Integrated oil supply system and method

Abstract

The invention discloses an integrated oil supply system and method, and belongs to the technical field of oil supply, the oil supply system comprises an oil filling cabin, and an oil storage module, an oil filling robot and a control unit are arranged in the oil filling cabin; the oil storage module is connected with the oil pipe through the hydraulic valve pump assembly, the oil pipe is connected with the refueling robot, and the control unit is connected with the hydraulic valve pump assembly and the refueling robot. The refueling robot comprises a moving device, and an image acquisition module and a mechanical arm which are mounted on the moving device, and a refueling device is mounted on the mechanical arm; the control unit controls the refueling robot and the hydraulic valve pump assembly to act according to the received oil supply signal, meanwhile, environment information obtained by the image collecting module in the moving process of the refueling robot is obtained to control the posture of the mechanical arm, a target is refueled through the refueling device, and therefore unmanned oil supply operation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of refueling robots, and in particular to an integrated oil supply system and method. Background Art

[0002] Fuel is the power source for transportation equipment, and gas stations are densely arranged in various regions. Each gas station is equipped with several gas station attendants to perform refueling operations outdoors so that the transportation equipment can be replenished with fuel at any time to ensure the traffic capacity of the transportation equipment.

[0003] When conducting field operations, such as the construction of highway projects, large-scale production projects, and tourism projects, the roads and project locations are often far away from urban areas. These areas usually lack the necessary infrastructure, such as gas stations, which makes vehicle fuel refueling a major problem. The existing project fuel refueling method is to build a temporary oil storage tank at the project site, or use a transport vehicle to refuel the vehicles at the project site; however, this method has many shortcomings. First of all, it requires a dedicated refueler to perform the refueling operation. Long-term manual refueling operations in outdoor environments pose a great threat to the health of operators; in addition, this temporary oil storage tank has serious safety risks and is prone to fire.

[0004] Therefore, there is an urgent need for a more efficient, safe and accurate oil replenishment method to address the shortcomings of the existing technology in oil replenishment. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides an integrated oil replenishment system and method to achieve long-distance rapid oil replenishment.

[0006] The present invention is achieved through the following technical solutions: In a first aspect, the present application provides an integrated fuel supply system, including a fuel tank, in which a fuel storage module, a fueling robot and a control unit are arranged; The oil storage module is connected to the oil pipe through the hydraulic valve pump assembly, the oil pipe is connected to the refueling robot, and the control unit is connected to the hydraulic valve pump assembly and the refueling robot respectively; The refueling robot comprises a mobile device, an image acquisition module and a mechanical arm mounted thereon, and a refueling device is mounted on the mechanical arm; The control unit controls the actions of the refueling robot and the hydraulic valve pump assembly according to the received oil replenishment signal, and at the same time obtains the environmental information obtained by the image acquisition module during the movement of the refueling robot to control the posture of the robotic arm, and refuels the target through the refueling device.

[0007] Preferably, a pipeline retracting and extending mechanism is further provided in the refueling tank, the oil pipe is wound around the pipeline retracting and extending mechanism, and the pipeline retracting and extending mechanism is connected to the control unit.

[0008] Preferably, an energy storage module is provided in the refueling cabin, and the energy storage module is connected to the refueling robot via a charging module for charging the refueling robot.

[0009] Preferably, the charging module is a contact charging device or a wireless charging device; The contact charging device includes a brush plate and a brush block installed on the refueling cabin and the refueling robot, and the brush block is connected to the energy storage module; The wireless charging device comprises a receiving coil and a transmitting coil installed on the refueling cabin and the refueling robot, and the transmitting coil is connected to the energy storage module.

[0010] Preferably, the image acquisition module includes a radar and a depth camera installed on the mobile device, and a binocular camera installed on the movable end of the robotic arm; The radar is used to obtain target information and obstacle information, and the depth camera is used to collect spatial information of the environment. The refueling robot is navigated and controlled according to the information from the radar and the depth camera; The binocular camera is used to obtain local information of the target and control the motion posture of the robot arm according to the local information.

[0011] Preferably, the refueling device includes a holding device and a refueling gun; The holding device holds a tool and a motor, the holding tool is connected to the motor, the motor is connected to the control unit; and the refueling gun is connected to the oil pipe.

[0012] Preferably, it also includes a control terminal deployed on the target object, the control terminal is used to send a replenishment signal and receive replenishment data from the control unit.

[0013] In a second aspect, the present application provides a refueling method for an integrated oil supply system, comprising the following process: The control unit outputs a control signal of the refueling robot according to the received replenishment information, so that the refueling robot moves to the target object area. During the movement, the refueling robot identifies the target object according to the collected environmental information and controls the navigation path of the refueling robot; Determine the supply input port of the target object according to the acquired image of the target object, control the posture of the robot arm according to the information of the supply input port, enable the refueling device to start the supply input port, and connect the refueling device to the supply input port in the open state; The control unit starts the hydraulic valve pump assembly and supplies the oil circuit to the target object according to the supply information; After the replenishment is completed, the control unit closes the hydraulic valve pump assembly and the replenishment input port in sequence, and outputs a return command to make the refueling robot return to the refueling cabin.

[0014] Preferably, the method for identifying the target object according to the environmental information is as follows: The acquired environmental information is input into the pre-trained convolutional neural network. The convolutional neural network obtains the suspected target objects in the environmental information and compares them with the sample database. The target object is determined according to the similarity, the coordinate position of the target object in the environmental information is obtained, and the position of the target in the environmental space is determined in combination with the environmental depth information of the target object. A navigation path is generated according to the position and obstacle information in the environment.

[0015] Preferably, a radar is used to acquire environmental depth information, and the environmental depth information is mapped to a coordinate system of environmental information through a posture conversion matrix to determine the position of the target object in the environmental space.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects: The present application provides an integrated fuel supply system, which adopts an integrated structure and deploys an oil storage module, a refueling robot and a control unit in a refueling tank. The control unit controls the movement state of the refueling robot to achieve intelligent fuel supply. Due to the integrated structure, the system can be deployed at any set location to provide all-round fuel supply for project construction. The refueling tank has the characteristics of fast overall transportation and flexible remote deployment. Secondly, the refueling robot is controlled by wireless control to perform remote refueling operations, which improves the safety of refueling operations.

[0017] The refueling method of the replenishment system of the present application first adopts an overall recognition method to identify the position information of the target object, plans the navigation path of the refueling robot according to the position information, and then uses a local recognition method to identify the replenishment input port of the target object, thereby achieving accurate recognition of the replenishment input port, ensuring the recognition success rate and work efficiency, reducing the performance requirements for the sensor hardware, and reducing the calculation amount of the control program. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural diagram of the oil supply device of the present invention; Figure 2 This is a structural diagram of the refueling tank of the present invention; Figure 3 This is a structural diagram of the refueling tank of the present invention when the door is open; Figure 4 It is a structural diagram of the cabin of the present invention; Figure 5 This is a structural diagram of the refueling robot of the present invention; Figure 6 It is a structural diagram of the fueling gun of the present invention; Figure 7 is a structural diagram of the clamping device of the present invention; Figure 8 is a structural diagram of the operating terminal of the present invention; Fig. 9 The figure is a flow chart of the refueling method of the present invention.

[0020] In the figure: refueling cabin 100, operation terminal 200, cabin body 110, prefabricated lifting structure 111, battery module 112, external power interface 113, mobile robot charging module 114, oil storage module 120, hydraulic valve pump assembly 130, control unit 140, pipeline retracting mechanism 150, wireless communication module 160, mobile refueling robot 170, radar 171, depth camera 172, binocular camera 173, refueling gun 174, clamping device 175, mechanical arm 176, wireless charging module 177, walking device 178, signal receiving terminal 180, operation terminal 200, display screen 210, launch button 220, emergency stop button 230, DETAILED DESCRIPTION In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0022] See also Figure 1-8 An integrated fuel supply system includes an intelligent fuel tank 100 and at least one operation terminal 200. The fuel tank 100 is deployed at a designated location, and the operation terminal 200 is deployed at a supply target. The number of the operation terminals 200 is determined according to the number of supply targets, and a certain amount of redundancy is configured at the same time.

[0023] The refueling tank 100 includes a tank body 110 , inside which are arranged an oil storage module 120 , a hydraulic valve pump assembly 130 , a control unit 140 , a pipeline retracting and releasing mechanism 150 , a wireless communication module 160 , a refueling robot 170 and a signal receiving terminal 180 .

[0024] The cabin 110 is used to provide physical protection and environmental isolation for the devices inside it. The devices are integrated in the cabin, which also facilitates the deployment of the smart refueling cabin 100 according to the environment. In order to improve the convenience of the deployment of the cabin 110, a hoisting structure 111 is provided on the top of the cabin. The hoisting structure 111 includes a plurality of hoisting rings, which are evenly distributed on the top of the cabin. It is necessary to ensure the rationality of the hoisting ring configuration to avoid the problem of uneven force on the cabin and tilting during the hoisting process.

[0025] At the same time, a battery module 112 is also provided in the cabin, which is used to provide power supply to the control unit 140, the pipeline retracting and releasing mechanism 150, the wireless communication module 160 and the refueling robot 170, so as to ensure that the above-mentioned devices are in a ready-to-work state in real time. The shell of the battery module 112 is set at any position of the cabin, preferably at the bottom of the cabin; the battery module 112 is connected to the external power interface 113 through the external power interface 113 for charging, and the battery module 112 continuously provides stable electric energy.

[0026] The end of the cabin is equipped with an automatically opened and closed closed door, the upper part of which is a rolling door, and the lower part is a flip baffle. The rolling door can be automatically raised and lowered, and the flip baffle is in an upright state when the door is closed, and flips outwards when the door is opened, overlapping the ground, forming a ramp for the refueling robot to exit the cabin.

[0027] The oil storage module 120 is an oil storage tank, in which oil is injected. The oil storage tank is connected to the pipeline retracting mechanism 150 through the hydraulic valve pump assembly 130. The hydraulic valve pump assembly 130 is connected to the control unit. The control unit controls the working state of the hydraulic valve pump assembly 130 according to the specified control. The pipeline retracting mechanism 150 is connected to the refueling robot 170.

[0028] The oil tank stores oil to provide oil to various equipment during the entire project. The hydraulic valve pump assembly 130 controls the oil circuit output pressure, flow rate and flow direction during the refueling process to achieve precise and stable refueling operation. The pipeline retraction and extension mechanism 150 includes a reel and an oil pipe wound thereon. The reel is connected to the motor through a reduction mechanism, and the motor is connected to the control unit. During the refueling process or after refueling, it is used to retract and extend the refueling pipe to ensure that the pipelines are placed in an orderly manner, easy to operate, and improve the mobility and reliability of the supply device.

[0029] The signal receiving terminal 180 is connected to the control unit 140, and the control unit 140 is respectively connected to the refueling robot 170, the pipeline retracting mechanism 150 and the hydraulic valve pump assembly 130 through the wireless communication module 160. The control unit receives instructions from the operation terminal 200, and controls the working status of the hydraulic valve pump assembly 130, the refueling robot 170, the pipeline retracting mechanism 150 and the cabin according to the instructions.

[0030] In some embodiments, a mobile robot charging module 114 is also provided in the cabin 110, which is used to charge the refueling robot 170 to ensure that it is in working condition at all times. The mobile robot charging module 114 is connected to the battery module 112, and the mobile robot charging module 114 and the refueling robot 170 are charged in a contact manner or a contactless manner.

[0031] Contact charging can be in the form of a brush plate and a brush block, that is, the brush block is installed on the refueling robot, and the brush plate is installed on the fixed wall inside the cabin. When the refueling robot stops, the brush plate and the brush block are squeezed and contacted to form a charging path, and the brush plate is connected to the battery module 112.

[0032] As a preferred solution, a contactless explosion-proof wireless charging method can be used. The receiving coil part is installed on the refueling robot, and the transmitting coil part is installed at a fixed position in the cabin. When the mobile refueling module stops at a set position in the cabin, the receiving coil and the transmitting coil are in a working range of mutual induction, and wireless charging can be automatically started.

[0033] In some embodiments, the refueling robot 170 adopts the following structure, which may include a moving device, an image acquisition module and a mechanical arm 176 installed thereon, and a clamping device 175 and a refueling gun 174 are installed on the mechanical arm 176.

[0034] The image acquisition module is used to obtain environmental information outside the cabin, including target information, obstacle information and space information. Based on the environmental information, it assists the refueling robot in precise positioning, obstacle identification and path planning to achieve safe and reliable refueling operations.

[0035] The image acquisition module includes a radar 171 and a depth camera 172 installed on a mobile device, and a binocular camera 173 installed on the movable end of the robotic arm. The radar 171 is used to obtain target information and obstacle information, and the depth camera 172 obtains precise point cloud information of the user environment and constructs spatial information based on the point cloud information; the binocular camera 173 can obtain planar image information of the surrounding environment, which is used to identify the overall target (tank outer cover, inner cover, etc.), roughly measure distance and assist navigation, to ensure that the clamping tool accurately clamps the tank cap and allows the fuel gun to smoothly enter the refueling port.

[0036] The mobile device can be a wheeled walking device 178 or a tracked mobile device. The mobile device is rotated according to the deployment environment of the cabin. For example, a wheeled device is used when driving on a relatively flat road, and a tracked device is used when driving in complex terrain such as mud, sand, mountains, etc., to ensure the effectiveness of the mobile device's movement. A battery module is arranged inside the mobile device, and the battery module is connected to the charging module 177. The charging module 177 contacts the mobile robot charging module 114 to charge the mobile device.

[0037] The clamping device 175 and the refueling gun are installed at the movable end of the mechanical arm 176. The base of the mechanical arm 176 is fixed at the top center of the moving device. The mechanical arm 176 includes a plurality of continuous joints to enable the movable end of the mechanical arm to move to any position in the space to control the working posture of the clamping device 175 and the refueling gun; the clamping device 175 is used to open and close the fuel tank cap of the vehicle, and the refueling device is connected to the oil pipe on the pipeline retracting mechanism 150.

[0038] The clamping device 175 includes a holding tool and a motor. The holding tool is connected to the motor, and the motor is connected to the control unit. When refueling is required, the holding tool is driven by the motor to stably clamp the oil cap with just the right amount of force to ensure that it will not loosen or fall off during the opening and closing of the cap. It has significant characteristics. First, it has a high degree of automation and can complete precise clamping actions without human intervention, greatly improving the refueling efficiency. Furthermore, its manufacturing materials are POM and aluminum alloy, which are strong and durable and can withstand long-term frequent use without being easily damaged. At the same time, it has a sophisticated design, occupies little space, and works perfectly with the refueling robot, providing a reliable guarantee for efficient and convenient fully automatic refueling.

[0039] The oil gun 174 is connected to the refueling port. The material of the oil gun nozzle is flame-retardant nylon, which is an insulator and is not easy to generate static electricity, greatly reducing the potential safety hazard of static electricity during refueling. The rubber tube and retractable mechanism designed behind the nozzle improve flexibility. When it contacts the oil tank port, it can undergo a certain degree of elastic deformation to reduce the occurrence of scratches.

[0040] The above-mentioned refueling robot adopts an explosion-proof design to ensure that each component can withstand a certain impact, providing a guarantee for safe and stable refueling.

[0041] like Figure 8 The control terminal 200 includes a display screen 210, a launch button 220 and an emergency stop button 230. The display screen 210 displays refueling information, operation prompts, equipment status and other contents, which facilitates operators to monitor and manage the refueling process. The launch button 220 sends a refueling operation instruction to the cabin. The emergency stop button 230 quickly stops all actions of the mobile robot including the refueling state in an emergency to ensure safety.

[0042] During the refueling process, the target vehicle drives to the refueling compartment area, and the on-board operating terminal 200 sends a refueling signal. The signal receiving terminal 180 sends a refueling instruction to the control unit according to the signal. The control unit controls the refueling robot, the pipeline retracting mechanism 150 and the hydraulic valve pump assembly 130 through the wireless communication module 160. At the same time, the wireless communication module 160 obtains the environmental information collected by the refueling robot, and controls the refueling robot to perform refueling operations according to the environmental information.

[0043] Correspondingly, the present application also provides a detailed description of the refueling method of the above-mentioned integrated oil supply system, see Fig. 9 , including the following processes: S1: When the target object reaches the vicinity of the refueling position, the driver sends a refueling request for a certain amount of refueling to the signal receiving terminal 180 in the refueling cabin through the operating terminal 200.

[0044] S2: After receiving the signal, the signal receiving terminal 180 issues an instruction to start the refueling operation, and the control unit 140 starts to open the cabin door. The control unit controls the movement of the mobile refueling robot 170 as a whole by controlling the wireless communication module 160. After receiving the instruction, the mobile refueling robot 170 performs the refueling operation.

[0045] S3: The mobile refueling robot 170 obtains the planar image information of the surrounding environment through the binocular camera 173, and uses the photo to detect the target. For the intelligent refueling device, the type and model of the target object to be served are set in advance and known. The pictures of all target objects are collected as a sample database. The detection process is performed by an algorithm model that is pre-trained by a convolutional neural network based on the above database.

[0046] In a typical working process, after this step, the mobile refueling robot 170 obtains the position (x, y, w, h) of the target object in the depth camera coordinate system, where x and y represent the coordinates of a point (the lower left corner of the target area), and w and h represent the width and height of the target area.

[0047] S4: The mobile refueling robot 170 detects the depth information of the surrounding environment in real time through the radar 171. Since the radar 171 and the binocular camera 173 are both fixedly mounted on the body of the mobile refueling robot, the relative positions of the two are fixed, so there is a fixed posture conversion relationship between the radar coordinate system and the binocular camera coordinate system for the same spatial point. The above conversion relationship can be represented by a posture conversion matrix M. The matrix can be pre-calibrated before the intelligent refueling device is put into use.

[0048] The mobile refueling robot maps the environmental depth information returned by the radar 171 to the depth camera coordinate system through the posture conversion matrix M. Based on this, the mobile refueling robot 170 main control solves the depth value z corresponding to each point in the area where the target object is located.

[0049] S5: The mobile refueling robot 170 estimates the position of the local target. As mentioned above, for the intelligent refueling device, the type and model of the target object to be served are set in advance and known. When step S3 is completed, the mobile refueling robot 170 obtains the recognition result of the target object, and combined with the model information of the target object, a target position can be predicted. For example, the fuel tank opening is at 1 / 2 height and 2 / 3 width of the overall area of ​​the target object, and the local estimated position of the fuel tank cap is: (x+2w / 3, y+1 / 2h).

[0050] Combined with the depth conversion calculation result of S4, the mobile refueling robot 170 estimates the complete coordinates of the fuel tank cap to be (x+2w / 3, y+1 / 2h, z). Through chassis motion control, the mobile refueling robot automatically drives to the target area in front, unfolds the robotic arm, and uses the depth camera 172 to take close-up photos of the target area.

[0051] S6: Using the same method as S3, the algorithm model trained by the convolutional neural network is used to perform region segmentation processing on the image returned by the depth camera 172 to detect the fuel tank cap area.

[0052] S7: The depth camera 172 simultaneously returns the depth information of each coordinate point in the fuel tank cap area. The mobile refueling robot 170 has now obtained the three-dimensional coordinates of the complete fuel tank cap.

[0053] S8: The mobile refueling robot 170 converts the three-dimensional coordinates from the coordinate system of the depth camera 172 to the coordinate system of the robotic arm 176 (the posture conversion relationship has been pre-calibrated), guides the robotic arm 176 to move to the appropriate refueling position, and the clamping tool 175 opens the fuel tank cap.

[0054] S9: The oil gun 174 is inserted into the oil filling port. After this action is completed, the mobile oil filling robot 170 reports the ready state information to the control unit 140.

[0055] S10: The control unit 140 controls the hydraulic valve pump assembly 130 to open the valve. After the specified amount of oil is added, the control unit 140 controls the hydraulic valve pump assembly 130 to close the valve and notifies the mobile refueling robot 170 to return.

[0056] S11: The mobile refueling robot 170 receives the return command, the oil gun 174 withdraws from the refueling port, the clamping tool 175 closes the fuel tank cap, and the mobile refueling robot 170 returns to the cabin.

[0057] After the mobile refueling robot moves to a safe position of the target object, the signal receiving terminal 180 sends a command to the operating terminal 200 to complete the refueling operation, and the display screen 210 of the operating terminal 200 will display that the refueling is completed and the driver can leave.

[0058] At the same time, after the mobile refueling robot 170 returns to the cabin 110, the cabin door is closed, and the mobile robot wireless charging module 114 charges the mobile refueling robot 170 that is parked and on standby, preparing for the next operation.

[0059] The present application provides an integrated automatic fuel supply system, in which the entire automatic refueling system is arranged in a cabin, and each module adopts an explosion-proof method to carry out explosion-proof safety treatment on the main components. The device is easy to hoist or carry as a whole, and can be quickly deployed and put into use as soon as it is landed. The refueling robot has autonomous movement capabilities, can enter and exit the cabin, search, find and approach the target object, perform refueling operations for it, and realize fully automatic oil supply operations.

[0060] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. An integrated oil supply system, characterized in that: It includes a refueling cabin, in which a fuel storage module, a refueling robot and a control unit are arranged; The oil storage module is connected to the oil pipe through the hydraulic valve pump assembly, the oil pipe is connected to the refueling robot, and the control unit is connected to the hydraulic valve pump assembly and the refueling robot respectively; The refueling robot comprises a mobile device, an image acquisition module and a mechanical arm mounted thereon, and a refueling device is mounted on the mechanical arm; The control unit controls the actions of the refueling robot and the hydraulic valve pump assembly according to the received oil replenishment signal, and at the same time obtains the environmental information obtained by the image acquisition module during the movement of the refueling robot to control the posture of the robotic arm, and refuels the target through the refueling device.

2. The integrated oil supply system according to claim 1, characterized in that: The refueling tank is also provided with a pipeline retracting and releasing mechanism, the oil pipe is wound around the pipeline retracting and releasing mechanism, and the pipeline retracting and releasing mechanism is connected to the control unit.

3. The integrated oil supply system according to claim 1, characterized in that: An energy storage module is provided in the refueling cabin, and the energy storage module is connected to the refueling robot through a charging module for charging the refueling robot.

4. The integrated oil supply system according to claim 3, characterized in that: The charging module is a contact charging device or a wireless charging device; The contact charging device includes a brush plate and a brush block installed on the refueling cabin and the refueling robot, and the brush block is connected to the energy storage module; The wireless charging device comprises a receiving coil and a transmitting coil installed on the refueling cabin and the refueling robot, and the transmitting coil is connected to the energy storage module.

5. The integrated oil supply system according to claim 1, characterized in that: The image acquisition module includes a radar and a depth camera installed on the mobile device, and a binocular camera installed on the movable end of the robotic arm; The radar is used to obtain target information and obstacle information, and the depth camera is used to collect spatial information of the environment. The refueling robot is navigated and controlled according to the information from the radar and the depth camera; The binocular camera is used to obtain local information of the target and control the motion posture of the robot arm according to the local information.

6. The integrated oil supply system according to claim 1, characterized in that: The refueling device comprises a holding device and a refueling gun; The holding device holds a tool and a motor, the holding tool is connected to the motor, the motor is connected to the control unit; and the refueling gun is connected to the oil pipe.

7. The integrated oil supply system according to claim 1, characterized in that: It also includes a control terminal deployed on the target object, and the control terminal is used to send a replenishment signal and receive replenishment data from the control unit.

8. A refueling method for an integrated oil supply system according to any one of claims 1 to 7, characterized in that: The process includes: The control unit outputs a control signal of the refueling robot according to the received replenishment information, so that the refueling robot moves to the target object area. During the movement, the refueling robot identifies the target object according to the collected environmental information and controls the navigation path of the refueling robot; Determine the supply input port of the target object according to the acquired image of the target object, control the posture of the robot arm according to the information of the supply input port, enable the refueling device to start the supply input port, and connect the refueling device to the supply input port in the open state; The control unit starts the hydraulic valve pump assembly and supplies the oil circuit to the target object according to the supply information; After the replenishment is completed, the control unit closes the hydraulic valve pump assembly and the replenishment input port in sequence, and outputs a return command to make the refueling robot return to the refueling cabin.

9. The refueling method of the integrated oil supply system according to claim 8, characterized in that: The method for identifying the target object according to the environmental information is as follows: The acquired environmental information is input into the pre-trained convolutional neural network. The convolutional neural network obtains the suspected target objects in the environmental information and compares them with the sample database. The target object is determined according to the similarity, the coordinate position of the target object in the environmental information is obtained, and the position of the target in the environmental space is determined in combination with the environmental depth information of the target object. A navigation path is generated according to the position and obstacle information in the environment.

10. The refueling method of the integrated oil supply system according to claim 8, characterized in that: The radar is used to obtain the environmental depth information, and the environmental depth information is mapped to the coordinate system of the environmental information through the posture transformation matrix to determine the position of the target object in the environmental space.

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