JPH04189799A - Hanging type oiling system - Google Patents

Abstract

PURPOSE:To expand a possible oiling area, and keep the height position of fuel service nozzles uniform easily by equipping a hose elevation control means which drive-controls a hose elevating motor in such a manner that a hose let-out quantity and rewinding quantity which are detected by an elevation quantity detecting means are adjusted to a hose elevation quantity. CONSTITUTION:Since a hose elevating motor 13 is driven based on an elevation pulse which is output from an elevation quantity detector 17 by an elevation control circuit 56, by a quantity which is smaller by an absolute value DELTAl than a guide-out quantity L of a hose 14, which is fed by an elevation quantity operation circuit 55, i.e., a reference guide-out quantity l, when oiling work start signal is input; a hose hanging position is lowered from a stand-by position A to an oiling position B. At the same time, a robot arm device 20 moves a guide member 24 at the leading end above the tip of a transmitting antenna 38 so that it is adjusted to positional coordinates (X1', Y1') which are fed by a robot arm moving position operation circuit 53. After a body to be detected 32 is placed in such a manner that the antenna 38 protrudes from the shadow of a vehicle body, a fuel service nozzle 15 is automatically positioned and lowered. The fuel service nozzle 15 is inserted in an oiling port, and the valve is opened to start an actual oiling.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention is directed to suspending the distal end side of a refueling hose having a refueling nozzle from the hose lifting port of a hose storage case that is installed at a high place at a refueling station and stores the refueling hose. During refueling work, the refueling hose stored in the hose storage case is let out and the refueling nozzle is lowered to refuel. During non-refueling work, the refueling hose that has been let out is stored in the hose storage case again and the refueling nozzle is opened. This invention relates to a suspended refueling system that is raised and on standby.

[Conventional technology]

In a conventional suspended oil supply system, the - side is connected to the tank, and the other side of the oil supply path is connected to the tank, and the pump and flow meter are installed on the other side.
The oil supply path is extended into a hose storage case installed at a high place at the gas station, and the other side of this oil supply path is connected to the base end of the oil supply hose stored by winding it around a hose reel inside the hose storage case. On the other hand, the distal end side of the refueling hose to which the refueling nozzle is connected is suspended from the hose opening of the hose storage case. By operating the refueling nozzle or the hand lift switch provided at the tip of the refueling hose, the hose can be moved to a predetermined standby position in the hose storage case at a height that does not interfere with the running of the vehicle, making it suitable for refueling work. Based on the operation of the lifting position detection switch, which detects whether the refueling nozzle is at the refueling position at a certain height by rotating the hose reel by a predetermined amount, the hose lifting motor that rotates the hose reel in the forward or reverse direction is driven and controlled. At the start of refueling work, it is lowered from the standby position to the refueling position to perform refueling, and when refueling work is finished, it is raised from the refueling position to the standby position so that it does not interfere with the exit or entry of refueling vehicles.

Furthermore, in the above-mentioned conventional suspended refueling system, the refueling nozzle lowered to the refueling position may not reach the refueling port depending on the parking position of the refueling vehicle, or the refueling nozzle lowered from the standby position to the refueling position may not reach the refueling port of the refueling vehicle. In order to prevent collisions, the refueling nozzle from the hose storage case, that is, the hanging point of the refueling hose, can be moved by pulling the refueling nozzle in the standby position or on the way down sideways. There is. Therefore, in the above-mentioned conventional suspension type refueling device, the hose storage case is formed into a horizontally long rectangular shape, and the hose elevating port is formed into a long hole along the longitudinal direction of the case. A dolly, into which the hose is inserted and which defines the suspension point of the refueling nozzle, is provided so as to be movable along the length of the hose opening, and the height of the refueling nozzle at the tip of the refueling hose is fixed regardless of the moving position of the dolly. Guide means are provided consisting of a linkage mechanism which maintains a uniform position.

Therefore, when refueling using the conventional suspended refueling device configured as described above, the worker guides the refueling vehicle to the refueling area below the hose storage case, and then lowers the handheld lift switch. to lower the refueling nozzle from the standby position to the refueling position, and pull the refueling nozzle laterally to prevent the descending refueling nozzle from colliding with the refueling vehicle and to lower the refueling nozzle to a position suitable for refueling work. , the suspension point of the refueling hose was moved relative to the hose storage case.

[Problem to be solved by the invention]

However, the conventional suspension type refueling device has the following problems.

First, the hose storage case is formed into a horizontally long rectangular shape, and the hose opening is made into a long hole so that the refueling hose can be inserted along this long hole and the trolley that defines the suspension point of the refueling nozzle can be moved. However, the refueling nozzle that has descended to the refueling position reaches the refueling position (the refueling area only changes from a circular shape to an oval shape, and there is no hope of expanding the refueling area in the horizontal direction perpendicular to the hose entrance.

Second, in order to expand the refueling area in the horizontal direction perpendicular to the hose entrance, the shape of the hose entrance must be changed from a simple long hole to a rectangular shape to increase the area of the hose entrance. First, when configured in this way, in order to define the hanging point of the refueling nozzle, the dolly that moves the hose elevating port must be attached to the hose storage case, regardless of the structure or the moving position of this dolly, so that the end of the refueling hose cannot be refueled. The link mechanism that keeps the nozzle at a uniform height is large-scale and complicated, and the hose storage case that stores it inside is also large and heavy, making it difficult to maintain the height of the filling station itself. We also need to strengthen the structure.

The present invention solves the above-mentioned problems of the prior art, and makes it possible to move the hanging point of the refueling nozzle over a wide range by using a refueling hose guide mechanism provided separately from the hose storage case at a high place in the refueling station, thereby increasing the refueling possible area. At the same time, the height position of the refueling nozzle at the end of the refueling hose can be easily maintained at a uniform level regardless of the moving position of the refueling nozzle's hanging point without the need to newly install a complicated mechanical mechanism. The purpose of the present invention is to provide a suspended refueling system that enables

[Means to solve the problem]

In order to achieve the above object, the configuration adopted by the present invention is as follows:
The - side is connected to the tank, and the other side is an oil supply path that extends into a hose storage case installed at a high place in the filling station via a pump and a flow meter, and the oil supply path is connected to a hose that is wound around a hose reel and stored in the hose storage case. , a refueling hose whose base end communicates with the other side of the oil supply path and whose distal end having a refueling nozzle is suspended from a hose lifting port of the hose storage case; and a refueling hose provided in the hose storage case, the hose a hose lifting motor that rotates a reel in forward and reverse directions to raise and lower the refueling nozzle; and a hose lifting motor that is provided in the hose storage case to detect the lifting height position of the refueling nozzle. A lifting amount detection means for detecting the amount of feeding or rewinding, and a hose guide section provided at a high place at a refueling station together with the hose storage case, through which the refueling hose is inserted and defining a hanging point of the refueling nozzle. A robot arm device consisting of a horizontally movable arm mechanism, and a moving position of the hose guide part of the robot arm device is set according to the position of the vehicle receiving refueling, and a standby position at a predetermined height and a refueling position are set. a setting/instruction means for instructing the raising/lowering of the refueling nozzle between the positions of the hose guide section set by the setting/instructing means for the raising/lowering height between the standby position and the refueling position; Hose lift amount calculation means that corrects the distance between the hose storage case and the hose lift opening and calculates the hose lift amount; and detection by the lift amount detection means based on the refueling nozzle lift instruction from the setting/instruction means. and a hose lifting/lowering control means for driving and controlling the hose lifting/lowering motor so that the amount of hose payout or rewinding coincides with the hose lifting amount calculated by the hose lifting/lowering amount calculation means.

[Effect]

According to the present invention, all that is required is to set the suspension point of the refueling nozzle using the setting/instruction means and to instruct the lifting and lowering of the refueling nozzle.
The robot arm device moves to the set hanging point,
The refueling hose suspended from the hose elevating port of the hose storage case is guided, and at that time, the hose elevation control means moves the hose of the hose storage case so that the refueling nozzle is raised or lowered to a standby position or refueling position at a predetermined height. Adjust the amount of hose retraction or retraction of the refueling hose from the elevator entrance.

〔Example〕

1 to 5 show embodiments of the present invention.
In the diagram, a building 2 with offices, etc. is located on the gas station site 1.
A high place 3 consisting of a ceiling, beams, canopy, etc. is formed above the building 2. 4 is the building 2
One end of the pipe 4 opens into a tank 5 installed underground in the site 1, and the other end is connected to a refueling nozzle via a refueling hose to be described later.

A pump 7 driven by a pump drive motor 6 and a flow meter 8 for measuring the amount of oil supplied are installed in the middle of the piping 4, and a flow pulse signal proportional to the measured flow rate is sent to the flow meter 8. A flow rate pulse transmitter 9 is attached.

Furthermore, a hose lifting device 10 and a nozzle suspension position moving device 40 are provided at the high place 3.

Here, the hose elevating device 10 includes a hose reel 12 rotatably provided in a hose storage case 11, and a hose elevating motor 13 that rotates the hose reel 12 in forward and reverse directions. One end side of the piping 4 is connected to the hose reel 12, and the base end of a refueling hose 14 is attached in communication with the one end side of the piping 4,
This refueling hose 14 is wound around the hose reel 12. The refueling hose 14 is connected to a hose opening 1 formed on the lower surface 11a of the hose storage case 11.
1b, and a refueling nozzle 15 is attached to its tip. Note that 16 is provided at or near the hose opening 11b, and the refueling hose 14 is connected to the hose opening 11b.
This is a guide roller that guides unwinding or rewinding from 1b. Furthermore, in the hose lifting device 10, the amount of rotation of the hose reel 12 is measured in the hose storage case 11, so that the refueling hose 14 from the hose reel 12 is
A lifting amount detector 17 is provided for detecting the amount of feed-out or the amount of rewinding of the refueling hose 14 onto the hose reel 12. This lifting amount detector 17 is connected to the hose reel 12 via a sprocket 17a, and is configured to transmit an lifting pulse proportional to the amount of rotation of the hose reel 12. The hose elevating device 10 configured as described above drives the hose elevating motor 13 to rotate the hose reel 12 in the forward and reverse directions, so that it can be raised to a height that does not interfere with the entry and exit of a refueling vehicle near the hose storage case 11, for example. The refueling hose 14
The refueling nozzle 15 at the tip can be moved up and down.

On the other hand, the nozzle suspension position moving device 40 includes a robot arm device 20 that guides the refueling hose 14 in a horizontal plane at a height that does not interfere with the entry and exit of refueling vehicles, and a robot arm device 20 that guides the refueling hose 14 within a horizontal plane at a height that does not interfere with the entry and exit of refueling vehicles. The vehicle stop position detection device 30 detects the stop position of a refueling vehicle M, which will be described later, and operates the robot arm device 20 via a control device 50.

Here, the robot arm device 20 includes a fixed arm 21 whose negative side is fixedly supported at a high place 3, and whose other side is suspended at a height position that does not interfere with the entry and exit of the refueling vehicle, and this fixed arm 2.
a first horizontal arm 22, one side of which is rotatably attached to the other side of the first horizontal arm 22; and one side of the first horizontal arm 22 is rotatably attached to the other side extending in the horizontal direction. The guide member 24 shown in FIG. 2 is attached to the tip of the second horizontal arm 23.

At the connection part between the other side of the fixed arm 21 and one side of the first water hand arm length 2, a first horizontal arm 2 is connected to the fixed arm 21.
a motor 25 as an actuator for horizontally rotating the first horizontal arm 22, and a position detector (potentiometer) for detecting the rotational position of the first horizontal arm 22 with respect to the fixed arm 21.
26 is also provided at the connection between the other side of the first horizontal arm 22 and one side of the second horizontal arm 23. A motor 27 as an actuator for horizontally rotating the horizontal arm, and a position detector 28 for detecting the rotational position of the second horizontal arm 23 with respect to the first horizontal arm 22 are provided. Further, the guide member 24 attached to the tip of the second horizontal arm 23 is
For example, the configuration is as shown in FIG.

In the same figure, 24a is a short cylindrical housing, and the inner circumferential portion thereof includes:
Rotatable guide rollers 24b, 24b, 24b whose central portions are curved and concave relative to the end portions are arranged in a triangular shape so that the end portions are inscribed in the inner peripheral portion of the housing.

On the other hand, as shown in FIG. 1, the vehicle stop position detection device 30 includes a detection device 31 suspended from a high place 3, and a detection device 31 that is normally stored on the body of a worker or a predetermined location in a gas station,
During refueling work, the detection object 32 is portable and is placed on the body of the refueling vehicle M near the refueling port.

Here, first, the third. The configuration will be described in detail with reference to FIG. In addition, in this example,
The detected object 32 is configured to also have a function of transmitting a hose elevating/lowering instruction signal, as described below. In FIG. 3, 33 is a housing, and the bottom of the housing 33 has a switch hole 3.
3a and a recess 33b to which a magnet 34 for fixing the housing 33 to the vehicle body is attached. Reference numeral 35 denotes a transmitting circuit equipped with a power source for transmitting (not shown), and 36 denotes a switch mechanism for driving the transmitting circuit 35 to transmit a hose elevation instruction signal. This switch mechanism 36 is
The switch body 36a is composed of a switch body 36a, a switch piece 36c directed by a rod 36b so as to be able to move forward and backward with respect to the switch body 36a, and a spring 36d that normally biases the switch piece 36c to protrude from the bottom surface of the housing 33. 37 is a protective cover made of an elastic material for preventing damage to the vehicle body when the detected object 32 is placed on the vehicle body; 39 is attached to the transmitting circuit 35 and extends to protrude from the housing 33; A rod-shaped transmitting antenna is rotatably attached to the housing 33 and forms the main part of the detected object 32.

The detected object 32 configured in this manner first attaches the transmitting antenna 38 to the vehicle body near the refueling port when the refueling vehicle M stops at the refueling area below the robot arm device 20 at the start of refueling work. It is placed so that it sticks out from the shadow. Further, as the switch piece 36c is placed on the vehicle body, the switch piece 36c is displaced by its own weight against the biasing force of the spring 36d so as to be housed in the switch hole 3a, and the switch mechanism 36 is closed and the signal is transmitted. The circuit 32 is driven for a predetermined period of time, and the transmitting antenna 3 extends to the side of the housing 33.
8, a descending instruction signal is transmitted.

On the other hand, when completing the refueling work, the detected object 3
2 is removed from the vehicle body near the refueling port of the refueling vehicle M, carried by the worker until the start of the next refueling operation, and placed in a predetermined storage position. Further, along with this removal, the switch piece 36c is returned to be projected from the inside of the switch hole 3a by the biasing force of the spring 36d, and the switch mechanism 36 is opened.
The transmitting circuit 32 is driven for a predetermined period of time, and the transmitting antenna 38 transmits a rising instruction signal that is different in signal output time, output frequency, etc. from the lowering instruction signal.

Next, as shown in FIG. 1, the detection device 31 includes a sensor device 31a such as an image sensor, and this sensor device 31a uses the hose storage case 11 to confirm the position of the detected object 32 from a high place 3. is suspended by the pillar portion 31b to a height that does not interfere with confirmation of its position, while a receiving antenna 39 for receiving an ascending instruction signal or a descending instruction signal outputted from the detected object 32 is attached. ing.

Further, in FIG. 1, reference numeral 50 denotes a control device that controls each part of the nozzle suspension position moving device 40 consisting of the hose elevating device 10, the robot arm device 20, and the vehicle stop position detecting device 30, and controls the start or end of the refueling operation. At the end,
The refueling nozzle 15 is lowered from the height defined by the standby position A to the height defined by the refueling position B near the refueling port of the refueling vehicle M, or at the refueling position B near the refueling port of the refueling vehicle M. A hose elevation control function that raises the hose from a specified height position to a height position specified by standby position A, and a refueling system installed at an easily visible location within the filling station (for example, on the wall of building 2) to begin refueling work. The displayed value of the amount indicator 41 is reset to zero, the pump drive motor 6 is started, and during refueling work, the amount of refueling is calculated based on the flow rate pulse signal output from the flow rate pulse transmitter 9, and the calculated refueling amount is FIG. 5 shows a control device 50 having a refueling control function that displays the refueling amount on the refueling amount display 41 and stops driving the pump drive motor 6 upon completion of refueling work. This figure shows the system configuration of the hose elevation control function, and will be described in detail. In addition, in the figure, the same reference numerals are given to the components already explained, and the explanation thereof will be omitted.

In FIG. 5, reference numeral 51 denotes a rise/fall discrimination circuit connected to the receiving antenna 39 of the detection device 31 and into which the rise instruction signal or the fall instruction signal output from the detected object 32 is input. The ascending/descending discrimination circuit 51 outputs a hose descending command signal and a rising command signal to an ascending/descending control circuit to be described later based on the input of each signal of a rising command or a descending command, and outputs the hose descending command signal and a rising command. The signal is used as a refueling work start signal and a refueling work end signal,
The signal is also output to various other control circuits (not shown), such as a pump drive control circuit that controls the drive of the pump drive motor 6 and a refueling control circuit that calculates the amount of oil to be supplied and displays it on the oil amount display 41. .

On the other hand, 52 is a detected object position recognition circuit into which image data as a detection signal from the sensor device 31a of the detection device 31 is input. Based on this image data, the detected object position recognition circuit 52 two-dimensionally recognizes and determines whether or not the refueling vehicle M exists in the refueling area below the robot arm device 20, and determines whether or not the refueling vehicle M exists in the refueling area. Then, when it is recognized and determined, the detected object 32 is placed on the body of the refueling vehicle M near the refueling port at the start of the refueling operation described above, with its transmitting antenna 38 protruding from the shadow of the vehicle. The determination is made based on the difference between the contour images of the refueling vehicle M obtained from the image data of the refueling vehicle M before and after the detection object 32 is placed on the body of the refueling vehicle M. and,
When it is determined that the detected object 32 is placed on the vehicle body near the refueling port of the refueling vehicle M with its transmitting antenna 38 protruding from the shadow of the vehicle, the tip of the transmitting antenna 38 is detected from the image data. The position coordinates on the corresponding image data are determined and output as the hose hanging position (Xl, Yl).

The hose hanging position (Xi, Yl) output from the detected object position confirmation circuit 52 is supplied to the robot arm movement position calculation circuit 53.

By the way, the hose hanging position (Xi, Yl) output from the detected object position recognition circuit 52 is determined by the position of the sensor device 31a, as shown in the plan view of the suspended refueling system of this embodiment shown in FIG. This is based on the origin O' of the position coordinates on the image data.

Therefore, if the origin on the movement position coordinates of the robot arm device 20 described above is O, then the detected object position recognition circuit 52
A positional deviation of (PX, PY) occurs between the position coordinates from and the movement position coordinates of the robot arm device 20.

As shown in FIG. 6, in the suspended refueling system of this embodiment, the X coordinate axis in the position coordinates on the image data of the sensor device 31a and the X coordinate axis in the moving position coordinates of the robot arm device 20 are coaxial. Therefore, the positional deviation PY in the Y coordinate axis direction is actually PY=O.

Therefore, the robot arm movement position calculation circuit 53
The hose hanging position (XI, Yl) output from the detected object position recognition circuit 52 is corrected by the positional deviation on both coordinates described above, and the position coordinates (X1', Yl) of the robot arm device 20 are calculated. ') and output it. The output position coordinates (Xi', Yl') are then supplied to an arm movement control circuit 54 and a lift amount calculation circuit 55, as shown in FIG.

The arm movement control circuit 54 includes a position detector 26 for detecting the rotational position of the first horizontal arm 22 with respect to the fixed arm 21 at device coordinates (Xi', Yl') constituted by the robot arm movement position calculation circuit 53. and this first horizontal arm 22
The base circular member 2 at the tip of the second horizontal arm 24 is calculated based on the position detection signals output from the position detectors 28 for detecting the rotational position of the second horizontal arm 23 relative to the rotation position of the second horizontal arm 23.
The motors 25 and 27 are driven and controlled so that the coordinates of the motors 4 and 4 coincide with each other.

On the other hand, the lift amount calculation circuit 55 determines that the guide member 24 is configured by the robot arm movement position calculation circuit 53 in device coordinates (XI',
Yl'), the amount of hose to be newly drawn out from the hose lifting port 11b of the hose storage case 11 necessary to lower the refueling nozzle to the height of the refueling position B described above, that is, the hose This is to calculate the amount of elevation.

For example, in the embodiment, first, as shown in FIG. 1, the height distance between the standby position A and the refueling position B is set to 4, and as shown in FIG. 20 on the X-axis in the movement position coordinates of the robot arm device 20 of the hose elevator opening 11b.
The position coordinates on the movement position coordinates of are (QX, QY).

However, in reality, QY=O.

Here, in FIG. 6, when the guide member 24 of the robot arm device 20 is located directly below the hose elevating port 11b, the lead-out amount of the hose 14 necessary to raise and lower the hose 14 from the standby position A to the refueling position B is the distance ρ itself. Whereas,
When the guide member 24 moves correspondingly when the refueling vehicle M is stopped as shown by the solid line in the figure, the amount of the hose 14 required to move up and down from the standby position A to the refueling position B is (ρ+Δ ℃), and the derived weight increases by Δρ. As a result, when the guide member 24 of the robot arm device 20 moves from directly below the hose entrance 11b (Δβ=0) as shown by the solid line in the same figure (when the guide member 24 moves, (Yl'-
QY) 2) ""... (1) The output scale of the bamboo hose 14 increases.

Before that, in FIG. 6, instead of the previous refueling operation when the guide member 24 was directly under the hose elevator opening 11b, the refueling vehicle M stopped and the guide member 24 was moving as shown by the broken line, the change in the amount of new hose 14 drawn out △ρ when the refueling vehicle M stopped during the current refueling operation as shown by the solid line in the figure is as follows: Δff= ((Xi ' -QX)2+(Yl
′-QY)2) ””-((XI ″-QX)
2+ (Yl -QY)2) ”” ...(2
) However, (Xi″, Yl″) is the same as the guide member 24 when the refueling vehicle M stopped during the previous refueling operation, as shown by the broken line in the figure.
Robot arm device 2 when is in the position shown by the broken line
The position coordinates of the guide member 24 on the movement position coordinates of 0 are shown.

Therefore, the output amount of the hose 14 is reduced by the absolute value Δρ compared to the output amount L'' during the previous refueling operation.

Therefore, the lifting amount calculating circuit 55 stores the height distance β of the hose 14 for raising and lowering the hose 14 from the standby position A to the refueling position B as a reference derived amount, and stores the height distance β of the hose 14 for raising and lowering the hose 14 from the standby position A to the refueling position B as a reference derived amount, and stores the height distance β of the hose 14 for raising and lowering the hose 14 from the standby position A to the refueling position B as the reference derived amount, and stores the height distance β for raising and lowering the hose 14 from the standby position A to the refueling position B as a reference derived amount, The position coordinates of the guide member 24 and the device coordinates (X1',
Yl'), first, the change in the amount of new hose 14 drawn out Δ
℃ (where Δρ is a plus/minus value), and then add this derived change Δ℃ to the standard derived amount ρ to obtain the derived weight of the hose 14 during the current refueling work, L = ρ + Δρ... (3) and is configured to output it to the elevation control circuit 56 described below.

Further, in FIG. 5, reference numeral 56 denotes a lift control circuit, and when a refueling operation start signal as a hose lowering command signal is inputted from the above-mentioned lift/lower discrimination circuit, the hose lift motor 1
3 is driven downward, and during the descent, the amount of descent of the refueling nozzle 15 is calculated by counting the amount of elevation pulses output from the amount of elevation detector 17 as the hose reel 12 rotates. Hose 1 supplied from the lifting amount calculation circuit 55
4, and when they match, the hose lifting motor 13 is stopped from being driven downward, and in response, the hose lifting command signal is sent from the lifting/lowering discrimination circuit to the refueling operation. When the end signal is input, the hose elevating motor 13 is driven upward, and during descending, the elevating pulses output from the elevating amount detector 17 as the hose reel 12 rotates are counted and the refueling nozzle 15 is activated. The amount of rise is calculated, and the amount of rise is calculated by the above-mentioned lifting amount calculation circuit 5.
It is compared whether or not it matches the reference impulse measurement of the hose 14 explained in the configuration of No. 5, and when the two match, the lifting drive of the hose lifting motor 13 is stopped.

The suspension type refueling system of this embodiment is configured as described above, but regarding this operation, in FIG. 6, the guide member 24 was moved as shown by the broken line during the previous refueling operation. An example will be explained in which the refueling vehicle M guides and stops as shown by the solid line in the figure for refueling work this time.

First, the sensor device 31a detects that the refueling vehicle M is located at the refueling station site 1.
The shadow of the refueling vehicle M is captured from the time it enters the refueling area below the robot arm device 20, and the image data is sent to the detected object position recognition circuit 52 at any time.
is supplied to. Then, the detected object position recognition circuit 52 recognizes the shadow of the refueling vehicle M based on the image data supplied from the sensor device 31a of the detection device 31, and
It is detected that the vehicle has stopped within the refueling area based on the fact that the shadow of the vehicle in the image data remains unchanged for a predetermined period of time.

Based on this assumption, the worker guides the refueling vehicle M to the refueling area and stops it, then searches for the location of the refueling port and attaches it to the nearby vehicle body so that the transmitting antenna 38 protrudes from the shadow of the vehicle body. The object to be detected 32 is placed.

As a result, the detected object position recognition circuit 52 detects the detected object 32.
Refueling vehicle M before and after is placed on the body of refueling vehicle M
Based on the difference between the contour images, it is detected that the object to be detected 32 is placed, and the position coordinates (Xl, Yl) on the image data corresponding to the tip of the transmitting antenna 38 are output to the robot arm movement position calculation circuit 53. Further, the robot arm movement position calculation circuit 53 outputs the position coordinates (XI', Yl') converted into the movement position coordinates of the robot arm device 20 to the arm movement control circuit 54 and the elevation amount calculation circuit 55, respectively. It will be done.

Further, in connection with the above-described placement of the detected object 32 on the vehicle body, the switch mechanism 35 inside the detected object 32 is closed, and the transmitting antenna 38 sends a lowering instruction signal to the vehicle stop position. The signal is transmitted toward a receiving antenna 39 attached to the detection device 30.

The ascending/descending discrimination circuit 51 to which the descending instruction signal is input via the receiving antenna 39 supplies and outputs a refueling operation start signal to each control circuit including the ascending/descending control circuit 56.

As a result, upon input of the refueling work start signal, the lift control circuit 56 controls the hose 1 supplied from the lift amount calculation circuit 55.
4, that is, the amount smaller than the reference derived amount β by the absolute value Δ°C obtained from equation (2), the lift amount detector 17
Since the hose elevating motor 13 is driven based on the elevating pulse output from the hose elevating motor 13, the hose is lowered from the predetermined standby position A to the refueling position B even though the hose hanging position has changed from the previous refueling operation. In addition, at the same time as this lowering operation of the refueling nozzle 15, the robot arm device 20 performs position detection so as to match the device coordinates (Xi', Yl') constituted by the aforementioned robot arm movement position calculation circuit 53. Based on the position signals from the motors 26 and 28, the motors 25,
27, and the guide member 24 at the tip is the transmitting antenna 38.
Needless to say, it moves above the tip.

Therefore, after finding the location of the fuel filler port and placing the detected object 32 on the vehicle body near the location so that the transmitting antenna 38 protrudes from the shadow of the vehicle body, the worker must locate the fuel filler nozzle 15 at that location. Since the position is automatically lowered, insert the refueling nozzle 15 after this lowering or lowering into the refueling port, open the refueling nozzle 15 as usual, and start actual refueling. Then, since the refueling amount display 41 has already been reset to zero based on the refueling work start signal from the above-mentioned ascending/descending discrimination circuit 51, and the pump drive motor 6 is in the driving state, the refueling nozzle 15 The amount of oil supplied by the valve opening operation is measured by the flow meter 8 and displayed on the oil supply amount display 41.

On the other hand, the worker who has finished refueling the refueling vehicle M operates the refueling nozzle 15 to open the refueling nozzle 15 and remove it from the refueling port as before, and then removes the mounted detected object 32 from the vehicle body of the refueling vehicle M. Remove it.

As a result, the switch mechanism 35 in the detected object 32 is opened, and a rising instruction signal is transmitted from the transmitting antenna 38 to the receiving antenna 39 attached to the vehicle stop position detecting device 30. The ascending/descending determination circuit 51 to which the ascending instruction signal is input via the receiving antenna 39 supplies and outputs a refueling operation completion signal to each control circuit including the ascending/descending control circuit 56.

As a result, upon input of the refueling work end signal, the lifting control circuit 56 controls the hose lifting motor 13 by the reference lifting amount ρ based on the lifting pulse output from the lifting amount detector 17.
is driven, the refueling nozzle 15 rises from this predetermined refueling position B to the standby position A. At the same time, the pump drive motor 6, which was in the driving state, stops.

Thus, after completing the refueling operation, the operator can remove the detected object 32 from the refueling vehicle M, return it to the predetermined storage position, and carry it on his or her body in preparation for the next refueling operation.

Although the present embodiment has been described in detail above, the suspended oil supply system according to the present invention is not limited to the above embodiment. For example, in the above embodiment, the guide member 24 of the robot arm device 20 does not move after the refueling operation is completed until the next refueling operation starts, but the robot arm device 20 always moves to a predetermined standby position after the refueling operation is completed. Guide member 2
It may be configured to return 4. And in this case,
At the end of the refueling operation, the refueling nozzle 15 may be raised by the same amount as the amount lowered at the start of the refueling operation.

[Effects of the Invention] The suspended refueling system according to the present invention is as described in detail above, and can be installed separately from the hose storage case at a high place at the gas station without increasing the size and weight of the hose storage case. The robot arm device allows the hanging point of the refueling nozzle to be moved over a wide range, expanding the refueling area and creating a new complex mechanical mechanism regardless of the moving position of the refueling nozzle hanging point. without any
Since the height position of the refueling nozzle at the end of the refueling hose can be easily kept uniform, the operability of the refueling nozzle is also improved.

[Brief explanation of drawings]

Fig. 1 is an overall configuration diagram showing the suspended oil supply system according to the present embodiment, Fig. 2 is a plan view showing the guide member, Fig. 3 is a longitudinal sectional view showing the detected object, and Fig. 4 is the same as Fig. 3. FIG. 5 is a block diagram showing the circuit structure of the detected object shown in FIG.
FIG. 6 is a plan view of the suspended oil supply system shown in FIG. 1. 1... Gas station site, 2... Building, 3... High place, 4
... Piping, 5 ... Tank, 6 ... Pump drive motor, 7 ... Pump, 8 ... Flow meter, 10 ... Hose lifting device, 11 ... Hose storage case, llb・
・・Hose lifting port, 12 ・・Hose reel, 13・・
・Hose lifting motor, 14... Refueling hose, 15.
...Refueling nozzle, 17... Lifting amount detector, 20...
Robot arm device, 21... Fixed arm, 22.23.
...Horizontal arm, 24...Guiding member, 25.27...Motor, 26.28...Position detector, 30...Vehicle stopping position snow detection device, 31...Detection device, 31a. ...Sensor device, 32... Detected object, 35... Transmission circuit,
36... Switch mechanism, 38... Transmission antenna, 3
9... Receiving antenna, 40... Nozzle lower position moving device, 41... Oil supply amount indicator, 50... Control device,
51... Ascent/descend discrimination circuit, 52... Detected object position recognition circuit, 53... Robot arm movement position calculation circuit, 54... Arm movement control circuit, 55... Lifting amount calculation circuit, 56... Lifting control circuit.

Claims (1)

[Claims] One side is connected to a tank, and the other side is connected to a tank, and the other side is an oil supply path that extends into a hose storage case installed at a high place at a gas station. , a refueling hose whose base end communicates with the other side of the oil supply path and whose distal end having a refueling nozzle is suspended from a hose lifting port of the hose storage case; and a refueling hose provided in the hose storage case, the hose a hose lifting motor that rotates a reel in forward and reverse directions to raise and lower the refueling nozzle; and a hose lifting motor that is provided in the hose storage case to detect the lifting height position of the refueling nozzle. A lifting amount detection means for detecting the amount of feeding or rewinding, and a hose guide section provided at a high place at a refueling station together with the hose storage case, through which the refueling hose is inserted and defining a hanging point of the refueling nozzle. A robot arm device consisting of a horizontally movable arm mechanism, and a moving position of the hose guide part of the robot arm device is set according to the position of the vehicle receiving refueling, and a standby position at a predetermined height and a refueling position are set. a setting/instruction means for instructing the raising/lowering of the refueling nozzle between the positions of the hose guide section set by the setting/instructing means for the raising/lowering height between the standby position and the refueling position; Hose lift amount calculation means that corrects the distance between the hose storage case and the hose lift opening and calculates the hose lift amount; and detection by the lift amount detection means based on the refueling nozzle lift instruction from the setting/instruction means. and a hose lifting/lowering control means for driving and controlling the hose lifting/lowering motor so that the amount of the hose being fed out or rewinding matches the lifting amount of the hose calculated by the hose lifting/lowering amount calculation means. system.