Intelligent refueling robot system and automatic refueling method thereof

Abstract

The present application relates to the technical field of automatic oil filling, in particular to an intelligent oil filling robot system and an automatic oil filling method thereof; the system comprises a three-dimensional visual positioning module, a filling execution module, a global sensing monitoring module, a centralized control module and an anti-explosion oil transportation module; the method comprises: after the centralized control module is powered on, the whole system hardware is controlled to complete self-checking of communication, sensors, machinery and anti-explosion pipelines; a three-dimensional visual positioning module is used to scan and generate point clouds on site, and a database is matched to identify oil receiving coordinates; a mechanical arm is unlocked for filling process after the detection of ground resistance is qualified; the mechanical arm is controlled to release the oil delivery hose to complete sealed butt joint; the centralized control is used to switch the filling conditions; the global sensing monitoring module is used to identify various faults in real time; the global sensing monitoring module is used to monitor the total filling amount; the whole process data intercommunication and working condition closed loop interlocking protection are realized, the artificial step-by-step operation restriction is got rid of, and the oil filling automation degree is improved.

Description

Technical Field

[0001] This invention relates to the field of automated fuel dispensing technology, and in particular to an intelligent refueling robot system and its automatic refueling method. Background Technology

[0002] Currently, the fuel supply sector is equipped with aircraft refueling trucks, various types of mobile refueling trucks, and 25m refueling tankers. 3 The system includes a complete set of fuel service equipment, such as simulated oil storage tanks, distributed refueling devices, and rapid field fuel delivery and receiving modules. The entire system integrates oil pipelines, filters, flow meters, level sensors, electrostatic grounding components, and manual control valves. It can realize standardized service operations such as fuel storage, self-priming fuel filling, multi-channel synchronous refueling, and residual fuel extraction from pipelines. The supporting service operation information collection terminal can collect operational data such as valve opening, pump speed, fluid pressure, and level. It can complete fuel refueling and fuel receiving training and assessment for various vehicles and aircraft through manual operation.

[0003] The existing oil filling equipment relies entirely on manual operation for pre-operations such as tank alignment, electrostatic connection, and valve opening and closing. Various vision recognition, fluid sensing, and power pumping units are independent of each other.

[0004] In the above-mentioned method, the visual recognition, fluid sensing and power transmission functional units of the existing oil filling equipment operate independently, and can only realize single point-to-point data transmission. There is no unified centralized control architecture to coordinate and schedule the entire operation process. The entire filling process relies on manual step-by-step operation, and the degree of automation is low. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent refueling robot system and its automatic refueling method, which solves the problem that the existing fuel refueling equipment's visual recognition, fluid sensing, and power transmission functional units operate independently, can only achieve single point-to-point data transmission, lack a unified centralized control architecture to coordinate and schedule the entire operation process, and the entire refueling process relies on manual step-by-step operation, resulting in a low degree of automation.

[0006] To achieve the above objectives, the present invention employs an intelligent refueling robot system, comprising a three-dimensional vision positioning module, a refueling execution module, a global sensing and monitoring module, a centralized control module, and an explosion-proof fuel transportation module; wherein: The three-dimensional vision positioning module is used to collect three-dimensional point clouds of the work area, identify the position and attitude of the oil receiving ports of various equipment, and simultaneously detect on-site safety hazards. The refueling execution module is used to receive positioning coordinates and automatically complete the entire mechanical operation process of electrostatic grounding, opening the oil tank, sealing and refueling, and removing the pipe and recovering residual oil. The global sensing and monitoring module is used for distributed acquisition of real-time operating data of pipeline pressure, flow rate, liquid level, static electricity and oil temperature, and to identify equipment faults in real time. The centralized control module is used to switch operating modes, process fault signals, and store all operating logs; The explosion-proof oil transport module is used to construct an oil transport path that meets explosion-proof specifications, and to realize the functions of oil collection, multi-channel filling, and reverse suction of residual oil in pipelines.

[0007] The three-dimensional visual positioning module includes a 3D laser scanning unit, an infrared binocular imaging unit, an oil receiving port feature matching unit, and a regional intrusion early warning unit; wherein: The 3D laser scanning unit is used to scan the work space and generate three-dimensional point cloud data of the environment and the equipment to be refueled. The infrared binocular imaging unit is used to acquire high-definition images in low-light and dusty environments to assist in identifying the shape of the fuel tank and the fuel receiving port. The oil inlet feature matching unit is used to retrieve the built-in feature database and match and identify the size and spatial orientation of the oil inlet of different vehicle models. The area intrusion early warning unit is used to monitor the intrusion of personnel and obstacles within the work area in real time and output a safety early warning signal.

[0008] The dispensing execution module includes a six-axis explosion-proof robotic arm unit, a multi-specification quick-change dispensing unit, an electrostatic clamp automatic execution unit, and a hose retraction and delivery drive unit; wherein: The six-axis explosion-proof robotic arm unit is used to receive visual coordinates and complete multi-degree-of-freedom precise movement operations along the planned trajectory; The multi-specification quick-change refueling unit is used to automatically switch between aviation, armored, and wheeled refueling connectors, and features force control buffer to prevent interface collisions. The electrostatic clamp automatic execution unit is used to autonomously grasp the grounding clamp to complete the electrostatic conduction of the equipment, and automatically retrieves it after the operation is completed; The hose retraction and extension drive unit is used to automatically retract and extend the oil delivery hose before and after filling.

[0009] The comprehensive sensing and monitoring module includes a fluid parameter acquisition unit, a static resistance value monitoring unit, a medium temperature acquisition unit, an oil spill detection unit, and a fault discrimination output unit; wherein: The fluid parameter acquisition unit is used to acquire operating parameters such as pipeline pressure, instantaneous flow rate, and tank liquid level in real time; The static resistance monitoring unit is used to continuously detect the grounding circuit resistance to determine whether the electrostatic protection is effective; the medium temperature acquisition unit is used to monitor the real-time temperature of the oil and output an early warning signal when the temperature exceeds the limit. The oil spill detection unit is used to detect oil leaks from pipelines and tanks, and to identify leakage risks in a timely manner. The fault identification output unit is used to integrate multi-sensor data to identify pipeline blockage and excessive liquid level, and output alarm commands.

[0010] The centralized control module includes a working mode switching unit, a fault signal parsing unit, a local encrypted storage unit, and a human-machine interaction display unit; wherein: The operating mode switching unit is used to switch between various system operating conditions, including oil recovery, single-channel refueling, multi-channel refueling, and residual oil recovery. The fault signal analysis unit is used to receive various sensor alarm signals and analyze the fault type, location and risk level. The local encrypted storage unit is used to encrypt and retain all operating parameters, operation sequence, fault record, and job log. The human-computer interaction display unit is used to visually display the device's operating status, images, fault prompts, and operating parameters.

[0011] The explosion-proof oil transport module includes an explosion-proof pumping unit, a multi-channel diversion valve control unit, a residual oil reverse suction unit, and a pipeline filtration and protection unit; wherein: The explosion-proof pumping unit is used to provide power for oil transportation; The multi-way diversion valve control unit is used to control the on / off of multiple refueling pipelines and to supply oil synchronously to one or more units of equipment; The residual oil reverse suction unit is used to reverse the flow of residual oil inside the pipeline after the filling is completed; The pipeline filter protection unit is used to filter oil impurities, protect the pump body and filling joints, and block the transmission of pipeline deflagration.

[0012] This invention also provides an automatic refueling method for an intelligent refueling robot system, comprising the following steps: After the centralized control module is powered on, it controls the entire system hardware to complete self-tests of communication, sensors, machinery, and explosion-proof pipelines. If a fault is found, a pop-up alarm will be displayed and the operation will be stopped. The three-dimensional vision positioning module is used to scan and generate a point cloud of the site, which is then matched with the database to identify the oil receiving coordinates and continuously monitor potential intrusion risks in the work area. After the robotic arm grips the electrostatic clamp and grounds it, the filling process is unlocked after the grounding resistance is tested and found to be qualified. The robotic arm is controlled to unscrew the oil tank cap and automatically switch to the matching filling connector, while simultaneously releasing the oil delivery hose to complete the sealing connection. The refueling mode is switched by centralized control, and the explosion-proof oil transportation module is started to deliver oil. At the same time, the pipeline pressure, flow rate, liquid level, electrostatic resistance, oil temperature and fluid operation parameters are collected in real time by the global sensing and monitoring module. The full-domain sensing and monitoring module integrates sensor data to identify various faults in real time. If an abnormality occurs, it immediately triggers a safety interlock of shutdown, valve closure, and mechanical retraction. When the total amount of fuel added is detected by the global sensing and monitoring module to reach the set value, the oil supply equipment and pipeline valves of the explosion-proof oil transportation module are shut off, and the residual oil inside the pipeline is recovered. Then, the fueling execution module is controlled to pull out the fueling connector, restore the oil tank cover, and rewind the fuel hose. The control module retracts the electrostatic grounding clamp, the robotic arm returns to its initial standby position, the control system encrypts and stores all data from this operation, and displays refueling statistics.

[0013] This invention discloses an intelligent refueling robot system and its automatic refueling method, employing a three-dimensional vision positioning module, a refueling execution module, a global sensing and monitoring module, a centralized control module, and an explosion-proof fuel transportation module. The system performs the following steps: After powering on the centralized control module, it controls the entire system hardware to complete self-checks of communication, sensors, machinery, and explosion-proof pipelines; if a fault is detected, a pop-up alarm is triggered and the operation is stopped. The three-dimensional vision positioning module scans and generates a point cloud of the site, matches it with a database to identify the refueling coordinates, and continuously monitors for intrusion hazards in the work area. The robotic arm grasps the electrostatic clamp to complete grounding; after verifying the grounding resistance is qualified, the refueling process is unlocked. The robotic arm is controlled to unscrew the fuel tank cap and automatically switches to the matching refueling connector, simultaneously releasing the fuel hose to complete the sealing connection. The refueling conditions are switched via centralized control, and the explosion-proof fuel transportation module is activated to transport fuel, while simultaneously relying on… The comprehensive sensing and monitoring module collects real-time fluid operation parameters such as pipeline pressure, flow rate, liquid level, electrostatic resistance, and oil temperature. By integrating sensor data, the module identifies various faults in real time, immediately triggering shutdown, valve closure, and mechanical retraction safety interlocks upon anomaly detection. When the total refueling volume reaches a set value, the module shuts down the oil supply equipment and pipeline valves of the explosion-proof oil transport module, recovers residual oil from the pipeline, and then controls the refueling execution module to pull out the refueling connector, restore the oil tank cap, and retract the oil hose. The module also retracts the electrostatic grounding clamp, the robotic arm returns to its initial standby position, and the control system encrypts and stores all operation data, displaying refueling statistics. This approach achieves full-process data interoperability and closed-loop interlock protection, eliminating the limitations of manual step-by-step operation and improving the automation level of oil refueling. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the intelligent refueling robot system of the present invention.

[0016] Figure 2 This is a schematic diagram of the principle of the three-dimensional vision positioning module of the present invention.

[0017] Figure 3 This is a schematic diagram of the principle of the injection execution module of the present invention.

[0018] Figure 4 This is a schematic diagram of the principle of the global sensing and monitoring module of the present invention.

[0019] Figure 5 This is a schematic diagram of the centralized control module of the present invention.

[0020] Figure 6 This is a schematic diagram of the principle of the explosion-proof oil transport module of the present invention.

[0021] Figure 7 This is a flowchart of the automatic refueling method of the intelligent refueling robot system of the present invention.

[0022] 100-3D Vision Positioning Module, 200-Dispensing Execution Module, 300-Whole-Area Sensing and Monitoring Module, 400-Centralized Control Module, 500-Explosion-Proof Oil Transportation Module, 101-3D Laser Scanning Unit, 102-Infrared Binocular Imaging Unit, 103-Oil Receiving Port Feature Matching Unit, 104-Area Intrusion Early Warning Unit, 201-Six-Axis Explosion-Proof Robotic Arm Unit, 202-Multi-Specification Quick-Change Dispensing Unit, 203-Electrostatic Clamp Automatic Execution Unit, 204-Hose Retraction and Deployment Drive Unit Units include: 301-Fluid Parameter Acquisition Unit, 302-Static Resistance Value Monitoring Unit, 303-Medium Temperature Acquisition Unit, 304-Oil Spill Detection Unit, 305-Fault Judgment Output Unit, 401-Operating Mode Switching Unit, 402-Fault Signal Analysis Unit, 403-Local Encrypted Storage Unit, 404-Human Machine Interaction Display Unit, 501-Explosion-proof Pumping Unit, 502-Multi-channel Diversion Valve Control Unit, 503-Residual Oil Reverse Suction Unit, and 504-Pipeline Filter Protection Unit. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] Please see Figures 1-6This invention provides an intelligent refueling robot system, comprising a three-dimensional vision positioning module 100, a refueling execution module 200, a global sensing and monitoring module 300, a centralized control module 400, and an explosion-proof fuel transportation module 500; wherein: The three-dimensional vision positioning module 100 is used to collect three-dimensional point clouds of the work area, identify the position and attitude of the oil receiving ports of various equipment, and simultaneously detect on-site safety hazards. The refueling execution module 200 is used to receive positioning coordinates and automatically complete the entire mechanical operation process of electrostatic grounding, opening the oil tank, sealing and refueling, and removing the pipe and recovering residual oil. The global sensing and monitoring module 300 is used for distributed acquisition of real-time operating data of pipeline pressure, flow rate, liquid level, static electricity and oil temperature, and to identify equipment faults in real time. The centralized control module 400 is used to switch operating modes, process fault signals, and store all operating logs; The explosion-proof oil transport module 500 is used to construct an oil transport path that meets explosion-proof specifications, and to realize the functions of oil collection, multi-channel filling, and reverse suction of residual oil in pipelines.

[0025] In this embodiment, the three-dimensional vision positioning module 100 collects three-dimensional point clouds of the work area, identifies the position and posture of various equipment oil receiving ports, and simultaneously detects on-site safety hazards; the refueling execution module 200 receives positioning coordinates and automatically completes the entire mechanical operation process of electrostatic grounding, tank opening, sealed refueling, and residual oil recovery after pipe removal; the all-domain sensing and monitoring module 300 collects real-time operating data of pipeline pressure, flow rate, liquid level, static electricity, and oil temperature in a distributed manner, and identifies equipment faults in real time; the centralized control module 400 switches operating modes, processes fault signals, and stores all operation logs; the explosion-proof oil transportation module 500 constructs an oil transportation path that conforms to explosion-proof specifications, realizing oil collection, multi-path refueling, and reverse suction of residual oil in the pipeline; by adopting the above method, full-process data interconnection and closed-loop interlocking protection of operating conditions are realized, eliminating the limitations of manual step-by-step operation and improving the automation level of oil refueling.

[0026] Furthermore, the three-dimensional visual positioning module 100 includes a 3D laser scanning unit 101, an infrared binocular imaging unit 102, an oil receiving port feature matching unit 103, and a region intrusion early warning unit 104; wherein: The 3D laser scanning unit 101 is used to scan the work space and generate three-dimensional point cloud data of the environment and the equipment to be refueled. The infrared binocular imaging unit 102 is used to acquire high-definition images in low light and dusty environments to assist in identifying the shape of the fuel tank and the oil receiving port. The oil inlet feature matching unit 103 is used to retrieve the built-in feature database and match and identify the oil inlet size and spatial orientation of different vehicle models. The area intrusion warning unit 104 is used to monitor the intrusion of personnel and obstacles within the work area in real time and output a safety warning signal.

[0027] In this embodiment, the 3D laser scanning unit 101 scans the work space and generates three-dimensional point cloud data of the environment and the equipment to be refueled; the infrared binocular imaging unit 102 acquires high-definition images in low-light and dusty environments to assist in identifying the shape of the fuel tank and the refueling port; the refueling port feature matching unit 103 retrieves the built-in feature database to match and identify the size and spatial orientation of the refueling port of different vehicle models; and the area intrusion warning unit 104 monitors the entry of personnel and obstacles within the work area in real time and outputs a safety warning signal.

[0028] Furthermore, the dispensing execution module 200 includes a six-axis explosion-proof robotic arm unit 201, a multi-specification quick-change dispensing unit 202, an electrostatic clamp automatic execution unit 203, and a hose take-up and release drive unit 204; wherein: The six-axis explosion-proof robotic arm unit 201 is used to receive visual coordinates and complete multi-degree-of-freedom precise movement operations along the planned trajectory; The multi-specification quick-change refueling unit 202 is used to automatically switch between aviation, armored, and wheeled adapter refueling connectors, and has force control buffer to prevent interface collisions. The electrostatic clamp automatic execution unit 203 is used to autonomously grasp the grounding clamp to complete the electrostatic conduction of the equipment, and automatically retrieve it after the operation is completed. The hose retraction and extension drive unit 204 is used to automatically retract and extend the oil delivery hose before and after filling.

[0029] In this embodiment, the six-axis explosion-proof robotic arm unit 201 receives visual coordinates and completes multi-degree-of-freedom precise movement operations along a planned trajectory; the multi-specification quick-change refueling unit 202 automatically switches between aviation, armored, and wheeled compatible refueling connectors, with force control buffer to avoid interface collisions; the electrostatic clamp automatic execution unit 203 autonomously grasps the grounding clamp to complete the electrostatic conduction of the equipment, and automatically retracts it after the operation is completed; the hose retraction and extension drive unit 204 automatically retracts and extends the oil delivery hose before and after refueling.

[0030] Furthermore, the global sensing and monitoring module 300 includes a fluid parameter acquisition unit 301, a static resistance value monitoring unit 302, a medium temperature acquisition unit 303, an oil spill detection unit 304, and a fault discrimination output unit 305; wherein: The fluid parameter acquisition unit 301 is used to acquire operating parameters such as pipeline pressure, instantaneous flow rate and tank liquid level in real time; The static resistance monitoring unit 302 is used to continuously detect the grounding circuit resistance to determine whether the electrostatic protection is effective; the medium temperature acquisition unit 303 is used to monitor the real-time temperature of the oil and output an early warning signal when the temperature exceeds the limit. The oil spill detection unit 304 is used to detect oil leaks from pipelines and tanks, and to identify leakage risks in a timely manner. The fault identification output unit 305 is used to integrate multi-sensor data to identify pipeline blockage and excessive liquid level, and output alarm commands.

[0031] In this embodiment, the fluid parameter acquisition unit 301 acquires operating parameters such as pipeline pressure, instantaneous flow rate, and tank liquid level in real time; the static resistance monitoring unit 302 continuously detects the grounding circuit resistance to determine whether the electrostatic protection is effective; the medium temperature acquisition unit 303 monitors the real-time temperature of the oil and outputs an early warning signal when the temperature exceeds the limit; the oil spill detection unit 304 detects oil leakage in the pipeline and tank and promptly identifies leakage risks; the fault judgment output unit 305 integrates data from multiple sensors to determine pipeline blockage and liquid level exceeding the limit, and outputs an alarm command.

[0032] Furthermore, the centralized control module 400 includes a working mode switching unit 401, a fault signal parsing unit 402, a local encrypted storage unit 403, and a human-machine interaction display unit 404; wherein: The operating mode switching unit 401 is used to switch between various system operating conditions such as oil recovery, single-channel refueling, multi-channel refueling, and residual oil recovery. The fault signal analysis unit 402 is used to receive various sensor alarm signals and analyze the fault type, location and risk level. The local encrypted storage unit 403 is used to encrypt and retain all operating parameters, operation sequence, fault record, and job log. The human-computer interaction display unit 404 is used to visually display the device's operating status, images, fault prompts, and operating parameters.

[0033] In this embodiment, the operating mode switching unit 401 switches between various system operating modes, including oil recovery, single-channel refueling, multi-channel refueling, and residual oil recovery; the fault signal analysis unit 402 receives various sensor alarm signals and analyzes the fault type, location, and risk level; the local encrypted storage unit 403 encrypts and retains all operating parameters, operation sequences, fault records, and operation logs; and the human-machine interaction display unit 404 visually displays the equipment's operating status, images, fault prompts, and operating parameters.

[0034] Furthermore, the explosion-proof oil transport module 500 includes an explosion-proof pumping unit 501, a multi-channel diversion valve control unit 502, a residual oil reverse suction unit 503, and a pipeline filtration and protection unit 504; wherein: The explosion-proof pumping unit 501 is used to provide power for oil transportation; The multi-way diversion valve control unit 502 is used to control the on / off of multiple filling pipelines and to supply oil synchronously to one or more equipment. The residual oil reverse suction unit 503 is used to reverse the oil material inside the pipeline after the filling is completed. The pipeline filter protection unit 504 is used to filter oil impurities, protect the pump body and filling joint, and block the transmission of pipeline deflagration.

[0035] In this embodiment, the explosion-proof pumping unit 501 provides power for oil delivery; the multi-channel diversion valve control unit 502 controls the opening and closing of multiple filling pipelines to supply oil synchronously to one or more equipment; the residual oil reverse suction unit 503 reverses the flow to extract residual oil inside the pipeline after filling; the pipeline filter protection unit 504 filters oil impurities, protects the pump body and filling joints, and blocks the transmission of deflagration in the pipeline.

[0036] Please see Figure 7 The present invention also provides an automatic refueling method for an intelligent refueling robot system, comprising the following steps: S100: After powering on the centralized control module 400, it controls the entire system hardware to complete self-tests of communication, sensors, machinery, and explosion-proof pipelines. If a fault is found, a pop-up alarm will be displayed and the operation will be stopped. S200: The three-dimensional visual positioning module 100 is used to scan and generate a point cloud of the site, match it with the database to identify the oil receiving coordinates, and continuously monitor the potential for intrusion into the work area. S300: The robotic arm grips the electrostatic clamp and completes the grounding process. After the grounding resistance is tested and found to be qualified, the filling process is unlocked. S400: Controls the robotic arm to unscrew the oil tank cap and automatically switches to the matching filling connector, simultaneously releasing the oil delivery hose to complete the sealing connection; S500: Switching the filling conditions through centralized control, starting the explosion-proof oil transport module 500 to transport oil, and at the same time relying on the global sensing and monitoring module 300 to collect pipeline pressure, flow rate, liquid level, electrostatic resistance, oil temperature and fluid operation parameters in real time. S600: The full-domain sensing and monitoring module 300 integrates sensor data to identify various faults in real time. If an abnormality occurs, it immediately triggers a safety interlock of shutdown, valve closure, and mechanical retraction. S700: When the total amount of oil added monitored by the global sensing and monitoring module 300 reaches the set value, the oil supply equipment and pipeline valve of the explosion-proof oil transportation module 500 are shut down, and the residual oil inside the pipeline is recovered. Then, the oiling execution module 200 is controlled to pull out the oiling connector, restore the oil tank cover, and rewind the oil delivery hose. S800: Control the refueling execution module 200 to retract the electrostatic grounding clamp, the robotic arm returns to the initial standby position, the control system encrypts and stores all operation data for this operation, and displays refueling statistics.

[0037] In this embodiment, after the centralized control module 400 is powered on, it controls the entire system hardware to complete self-checks of communication, sensors, machinery, and explosion-proof pipelines. If a fault is found, a pop-up alarm is triggered and the operation is stopped. Then, the three-dimensional vision positioning module 100 scans and generates a point cloud of the site, matches it with the database to identify the oil receiving coordinates, and continuously monitors for potential intrusion hazards in the work area. The robotic arm grasps the electrostatic clamp to complete grounding, and the filling process is unlocked after the grounding resistance is found to be qualified. Next, the robotic arm is controlled to unscrew the oil tank cap and automatically switch to the matching filling connector, simultaneously releasing the oil delivery hose to complete the sealing connection. The filling conditions are switched through centralized control, and the explosion-proof oil transportation module 500 is started to transport oil. At the same time, the all-area sensing and monitoring module 300 collects pipeline pressure, flow rate, liquid level, electrostatic resistance, oil temperature, and fluid operation parameters in real time. The system integrates sensor data through the global sensing and monitoring module 300 to identify various faults in real time. Any abnormality triggers an immediate shutdown, valve closure, and mechanical retraction safety interlock. When the global sensing and monitoring module 300 detects that the total refueling volume has reached a set value, it shuts down the oil supply equipment and pipeline valves of the explosion-proof oil transport module 500, recovers residual oil from the pipeline, and then controls the refueling execution module 200 to pull out the refueling connector, restore the oil tank cap, and retract the oil hose. Finally, it controls the refueling execution module 200 to retract the electrostatic grounding clamp, the robotic arm returns to its initial standby position, and the control system encrypts and stores all operation data, displaying refueling statistics. Through this process, full-process data interoperability and closed-loop interlock protection are achieved, eliminating the limitations of manual step-by-step operation and improving the automation level of oil refueling.

[0038] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. An intelligent refueling robot system, characterized in that, It includes a 3D vision positioning module, a refueling execution module, a global sensing and monitoring module, a centralized control module, and an explosion-proof oil transportation module; among which: The three-dimensional vision positioning module is used to collect three-dimensional point clouds of the work area, identify the position and attitude of the oil receiving ports of various equipment, and simultaneously detect on-site safety hazards. The refueling execution module is used to receive positioning coordinates and automatically complete the entire mechanical operation process of electrostatic grounding, opening the oil tank, sealing and refueling, and removing the pipe and recovering residual oil. The global sensing and monitoring module is used for distributed acquisition of real-time operating data of pipeline pressure, flow rate, liquid level, static electricity and oil temperature, and to identify equipment faults in real time. The centralized control module is used to switch operating modes, process fault signals, and store all operating logs; The explosion-proof oil transport module is used to construct an oil transport path that meets explosion-proof specifications, and to realize the functions of oil collection, multi-channel filling, and reverse suction of residual oil in pipelines.

2. The intelligent refueling robot system as described in claim 1, characterized in that, The three-dimensional visual positioning module includes a 3D laser scanning unit, an infrared binocular imaging unit, an oil receiving port feature matching unit, and a regional intrusion early warning unit; wherein: The 3D laser scanning unit is used to scan the work space and generate three-dimensional point cloud data of the environment and the equipment to be refueled. The infrared binocular imaging unit is used to acquire high-definition images in low-light and dusty environments to assist in identifying the shape of the fuel tank and the fuel receiving port. The oil inlet feature matching unit is used to retrieve the built-in feature database and match and identify the size and spatial orientation of the oil inlet of different vehicle models. The area intrusion early warning unit is used to monitor the intrusion of personnel and obstacles within the work area in real time and output a safety early warning signal.

3. The intelligent refueling robot system as described in claim 1, characterized in that, The dispensing execution module includes a six-axis explosion-proof robotic arm unit, a multi-specification quick-change dispensing unit, an electrostatic clamp automatic execution unit, and a hose retraction and delivery drive unit; wherein: The six-axis explosion-proof robotic arm unit is used to receive visual coordinates and complete multi-degree-of-freedom precise movement operations along the planned trajectory; The multi-specification quick-change refueling unit is used to automatically switch between aviation, armored, and wheeled refueling connectors, and features force control buffer to prevent interface collisions. The electrostatic clamp automatic execution unit is used to autonomously grasp the grounding clamp to complete the electrostatic conduction of the equipment, and automatically retrieves it after the operation is completed; The hose retraction and extension drive unit is used to automatically retract and extend the oil delivery hose before and after filling.

4. The intelligent refueling robot system as described in claim 1, characterized in that, The comprehensive sensing and monitoring module includes a fluid parameter acquisition unit, a static resistance value monitoring unit, a medium temperature acquisition unit, an oil spill detection unit, and a fault discrimination output unit; wherein: The fluid parameter acquisition unit is used to acquire operating parameters such as pipeline pressure, instantaneous flow rate, and tank liquid level in real time; The static resistance monitoring unit is used to continuously detect the grounding circuit resistance to determine whether the electrostatic protection is effective; the medium temperature acquisition unit is used to monitor the real-time temperature of the oil and output an early warning signal when the temperature exceeds the limit. The oil spill detection unit is used to detect oil leaks from pipelines and tanks, and to identify leakage risks in a timely manner. The fault identification output unit is used to integrate multi-sensor data to identify pipeline blockage and excessive liquid level, and output alarm commands.

5. The intelligent refueling robot system as described in claim 1, characterized in that, The centralized control module includes a working mode switching unit, a fault signal parsing unit, a local encrypted storage unit, and a human-machine interaction display unit; wherein: The operating mode switching unit is used to switch between various system operating conditions, including oil recovery, single-channel refueling, multi-channel refueling, and residual oil recovery. The fault signal analysis unit is used to receive various sensor alarm signals and analyze the fault type, location and risk level. The local encrypted storage unit is used to encrypt and retain all operating parameters, operation sequence, fault record, and job log. The human-computer interaction display unit is used to visually display the device's operating status, images, fault prompts, and operating parameters.

6. The intelligent refueling robot system as described in claim 1, characterized in that, The explosion-proof oil transport module includes an explosion-proof pumping unit, a multi-channel diversion valve control unit, a residual oil reverse suction unit, and a pipeline filtration and protection unit; wherein: The explosion-proof pumping unit is used to provide power for oil transportation; The multi-way diversion valve control unit is used to control the on / off of multiple refueling pipelines and to supply oil synchronously to one or more units of equipment; The residual oil reverse suction unit is used to reverse the flow of residual oil inside the pipeline after the filling is completed; The pipeline filter protection unit is used to filter oil impurities, protect the pump body and filling joints, and block the transmission of pipeline deflagration.

7. An automatic refueling method using an intelligent refueling robot system, employing the intelligent refueling robot system as described in claim 1, characterized in that, Includes the following steps: After the centralized control module is powered on, it controls the entire system hardware to complete self-tests of communication, sensors, machinery, and explosion-proof pipelines. If a fault is found, a pop-up alarm will be displayed and the operation will be stopped. The three-dimensional vision positioning module is used to scan and generate a point cloud of the site, which is then matched with the database to identify the oil receiving coordinates and continuously monitor potential intrusion risks in the work area. After the robotic arm grips the electrostatic clamp and grounds it, the filling process is unlocked after the grounding resistance is tested and found to be qualified. The robotic arm is controlled to unscrew the oil tank cap and automatically switch to the matching filling connector, while simultaneously releasing the oil delivery hose to complete the sealing connection. The refueling mode is switched by centralized control, and the explosion-proof oil transportation module is started to deliver oil. At the same time, the pipeline pressure, flow rate, liquid level, electrostatic resistance, oil temperature and fluid operation parameters are collected in real time by the global sensing and monitoring module. The full-domain sensing and monitoring module integrates sensor data to identify various faults in real time. If an abnormality occurs, it immediately triggers a safety interlock of shutdown, valve closure, and mechanical retraction. When the total amount of fuel added is detected by the global sensing and monitoring module to reach the set value, the oil supply equipment and pipeline valves of the explosion-proof oil transportation module are shut off, and the residual oil inside the pipeline is recovered. Then, the fueling execution module is controlled to pull out the fueling connector, restore the oil tank cover, and rewind the fuel hose. The control module retracts the electrostatic grounding clamp, the robotic arm returns to its initial standby position, the control system encrypts and stores all data from this operation, and displays refueling statistics.

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