 shows a second embodiment of the present invention.

In the figure, the tire position detecting section 6
To detect the tire position of the rear wheel of the automobile 20
The sensor section 25 is provided. This sensor unit 25 is the sensor unit
As in the case of 21 and 22, the piezoelectric elements are moved in the X and Y directions at regular intervals.
The left and right rear wheels detect the stop position.
And outputs the signal. In the case of this embodiment, the fuel supply port 24
When detecting the position of the tire, the sensor unit 25 detects the tire center position.
Coordinates O as data _1,O_FourAnd around the Z axis of the car 20
Slope θ_Z3Is detected.

The coordinates O _1, O ₄ and the Z of the automobile 20
Except for detection of the inclination θ _Z3 around the axis, it is the same as the above-described first embodiment, and a description thereof will be omitted.

In the case of the present embodiment, the coordinates (X
_, Y). When the vehicle 20 stops in front of the refueling robot 3 for refueling, the ground contact surfaces M ₁ , M ₄ of the rear wheel tires 20a, 20d as shown in FIG.
Midpoints O _{1 and} O ₄ in the contour of are obtained.

Thereafter, as shown in FIG. 11 and FIG.
Midpoint O of right rear wheel₁(X_01,Y_01,Z ₀₁), O_Four(X_04,
Y_04,Z₀₄), The inclination θ around the Z axis_Z3Seeking
Confuse. This tilt θ about the Z axis_Z3Is calculated by the following equation (4).
Round.

Θ _Z3 = tan ^-1 {(Y ₀₄ −Y ₀₁ ) / (X ₀₄ −X ₀₁ )} (4) From the middle point O _{1 of the} right rear wheel registered in the database of the memory 17 to the center E of the fuel supply port 24 reads the position data of the vehicle body coordinate system _{(x 13, y 13, z} 13). here,
The vehicle body coordinate system is set to the center of the tire 20a closer to the filler port 24. Also, L from the refueling port 24 in the x-axis direction of the vehicle body coordinate system.
The distant point is defined as F, and the coordinates of F expressed in the working coordinate system are (X
_3, Y _3, Z ₃ ) and a matrix for converting the vehicle body coordinate system to the work coordinate system is T ₃ ,

[0051]

(Equation 2)

Then, the arithmetic circuit 18 calculates the above (5)
From equation (6), the coordinates of F expressed in the working coordinate system (X _3, Y
_3, Z ₃ ) is calculated.

Next, the coordinate data (X _3, Y _3, Z ₃ ) of the working coordinate system calculated as described above and the inclination θ _{Z3 of the} vehicle 20 are output to the control circuit 16. The control circuit 16 operates the manipulator 14 so that the image sensor 15 supported at the tip of the manipulator 14 (X _1, Y
_1, Z ₁ ) to move around the Z axis at an angle θ _Z1 . When the opening direction of the fueling port 24 is detected by the image sensor 15 and the movement trajectory of the fueling robot 3 to the fueling port 24 converted into the position data in the working coordinate system of the fueling robot 3 is calculated. The refueling robot 3 is operated to perform a refueling operation.

Thus, by detecting the positions of the left and right rear wheels, the coordinate data (X _3, Y _3, Z ₃ ) of the working coordinate system is obtained.
And the inclination θ _{Z3 of the} car 20 can be obtained,
Even if the positions of all the tires 20a to 20d are not detected, the stop position of the vehicle 20 and the position of the fuel supply port 24 with respect to the fueling robot 3 can be accurately detected as in the first embodiment. Therefore, the fueling nozzle 12 can be inserted into the fueling port 24 without causing the fueling nozzle 12 to collide with the body of the vehicle 20 irrespective of the stop position and the inclination of the vehicle 20.

In the above embodiment, the position of the tire is detected by the sensor unit in which the piezoelectric elements are arranged. However, the present invention is not limited to this. For example, a pressure sensor for detecting the pressing position of a tire other than the piezoelectric element Or a sensor unit configured to detect the temperature of the tire with a temperature sensor may be used.

[0056]

As described above, in the refueling robot apparatus according to the present invention, the tire position detecting means detects the tire position of the vehicle with respect to the refueling robot, and based on the tire position data, the stop position of the vehicle with respect to the refueling robot and
By creating the stop position data consisting of the inclination, the exact stop position of the vehicle and the inclination and distance of the vehicle body with respect to the refueling robot can be accurately understood, and the filler opening position data detected by the image sensor is created by the stop position data creation means. Stop position of the car which the stopped position data has
By correcting the position data of the fueling port with respect to the refueling robot based on the tilt and inclination , the fueling nozzle can be accurately inserted into the fueling port without causing collision with the automobile, and the fuel can be supplied.

[Brief description of the drawings]

FIG. 1 is a perspective view of a first embodiment of a refueling robot device according to the present invention.

FIG. 2 is a block diagram of a control unit.

FIG. 3 is a perspective view illustrating a sensor unit that detects a tire position.

FIG. 4 is a perspective view of a ground contact surface of a tire detected by a sensor unit.

FIG. 5 is a plan view showing the center of the vehicle obtained from the midpoint of each tire.

FIG. 6 is a perspective view showing a vehicle body coordinate system and a work coordinate system.

FIG. 7 is a plan view showing a vehicle body coordinate system and a work coordinate system.

FIG. 8 is a front view showing a vehicle body coordinate system and a work coordinate system.

FIG. 9 is a flowchart illustrating a process executed by a control circuit.

FIG. 10 is a perspective view of a second embodiment of the present invention.

FIG. 11 is a plan view showing a vehicle body coordinate system and a work coordinate system according to a second embodiment.

FIG. 12 is a front view showing a vehicle body coordinate system and a work coordinate system according to a second embodiment.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 refueling robot device 2 island 3 refueling robot 4 refueling port detecting unit 5 control unit 6 tire position detecting unit 12 refueling nozzle 14 manipulator 15 image sensor 16 control circuit 17 memory 18 arithmetic circuit 19 refueling start button 20 automobile 20a to 20d tire 21st 1 sensor unit 22 second sensor unit 23 failure detection sensor unit 24 oil filler

Claims (1)

(57) [Claims] A fueling robot having a fueling nozzle provided at an end of an arm; an image sensor for imaging a fueling port of the vehicle and detecting a position of the fueling port; and detecting a tire position of the vehicle with respect to the fueling robot. A tire position detecting unit, and stopping the vehicle with respect to the refueling robot based on the tire position data detected by the tire position detecting unit.
A stop position data creating means for creating stop position data consisting of a position and an inclination; and a stop position of an automobile having stop position data created by the stop position data creating means, the fuel filler position data detected by the image sensor. Correction means for correcting the position data of the refueling port with respect to the refueling robot on the basis of the inclination .