WO2023228115A1

WO2023228115A1 - Holonomic robot for removing and replacing a vehicle wheel

Info

Publication number: WO2023228115A1
Application number: PCT/IB2023/055354
Authority: WO
Inventors: Ali Asghar SHAMSAEI MOTLAGH; Seyed Shayan MIR AHMADI; Mohammad Javad HAGHI
Original assignee: ESMAEILZADEH, Amir Abbas
Priority date: 2022-05-24
Filing date: 2023-05-24
Publication date: 2023-11-30

Abstract

A holonomic robot comprises at least one camera, at least one single-board computer, a screwdriver, at least four Mecanum wheels, at least two prongs, a vertical lead screw and a horizontal leadscrew, and a gyroscope sensor module is developed to automatically remove and replace a vehicle wheel. The communication between all parts of the holonomic robot as well as the holonomic robot and a user may be controlled by the Internet of Things technology. The holonomic robot have an ability to separate a defective vehicle wheel and then transfer the defective vehicle wheel to a rack. Also, the robot can remove an un-defective vehicle wheel from a second rack and attach the un-defective vehicle wheel to the vehicle.

Description

Holonomic Robot for Removing and Replacing A Vehicle Wheel

The present disclosure application claims priority from IRAN Patent Registration No.107973, filed on May 24, 2022, entitled “Holonomic mobile robot with Mecanum wheels can detect the precise position of car wheels using image processing and replace them with new wheels, adjusting the tire pressure and sending data to the central data server of the car repair shop by IoT and receive commands from it”, which is incorporated by reference herein in its entirety.

The present disclosure is related to a holonomic robot, particularly a holonomic mobile robot with at least four Mecanum wheels, that the robot can automatically remove and replace a vehicle wheel.

Since changing car wheels and tires is one of the most laborious and difficult tasks for drivers, repairmen, and/or car users, it usually takes a lot of time and energy from them. Due to the fact that electric jacks and all kinds of electric and pneumatic wrenches have been put on the market, but still not much work has been done to make it user-friendly and reduce the difficulty of this work.

Herein, a holonomic robot is developed to remove and replace a vehicle wheel without any human effort. As well as, a method for using the disclosed holonomic robot is provided. .

This summary is intended to provide an overview of the subject matter of this patent, and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. The proper scope of this patent may be ascertained from the claims set forth below in view of the detailed description below and the drawings.

In a general aspect, the present disclosure is directed to an exemplary holonomic robot to remove and replace a vehicle wheel. The exemplary holonomic robot may comprise a main body, at least one camera, at least one single-board computer, a screwdriver, at least four Mecanum wheels, configured to detect a vehicle wheel rim and a position of at least one wheel screw, at least one electric motor, at least two prongs, and at least two lead screws. The at least camera may be configure to detect a vehicle wheel rim and a position of at least one wheel bolt and the at least single-board computer may be configured to process at least one image algorithm and calculate the image algorithm for running a plurality of main program codes. Furthermore, the screwdriver may be configured to open and close the at least one wheel bolt. In addition, for moving the exemplary holonomic robot in any desire direction, at least four Mecanum wheels may be attach to the holonomic robot. Also, the at least two prongs may be configured to separate the wheel from a vehicle axle and the electric motor may provide a required force for rotating the at least two prongs. Additionally, the two lead screw may comprise a vertical and a horizontal lead screws such that the vertical lead screw may be configured to adjust a screwdriver height and the horizontal lead screw may be configured to adjust a distance between the at least two prongs. The at least two leas screws may be positioned perpendicular to each other. Moreover, the internet of things (IoT) technology can be used to control the exemplary holonomic robot.

The above general aspect may have one or more of the following features. In an exemplary implementation, the exemplary holonomic robot may further comprise at least one electric motor that may be configured to provide a required force for moving the Mecanum wheels, at least two stepper motor connected to the at least two lead screws, an inflating needle and an inflating adaptor, at least three sensors, at least one speaker, a servomotor, and at least one tray. Furthermore, the at least two stepper motor may be configured to change the screwdriver height and the distance between the at least two prongs and the inflating needle and the inflating adaptor may be configured to inflate the vehicle wheel. In addition, the at least three sensors and the at least one speaker may be configured to detect a plurality of obstacles around the holonomic robot and determine an approximate position of the vehicle wheel and play a pre-recorded sound for warning, respectively. Moreover, the servomotor and the at least one tray may be configured to change an angle of the screwdriver for adjusting with a vehicle wheel bolt and hold the opened vehicle wheel bolt, a connector of the servomotor to the screwdriver, and a connector of the screwdriver to the vertical leadscrew, respectively. In an exemplary implantation, the screwdriver may comprise a pneumatic type. In an exemplary implementation, each prong may comprise at least two parts at a tip of the each prong with a one-way state to hook the wheel.

In another general aspect, the present disclosure is directed to an exemplary method for removing and replacing a vehicle wheel utilizing an exemplary holonomic robot. The exemplary method may comprise nine steps of receiving a command through the IoT to position the holonomic robot in a place of a need for changing a defective wheel, detecting a position of a vehicle rim, detecting an exact position of at least one wheel bolt by processing the recorded imaged by camera utilizing the single-board computer, adjusting a height of the screwdriver in accordance with the exact position of the at least wheel bolt utilizing the vertical lead screw, opening the at least one wheel bolt utilizing the screwdriver, separating the wheel from the vehicle axle utilizing the two prongs of the robot wherein the each prong comprises at least two parts at a tip of the prong that the at least two parts have a one-way state to hook the wheel, picking a new wheel up form a rack utilizing the at least two parts of the prongs, replacing the new wheel in a proper position of the vehicle rime, and closing the wheel bolt utilizing the screwdriver.

The above general aspect may have one or more of the following features. In an exemplary implementation, the exemplary method may further comprise displaying a plurality of vehicle wheel and robot characteristics on a display unit mounted on the holonomic robot to inform a user and a repairman. In some exemplary implementations, the plurality of vehicle wheel and robot characteristics may comprise a wheel balance, a tire brand of wheel, a tire expiration date, a tire composition, a tire inflation, a robot charging. In an exemplary implementation, the exemplary method may further comprise detecting a plurality of obstacles in a movement path of the holonomic robot utilizing the at least three sensors and playing a pre-recorded warning sound from the speaker. In an exemplary implementation, the exemplary method may further comprise adjusting a tire inflation utilizing the inflating needle and the inflating adaptor connected to an air compressor, which is adjusted with the one of the wheel bolt through the vertical lead screw. In an exemplary implementation, the exemplary method may further comprise adjusting a distance between the at least two prongs in accordance with a type of wheel utilizing the horizontal lead screw.

In another general aspect, the present disclosure is directed to an exemplary method for measuring a wheel balance using an exemplary holonomic robot. The exemplary method may comprise rotating the wheel while the wheel is connected to the vehicle axle utilizing rotating the two prongs, taking a plurality of images utilizing the camera, processing the plurality of images utilizing the single-board computer, and displaying graphically the wheel balance on the display unit mounted on the holonomic robot to a user

In another general aspect, the present disclosure is directed to an exemplary system to change a vehicle wheel. The exemplary system may comprise an exemplary holonomic robot, at least one rack, and a control unit. The exemplary holonomic robot may be configured to open a defective vehicle wheel and replace a un-defective vehicle wheel. The at least one rack may be configured to maintain of a plurality of defective vehicle wheels and un-defective vehicle wheels and the control unit may be configured to receive the information from the holonomic robot and the rack and send a plurality of commands to the holonomic robot and the rack thought the internet of things technology.

The above general aspect may have one or more of the following features. In an exemplary implementation, the rack may comprise a main body to maintain the plurality of defective vehicle wheels and un-defective vehicle wheels, at least four jacks configured to open and close a door of the rack, and at least one jack configured to insert a defective or an un-defective vehicle wheel into the rack in accordance with a need.

In another general aspect, the present disclosure is directed to an exemplary method for using the exemplary system. The exemplary method may comprise separating the defective vehicle wheel utilizing the holonomic robot, transferring the separated defective vehicle wheel to the rack utilizing the holonomic robot, entrancing the separated defective vehicle wheel to the rack, sending the information to the control unit by the holonomic robot through the IoT technology to accommodate the separated defective vehicle wheel to a proper position of the rack and make the nu-defective vehicle wheel accessible, sending a plurality of control commands by the control unit through the IoT technology to the rack for accommodating the separated defective vehicle wheel to a proper position of the rack and making the nu-defective vehicle wheel accessible to the holonomic robot, picking the un-defective vehicle wheel utilizing the holonomic robot from the rack, and replacing the un-defective vehicle wheel instead of the defective wheel.

The drawing figures depict one or more implementations in accordance with the present teachings, by way of example only, not by way of limitation. In the figures, like reference numerals refer to the same or similar elements.

Fig.1

illustrates an exemplary schematic view of a holonomic robot to remove and replace a vehicle wheel, consistent with one or more exemplary embodiments of the present disclosure.

Fig.2

illustrates an exemplary front view of a holonomic robot to remove and replace a vehicle wheel, consistent with one or more exemplary embodiments of the present disclosure.

Fig.3

illustrates an exemplary top view of a holonomic robot to remove and replace a vehicle wheel, consistent with one or more exemplary embodiments of the present disclosure.

Fig.4

illustrates another exemplary schematic view of a holonomic robot to remove and replace a vehicle wheel, consistent with one or more exemplary embodiments of the present disclosure.

Fig.5

illustrates an exemplary exploded view of a holonomic robot to remove and replace a vehicle wheel, consistent with one or more exemplary embodiments of the present disclosure.

Fig.6

illustrates an exemplary detailed view of a servomotor connected to a screwdriver to adjust an angle of the screwdriver to a vehicle wheel bolt, consistent with one or more exemplary embodiments of the present disclosure.

Fig.7

illustrates an exemplary detailed view of a servomotor connected to an inflating needle and an inflating adaptor to adjust an angle of the inflating needle inflating needle and the inflating adaptor to a vehicle wheel bolt for inflating a vehicle tire, consistent with one or more exemplary embodiments of the present disclosure.

Fig.8

illustrates an exemplary schematic view of an exemplary holonomic robot and an exemplary rack to place a defective vehicle wheel, consistent with one or more exemplary embodiments of the present disclosure.

Fig.9

illustrates an exemplary exploded view of an exemplary holonomic robot and an exemplary rack to place a defective vehicle wheel, consistent with one or more exemplary embodiments of the present disclosure.

In the following detailed description, numerous specific details are set forth by way of examples in order to provide a thorough understanding of the relevant teachings. However, it should be apparent that the present teachings may be practiced without such details. In other instances, well-known methods, procedures, components, and/or circuitry have been described at a relatively high-level, without detail, in order to avoid unnecessarily obscuring aspects of the present teachings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present disclosure is defined only by the appended claims.

The following detailed description is presented to enable a person skilled in the art to make and use the methods and apparatuses disclosed in exemplary embodiments of the present disclosure. For purposes of explanation, specific nomenclature is set forth provide a thorough understanding of the present disclosure. However, it will be apparent to one skilled in the art that these specific details are not required to practice the disclosed exemplary embodiments. Descriptions of specific exemplary embodiments are provided only as representative examples. Various modifications to the exemplary implementations will be readily apparent to one skilled in the art, and the general principles defined herein may be applied to other implementations and applications without departing from the scope of the present disclosure. The present disclosure is not intended to be limited to the implementations shown, but is to be accorded the widest possible scope consistent with the principles and features disclosed herein.

In an exemplary embodiment, a holonomic robot with at least four Mecanum wheels has been disclosed, which the holonomic robot has an adjustment mechanism for a screwdriver which is used to open and close a plurality of vehicle wheel bolts. So, at first by using a camera and processing a plurality of taken images utilizing a single-board computer, an exact position of a vehicle wheel and then an exact position of the vehicle wheel bolts are determined. Then, the holonomic robot may adjust the screwdriver at the exact position of each bolt and can open the bolts. After opening all the bolts and with a designated mechanism for the holonomic robot, it may be possible to separate the vehicle wheel from a vehicle axle and replace a new vehicle wheel into the vehicle axle and close the bolts by a reverse movement of the screwdriver. Additionally, the holonomic robot may be capable of adjusting a tire inflation by means of an inflating needle and an inflating adaptor that are connected to an air compressor.

In an exemplary embodiment, an exemplary holonomic robot may be controlled by Internet of Things (IoT) technology such that a plurality of commands can be send to the holonomic robot for operating. The plurality of commands may be received through a sing-board computer that mounted on an exemplary holonomic robot.

illustrates an exemplary schematic view of an exemplary holonomic robot 100 to remove and replace a vehicle wheel, consistent with one or more exemplary embodiments of the present disclosure. Furthermore, and , illustrate an exemplary front view and an exemplary top view, of the exemplary holonomic robot 100, consistent with one or more exemplary embodiments of the present disclosure. illustrates another exemplary schematic view of an exemplary holonomic robot, consistent with one or more exemplary embodiments of the present disclosure.

illustrates an exemplary exploded view of the exemplary holonomic robot 100 to remove and replace a vehicle wheel, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiments, as illustrated in , the exemplary holonomic robot may comprise a main body 102, at least one camera 104, at least one single-board computer 106, a screwdriver 108, at least four Mecanum wheels 110,112,114,116, at least two prongs 118,120, a vertical lead screw 126, a horizontal lead screw 128, and a gyroscope sensor module (not shown). Furthermore, in an exemplary embodiment, at least one electric motor may be configured to provide a required force for rotating the at least two prongs 118,120. In an exemplary embodiment, a first electric motor 122 and a second electric motor 124 may be configured to rotate the at least two prongs 118,120, respectively.

In an exemplary embodiment, the camera 104 may be configured to guide the exemplary holonomic robot 100 to a position next to the vehicle wheel. In an exemplary embodiment, the camera 104 may be further configured to detect a vehicle wheel rim and a position of at least one wheel bolt by taking a plurality of images and send the plurality of images to the sing-board computer 106. The single-board computer 106 then may process at least one or more images algorithm and calculate the image algorithm for running a plurality of main program codes. In an exemplary embodiment, after processing the image and detecting the position of the vehicle bolt, the screwdriver 108 will be connected to the vehicle bolt such that a hollow tip of the screwdriver completely covers the vehicle wheel bolt so that the vehicle wheel bolt can be opened and/or closed.

In an exemplary embodiment, If an electric or a normal jack is used to raise a part of the vehicle, then the vehicle wheel may will not be completely parallel to the holonomic robot 100 and may have a slight angle to a vertical surface. In order to accurately adjust the screwdriver 108, if there is an angle, a servomotor 142 which is directly connected to the screwdriver 108 may be configured to provide a required angle for the screwdriver to adjust with the vehicle wheel bolt and connected to it. The servomotor 142 may be connected to the screwdriver 108 utilizing a servomotor shaft 1422 ( ). In an exemplary embodiment, the screwdriver 106 may comprise a pneumatic type.

In an exemplary embodiment, as illustrated in , the exemplary holonomic robot may further comprise at least one electric motor, more preferably at least four electric motor 130,132,134,146 that may be configured to provide a required force for moving the Mecanum wheels 110,112,114,116. In an exemplary embodiment, each Mecanum wheel may have a plurality of flexible and soft rollers that are placed at an angle of 45 degrees to an axis of a wheel shaft, which gives the holonomic robot 100 a multi-axis movement capability. In some exemplary embodiments, the four electric motor 130,132,134,136 may be a DC motors with 24V encoders that may be controlled by a driver circuit (not shown) mounted on a robot control board 158.

In an exemplary embodiment, the vertical lead screw 126 may be mounted within a vertical channel 1262 and connected to the screwdriver 108 as well as the main body 102 of the holonomic robot 100 utilizing the vertical channel 1626. The vertical lead screw 126 may be configured to adjust a height of the screwdriver 108 for opening or closing the wheel bolt in accordance with a type of wheel. In another exemplary embodiment, the horizontal lead screw 128 may be mounted within a horizontal channel 1282 and connected to an end point of each prong 118,120 as well as the main body 102 of the holonomic robot 102 through the horizontal channel 1282, so a distance between the at least two prongs 118,120 can be adjusted utilizing the vertical lead screw 128 in accordance with a type of the vehicle wheel.

In an exemplary embodiment, the exemplary holonomic robot 100 may further comprise a first stepper motor 138 and a second stepper motor 140. The first stepper motor 138 may be mounted within the vertical channel 1262 and the second stepper motor 140 may be mounted within the horizontal channel 1282 such that the first and the second stepper motors 138,140 may be configured to provide a required force for changing the screwdriver height and the distance between the at least two prongs, respectively.

In an exemplary embodiment, an inflating needle 14 4 and an inflating adaptor (not shown) may be applied on the exemplary holonomic robot 100 ( ). The inflating needle 1 4 4 and the inflating adaptor may be configured to inflate the vehicle wheel. In an exemplary embodiment, as illustrated in , the inflating needle 144 (not shown in ) and the inflating adaptor 1442 may be connected to the servomotor shaft 1422 such that an angle of both the inflating needle and adaptor 144,1442 can be adjust to a vehicle wheel tire to inflate the vehicle wheel tire.

In an exemplary embodiment, the at least three sensors 146 (Q) may be configured to detect a plurality of obstacles around the holonomic robot and determine an approximate position of the vehicle wheel. The at least three sensors 146 may be placed on at least three different faces of the holonomic robot 100, and when the sensors detect the obstacles, either a movable and/or an stationary obstacle, the sensors warn the people around through playing at least one pre-recorded sound utilizing a first speaker 148 and a second speaker 15 0 to get the obstacles out of the holonomic robot path. In an exemplary embodiment, the first and the second speakers 148,150 may be mounted on a top surface of the main body 102. In an exemplary embodiment, the speakers may be mounted on the top surface of the main body 102 in a two different sides of the top surface in a longitudinal direction or a transverse direction. In an exemplary embodiment, according to a specific algorithm written for the holonomic robot 100, if after at least three warnings, the movable and/or the stationary obstacle is not removed from the holonomic robot path, the holonomic robot 100 is turned in an obstacle direction and activated the camera 104. So, a width of the obstacle is measured by using the image processing and based on the obstacle width, the holonomic robot will be pass through the obstacle and then is placed in the holonomic robot path again.

In an exemplary embodiment, at least one tray 172 may be configured to hold the screwdriver 108, the inflating needle and adapter 144,1442, the servomotor 142, and the camera 104. In an exemplary embodiment, the tray further configured to collect the opened vehicle wheel bolt, a connector of the servomotor to the screwdriver, and a connector of the screwdriver to the vertical leadscrew. In an exemplary embodiment, the tray 172 may be mounted on a top of the horizontal lead screw 128 and when a position of the tray 172 is changed, a position of the screwdriver 108, the inflating needle and adapter 144,1442, the servomotor 142, and the camera 104 will be changed. Also, the tray may be connected to the vertical lead screw utilizing the connector of the screwdriver (not shown).

In an exemplary embodiment, In order to separate the vehicle wheel from the vehicle, the at least two prongs 118,120 may be used. In an exemplary embodiment, each prong may comprise at least two parts 1182,1202 at a tip of the prong with a one-way state that may be configured to hook the wheel. In an exemplary embodiment, there may be a spring at a bottom surface of the two parts of each prong that may be configured to create the one-way state of these two parts 1182,1202. When the holonomic robot 100 moves toward the vehicle wheel utilizing the two prongs 118,120, these two parts of prongs 1182,1202 will pass through the vehicle wheel and reach the other side of the vehicle wheel. Then, when the holonomic robot 100 is pushed back, the two parts 1182,1202 cannot move in accordance with a direction of the holonomic robot movement and hook the vehicle wheel resulting in hooking the vehicle wheel from the vehicle axle by further moving back of the holonomic robot 100.

In some exemplary embodiments, for adjusting the wheel bolt, either to the screwdriver 108 or the inflating needle and adapter 144,1442, it’s just enough to move the vehicle wheel that is connected to the vehicle axle by rotating the vehicle wheel with a small force until the vehicle wheel bolt is positioned in a good position to connect to the screwdriver 108 or either the inflating needle and adapter 144,1442. In these exemplary embodiments, the first and the second motor 122, 124 may be configured to provide the small force for rotating the vehicle wheel such that the first and second motor 122, 124 are connected to an end part of the at least two prongs 118,120 that can rotate a first rod 1184 and the second rod 1204 that are place on a top surface of the at least two prongs 118,120.

In another exemplary embodiment, by rotating the first and the second rods 1184,1204 in a set of different speeds utilizing the first and the second motor 122, 124, a plurality of images may be taken utilizing the camera 102. These plurality of images can be process by the single-board computer 106 and using the image processing algorithm, a wheel balance may be measured and the information related to the wheel balance can be sent to a central server at a repair shop through IoT technology as well as illustrated graphically on a display unit 156 mounted on the holonomic robot 100 to a user.

In an exemplary embodiment, an air compressor 160 may be configured to provide a required amount of pneumatic air to the screwdriver 108 as well as to the inflating needle and adapter 144,1442 for adjusting the air of the vehicle tire. In an exemplary embodiment, an air compressor driver 162 may be configured to drive the air compressor 160. In some exemplary embodiments, the air compressor 160 may be an alternating current (AC) type with a different voltage, so that for inverting the alternating current to a direct current (DC) with a different voltage, an AC to DC inventor 164 can be used.

In an exemplary embodiment, when the holonomic robot is inflated a vehicle wheel utilizing the inflating needle and adaptor 144,1442, some information such as an amount of vehicle wheel inflation can be send to the repair shop server as well as may be display graphically on the display unit 156.

In an exemplary embodiment, at least two batteries may be configured to supply power to all parts of the holonomic robot 100, except the controller board 158, the single-board computer 106, and the at least three sensors 146. In an exemplary embodiment, the at least two batteries may be connected in a series mode.

In an exemplary embodiment, due to requirement of the controller board 158, the single-board computer 106, and the at least three sensors 146 for a lower working current and voltage, a lithium ion battery 172 may be configured to feed these parts. By using these different batteries, an electronic higher power part and a lower power parts in the holonomic robot 100 can be isolated from each other, so that the voltage and current changes does not have a destructive effect on the electronic board as the lower power parts.

In an exemplary embodiment, in order to level a working voltage level of all different parts of the holonomic robot 100, the each batteries 166 must be connected to the earth or ground or a negative terminal of these two types of batteries 166 must be connected to each other, which is considered on the control board 158 of the holonomic robot 100.

In an exemplary embodiment, the displaying unit 156 may be further configured to illustrate a robot battery charge as well as a level of a tire inflation. In an exemplary embodiment, the first and the second speakers 148,150 may be mounted in two sides of the displaying unit 156.

In an exemplary embodiment, the exemplary holonomic robot may further comprise an emergency stop button 154 that may be configured to stop the holonomic robot 100 in a case of emergency and/or robot malfunction. When the holonomic robot 100 cannot receiving a command through IoT technology, a user who is present in the repair shop can press the emergency stop button 154. The emergency stop button 154 directly cuts off the power supply of the batteries of the higher power parts of the holonomic robot 100 and the electronic boards still has a power to receive new data and make a right decision. In an exemplary embodiment, a switch key 152 may be configured to turn on and/or off the holonomic robot 100, which turns the holonomic robot 100 on by turning the switch key 152 90 degrees and turns the holonomic robot 100 off by turning the switch key 152 in an opposite direction.

In an exemplary embodiments, an upper part 168 may be designed on the top of surface of the holonomic robot 100 that may be configured to place a defective vehicle wheel and/or an un-defective vehicle wheel in a case of need.

In an exemplary embodiment, a charger 176 may exist near a working space of the holonomic robot that may be configured to supply a robot charge ( ). In an exemplary embodiment, the charger 176 may be, for example, but are not limited to, a wall charger. When the holonomic robot 100 is being out of charge, the holonomic robot 100 automatically may find a location of the charger 176 through the image processing and may move to the charger 176.

In an exemplary embodiment, when the holonomic robot 100 become a near distance of the charge 176, the charger 176 may have an ability to detect the distance of the holonomic robot utilizing a conductive part that are created by a magnetic switch (not shown) that is printed on a charger circuit board (not shown) as well as a magnet that is connected to a back surface of the holonomic robot main body 102. When the holonomic robot 100 approach to a location of the charger 176, a positive terminal 1742 and a negative terminal 1744 of a power supply 174 mounted on the back surface of the holonomic robot will be connected to the conductive part of the charger and at the same time, the charger 176 activates an output and charge the holonomic robot. When the charging of the holonomic robot 100 is complete, the holonomic robot 100 starts to move and separates from the charger 176.

In an exemplary embodiment, when the camera 104 detects the location of the charger 176, the holonomic robot 100 rotate 180 degrees utilizing the gyroscope sensor module and adjusts the positive terminal 1742 and negative terminal 1744 of the power supply 174 according to the connective part of the charger, due to inability of the holonomic robot to see from the back surface by the camera 104, the connection with the charger 176 must be done at a low speed. Therefore, the sensor mounted on the back surface of the robot may be used in order to detect a remain distance between the holonomic robot 100 and the charger 176 and define an appropriate speed for moving the holonomic robot 100.

.In an exemplary embodiment, a general aspect of the present disclosure may be directed to a system to change a vehicle wheel. The system may be comprise the holonomic robot 100, at least one rack, and a control unit. In an exemplary embodiments, the holonomic robot 100 may be configured to open a defective vehicle wheel and/or replace an un-defective vehicle wheel. In an exemplary embodiment, the at least one rack may be configured to maintain a plurality of defective vehicle wheels and/or a plurality of un-defective vehicle wheels. In an exemplary embodiment, the system may comprise a first rack and a second rack such that the first rack may be configured to maintain the plurality of defective vehicle wheels and the second rack may be configured to maintain the plurality of un-defective vehicle wheels. In an exemplary embodiment, the control unit may be configured to receive the information from the holonomic robot and the rack and send a plurality of commands to the holonomic robot and the rack thought the Internet of Things technology.

In an exemplary embodiment, as illustrated in and , after separating the defective wheel 188, the holonomic robot 100 may be went to a rack 178 that may be configured to maintain a plurality of defective vehicle. For completing a process of storing the defective vehicle wheel 188, the holonomic robot 100 may be processed the taken images of the rack 178, then may send a command to the rack control board 190 and adjust an entrance section of the rack to store the defective vehicle wheel 188 in a vacant position of rack. In an exemplary embodiment, for opening and/or closing a door of the vacant position of the rack, at least four jacks 180 may be applied. Also, at least one jack 182 may be configured to insert the defective vehicle wheel 188 into the vacant position of the rack. In an exemplary embodiment, all these jacks 180,182 may be a pneumatic type. After the inserted defective vehicle wheel passes through a plurality of sensors, for example but are not limited, a plurality of infrared sensors, that are located on a side of the rack (not shown), the at least four jacks 180 will be returned to an original stat and the door may be closed.

In an exemplary embodiment, a second air compressor 192 may be configured to adjust an amount of pneumatic air of the at least four jacks 180 and the at least one jack 182. In an exemplary embodiment, a first warning light 184 and a second warning light 186 may be configured to illustrate a state of the rack 178 whether the rack 178 has a capacity of a new vehicle wheel or whether the rack 178 is performing an activity or not. In an exemplary embodiment, when the rack 178 is unused and the capacity of the rack has not been exhausted, the first and the second warning lights 184,186 will notify a used with a green light. Although, if the capacity of the rack is full, a red color of , the first and the second warning lights 184,18 6 will be activated and will warn the user. Furthermore, when the rack 178 is working or there is a problem with the rack’s operation, a yellow light of the first and the second warning lights 184,18 6 will be activated. These warning signs are only for the users to be aware of a condition of the rack 178, and on the other hand, if the rack is placed in a dark space, these warning signs prevent people from touching the rack 178. Although, the holonomic robot 100 according to a number of referral times to the rack, a number of sending command times to the rack 178, as well as counting a number of times that the jacks 180,182 are activated, has an ability to count a remaining capacity of the rack. It is also important to mention that if the capacity of the rack is completed, a command will be sent to the central repair store through the Internet of Things (IOT) technology, so that a support team can go to the relevant rack to an empty state.

In an exemplary embodiment, for replacing an un-defective vehicle wheel, the holonomic robot 100 takes the un-defective vehicle wheel from a rack that may be configured to maintain a plurality of un-defective wheels. In an exemplary embodiment, a design and a mechanism of operation of the un-defective vehicle wheel rack may be as same as the defective vehicle wheel rack 178. Then, the holonomic robot 100 will be went to the vehicle and after detecting the position of the vehicle rim, the holonomic robot 100 connects the un-defective vehicle wheel to the vehicle axle and the screwdriver 108 removes the bolts that are placed in the tray 172 and closes the bolts to the position of the bolts.

While particular aspects of the present subject matter described herein have been shown and described, it will be apparent to those skilled in the art that, based upon the teachings herein, changes and modifications may be made without departing from this subject matter described herein and its broader aspects and, therefore, the appended claims are to encompass within their scope all such changes and modifications as are within the true spirit and scope of this subject matter described herein. Furthermore, it is to be understood that the invention is solely defined by the appended claims. It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to inventions containing only one such recitation, even when the same claim includes the introductory phrases “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations).

It will be understood that the terms and expressions used herein have the ordinary meaning as is accorded to such terms and expressions with respect to their corresponding respective areas of inquiry and study except where specific meanings have otherwise been set forth herein. Relational terms such as first, and second, and the like may be used solely to distinguish one entity or action from another without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms “comprises,” “comprising,” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, apparatus, or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, apparatus, or device. An element proceeded by “a” or “an” does not, without further constraints, preclude the existence of additional identical elements in the process, method, article, or device that comprises the element. Moreover, “may”, “can”, and other permissive terms are used herein for describing optional features of various embodiments. These terms likewise describe selectable or configurable features generally, unless the context dictates otherwise.

Claims

A holonomic robot to remove and replace a vehicle wheel, the holonomic robot comprising:
A main body;
at least one camera configured to detect a vehicle wheel rim and a position of at least one wheel bolt;
at least one single-board computer configured to process at least one image algorithm and calculate the image algorithm for running a plurality of main program codes;
a screwdriver configure to open and close the at least one wheel bolt;
at least four Mecanum wheels configured to move the holonomic robot in any desire direction;
at least two prongs configured to separate the wheel from a vehicle axle;
at least one electric motor configured to provide a required force for rotating the at least two prongs;
at least two lead screws comprising a vertical lead screw and a horizontal leadscrew configured to adjust a screwdriver height and a distance between the at least two prongs, respectively, wherein the at least two lead screws positioned perpendicular to each other;
a gyroscope sensor module configured to direct a movement of holonomic robot in different direction and rotate the holonomic robot in an angle of 90 and 189 degrees; and
wherein the Internet of Things (IoT) technology can be used to control the holonomic robot.
The holonomic robot of claim 1, further comprising:
at least one electric motor configured to provide a required force for moving the Mecanum wheels;
at least two stepper motor connected to the at least two lead screws configured to change the screwdriver height and the distance between the at least two prongs;
an inflating needle and an inflating adaptor configured to inflate the vehicle wheel;
at least three sensors configured to detect a plurality of obstacles around the holonomic robot and determine an approximate position of the vehicle wheel;
at least one speaker configured to play a pre-recorded sound for warning;
a servomotor configured to change an angle of the screwdriver for adjusting with a vehicle wheel bolt; and
at least one tray configured to hold screwdriver, the inflating needle and the inflating adopter, the servomotor, the camera, the opened vehicle wheel bolt, a connector of the servomotor to the screwdriver, and a connector of the screwdriver to the vertical leadscrew.
The holonomic robot of claim 1, wherein the screwdriver comprise a pneumatic type.
The holonomic robot of claim 1, wherein each prong comprises at least two parts at a tip of the each prong with a one-way state to hook the wheel.
A method for removing and replacing a vehicle wheel utilizing a holonomic robot of any one of claims 1-4, comprising
receiving a command through the IoT to position the holonomic robot in a place of a need for changing a defective wheel;
detecting a position of a vehicle rim;
detecting an exact position of at least one wheel bolt by processing the recorded imaged by camera utilizing the single-board computer;
adjusting a height of the screwdriver in accordance with the exact position of the at least wheel bolt utilizing the vertical lead screw;
opening the at least one wheel bolt utilizing the screwdriver;
separating the wheel from the vehicle axle utilizing the two prongs of the robot wherein the each prong comprises at least two parts at a tip of the prong that the at least two parts have a one-way state to hook the wheel;
picking an un-defective wheel up form a rack utilizing the at least two parts of the prongs;
replacing the un-defective wheel in a proper position of the vehicle rime; and
closing the wheel bolt utilizing the screwdriver.
The method of claim 5, further comprising displaying a plurality of vehicle wheel and robot characteristics on a display unit mounted on the holonomic robot to inform a user and a repairman.
The method of claim 6, wherein the plurality of vehicle wheel and robot characteristics comprise a wheel balance, a tire brand of wheel, a tire expiration date, a tire composition, a tire inflation, a robot charging.
The method of claim 5, further comprising detecting a plurality of obstacles in a movement path of the holonomic robot utilizing the at least three sensors; and playing a pre-recorded warning sound from the speaker.
The method of claim 5, further comprising adjusting a tire inflation utilizing the inflating needle and the inflating adaptor connected to an air compressor, which is adjusted with the one of the wheel bolt through the vertical lead screw.
The method of claim 5, further comprising adjusting a distance between the at least two prongs in accordance with a type of wheel utilizing the horizontal lead screw.
The method for measuring a wheel balance using a holonomic robot of any one of claims 1-4, comprising:
rotating the wheel while the wheel is connected to the vehicle axle utilizing rotating the two prongs;
taking a plurality of images utilizing the camera;
processing the plurality of images utilizing the single-board computer; and
displaying the wheel balance graphically on the display unit mounted on the holonomic robot to a user.
A system to change a vehicle wheel comprising:
a holonomic robot of any one of claim 1-4 configured to open a defective vehicle wheel and replace a un-defective vehicle wheel;
at least one rack configured to maintain of a plurality of defective vehicle wheels and un-defective vehicle wheels.
a control unit configured to receive the information from the holonomic robot and the rack and send a plurality of commands to the holonomic robot and the rack thought the internet of things technology.
The system of claim 12, wherein the rack comprises a main body to maintain the plurality of defective vehicle wheels and un-defective vehicle wheels, at least four jacks configured to open and close a door of the rack, and at least one jack configured to insert a defective or an un-defective vehicle wheel into the rack in accordance with a need.
A method for using a system of any one of claims 12-13, comprising the steps of
separating the defective vehicle wheel utilizing the holonomic robot;
transferring the separated defective vehicle wheel to the rack utilizing the holonomic robot;
entrancing the separated defective vehicle wheel to the rack;
sending the information to the control unit by the holonomic robot through the IoT technology to accommodate the separated defective vehicle wheel to a proper position of the rack and make the nu-defective vehicle wheel accessible;
sending a plurality of control commands by the control unit through the IoT technology to the rack for accommodating the separated defective vehicle wheel to a proper position of the rack and making the nu-defective vehicle wheel accessible to the holonomic robot;
picking the un-defective vehicle wheel utilizing the holonomic robot from the rack; and
replacing the un-defective vehicle wheel instead of the defective wheel.