Tire-wheel assembly replacement system, method, and program

Abstract

To improve usefulness of a technique that replaces a tire / wheel assembly mounted on a vehicle.SOLUTION: A tire / wheel assembly replacing system according to the disclosure comprises: a lifting device configured to be able to lift a vehicle up and down; an attachment / detachment device configured to be able to attach and detach the tire / wheel assembly to and from the vehicle; a fastening / loosening device configured to be able to fasten and loosen one or more fasteners of the tire / wheel assemble; and a control device communicably connected to the lifting device, the attachment / detachment device and the fastening / loosening device. The control device is configured to control the lifting device, the attachment / detachment device and the fastening / loosening device, when obtaining information showing that the tire / wheel assembly mounted on the vehicle is positioned at a predetermined work position.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a tire - wheel assembly replacement system, method, and program.

Background Art

[0002] Conventionally, techniques for replacing a tire - wheel assembly attached to a vehicle are known. For example, Patent Document 1 discloses a technique of using in combination a mobile robot that removes and reinstalls wheel nuts and a retainer crate, and a mobile mechanical wheel handler that grasps and removes a wheel and positions a replacement wheel before the wheel nuts and crate are reinstalled by the robot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, there is still a need for further improvement in the usefulness of techniques for replacing a tire - wheel assembly attached to a vehicle.

[0005] In view of such circumstances, an object of the present disclosure is to improve the usefulness of techniques for replacing a tire - wheel assembly attached to a vehicle.

Means for Solving the Problems

[0006] The system according to the present disclosure is a tire-wheel assembly replacement system, comprising a lifting device configured to lift and lower a vehicle, a detaching device configured to detachably attach a tire-wheel assembly to the vehicle, a tightening / loosening device configured to tighten and loosen one or more fasteners of the tire-wheel assembly, and a control device communicably connected to each of the lifting device, the detaching device, and the tightening / loosening device. The control device is configured to control each of the lifting device, the detaching device, and the tightening / loosening device when acquiring information indicating that the tire-wheel assembly attached to the vehicle is located at a predetermined working position. According to the system of the present disclosure, the utility of the technology for replacing the tire-wheel assembly attached to the vehicle can be improved.

[0007] Preferably, the system according to the present disclosure includes a first storage configured to store a new tire-wheel assembly before being attached to the vehicle. According to the system having such a configuration, the time required for the operation of replacing the tire-wheel assembly attached to the vehicle can be shortened.

[0008] In the system according to the present disclosure, preferably, the control device is configured to acquire storage information of the new tire-wheel assembly stored in the first storage and transmit the storage information. According to the system having such a configuration, it is possible to prevent the opportunity of replacing the tire-wheel assembly attached to the vehicle from being missed.

[0009] Preferably, the system according to the present disclosure includes a second storage configured to store the tire-wheel assembly removed from the vehicle. According to the system having such a configuration, the utility of the technology for replacing the tire-wheel assembly attached to the vehicle can be further improved.

[0010] The system according to the present disclosure preferably includes a roof configured to at least partially cover above the predetermined working position. According to the system having such a configuration, the usefulness of the technique for replacing the tire-wheel assembly attached to the vehicle can be further improved.

[0011] In the system according to the present disclosure, the control device is preferably configured to acquire a user input and control at least one of the lifting device, the attaching / detaching device, and the tightening / loosening device when it is determined based on the user input that the user permits execution of control. According to the system having such a configuration, the usefulness of the technique for replacing the tire-wheel assembly attached to the vehicle can be further improved.

[0012] The system according to the present disclosure preferably includes a detection device configured to detect that the tire-wheel assembly attached to the vehicle is located at a predetermined working position. According to the system having such a configuration, the usefulness of the technique for replacing the tire-wheel assembly attached to the vehicle can be further improved.

[0013] The method according to the present disclosure is a method executed by a control device communicably connected to each of a lifting device configured to lift and lower a vehicle, an attaching / detaching device configured to attach and detach a tire-wheel assembly to and from the vehicle, and a tightening / loosening device configured to tighten and loosen one or more fasteners of the tire-wheel assembly, and includes acquiring information indicating that the tire-wheel assembly attached to the vehicle is located at a predetermined working position, controlling the lifting device to lift the vehicle, controlling the tightening / loosening device to loosen one or more fasteners of the tire-wheel assembly, controlling the attaching / detaching device to remove the tire-wheel assembly from the vehicle, controlling the attaching / detaching device to attach a new tire-wheel assembly to the vehicle, controlling the tightening / loosening device to tighten one or more fasteners of the new tire-wheel assembly, and controlling the lifting device to lower the vehicle. According to the method according to the present disclosure, the usefulness of the technology for replacing a tire-wheel assembly attached to a vehicle can be improved.

[0014] The program according to the present disclosure causes a control device, which is communicably connected to each of a lifting device configured to be able to lift and lower a vehicle, a detaching device configured to be able to attach and detach a tire-wheel assembly to and from the vehicle, and a tightening / loosening device configured to be able to tighten and loosen one or more fasteners of the tire-wheel assembly, to acquire information indicating that the tire-wheel assembly attached to the vehicle is located at a predetermined working position, control the lifting device to lift the vehicle, control the tightening / loosening device to loosen one or more fasteners of the tire-wheel assembly, control the detaching device to remove the tire-wheel assembly from the vehicle, control the detaching device to attach a new tire-wheel assembly to the vehicle, control the tightening / loosening device to tighten one or more fasteners of the new tire-wheel assembly, and control the lifting device to lower the vehicle. According to the program according to the present disclosure, the usefulness of the technology for replacing a tire-wheel assembly attached to a vehicle can be improved.

Effect of the Invention

[0015] According to the present disclosure, the usefulness of the technology for replacing a tire-wheel assembly attached to a vehicle can be improved.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0017] Hereinafter, a tire - wheel assembly replacement system, method, and program according to an embodiment of the present disclosure will be described with reference to the drawings. The same reference numerals are given to the common members and parts in each figure. However, it should be noted that the drawings are schematic, and the ratios of each dimension and the like may be different from the actual ones.

[0018] Referring to FIG. 1, an overview of a system 1 according to an embodiment of the present disclosure will be described. FIG. 1 is a schematic configuration diagram showing the schematic configuration of the system 1. The system 1 is a tire - wheel assembly replacement system used to replace a tire - wheel assembly 3 attached to a vehicle 2.

[0019] The vehicle 2 is, for example, an automobile such as a passenger car, a truck, or a bus. However, the vehicle 2 is not limited to an automobile and may be any vehicle. The vehicle 2 may be driven by a driver or may be automated at any level. The level of automation is, for example, any one of levels 1 to 5 in the level classification of the SAE (Society of Automotive Engineers).

[0020] The vehicle 2 includes one or more tire - wheel assemblies 3. The tire - wheel assembly 3 includes a tire and a wheel to which the tire is assembled. The tire - wheel assembly 3 is attached to the vehicle 2 by one or more fastening members. The fastening members are, for example, bolts or nuts, but are not limited thereto.

[0021] System 1 includes a control device 20, a first detection device 30, a lifting device 40, an attachment / detachment device 50, a tightening / loosening device 60, a second detection device 70, a first storage 80, a second storage 90, and a terminal device 100. In System 1, the control device 20, the first detection device 30, the lifting device 40, the attachment / detachment device 50, the tightening / loosening device 60, the second detection device 70, the first storage 80, the second storage 90, and the terminal device 100 are communicably connected to each other by wire or wirelessly.

[0022] For example, System 1 is installed at a corner of a parking lot or a gas station, or at a maintenance factory or the like. When the control device 20 acquires information indicating that the tire-wheel assembly 3 attached to the vehicle 2 is located at a predetermined working position S, the control device 20 controls each of the lifting device 40, the attachment / detachment device 50, and the tightening / loosening device 60. The predetermined working position S is a position where the replacement operation of the tire-wheel assembly 3 attached to the vehicle 2 is performed. Thereby, the lifting device 40 lifts or lowers the vehicle 2, the attachment / detachment device 50 attaches or detaches the tire-wheel assembly 3 to or from the vehicle 2, and the tightening / loosening device 60 tightens or loosens one or more fasteners of the tire-wheel assembly 3. In this way, System 1 can automatically replace the tire-wheel assembly 3 attached to the vehicle 2. Therefore, according to System 1 according to the present disclosure, the usefulness of the technology for replacing the tire-wheel assembly 3 attached to the vehicle 2 can be improved.

[0023] In FIG. 1, for the sake of simplicity of explanation, one control device 20, one first detection device 30, one lifting device 40, one attachment / detachment device 50, one tightening / loosening device 60, one second detection device 70, one first storage 80, one second storage 90, and one terminal device 100 are shown respectively. However, System 1 may include any number of control devices 20, first detection devices 30, lifting devices 40, attachment / detachment devices 50, tightening / loosening devices 60, second detection devices 70, first storages 80, second storages 90, and terminal devices 100 respectively.

[0024] Hereinafter, with reference to FIGS. 1, 2, 3, 4, and 5, the control device 20, the first detection device 30, the lifting device 40, the attaching / detaching device 50, the tightening / loosening device 60, the second detection device 70, the first storage 80, the second storage 90, and the terminal device 100 included in the system 1 will be described in detail. FIG. 2 is a block diagram schematically showing the configuration of the control device 20 shown in FIG. 1. FIG. 3 is a schematic diagram schematically showing the configuration of the first detection device 30 shown in FIG. 1. FIG. 4 is a schematic diagram schematically showing the configuration of the attaching / detaching device 50 shown in FIG. 1. FIG. 5 is a schematic diagram schematically showing the configuration of the tightening / loosening device 60 shown in FIG. 1.

[0025] (Control Device) The control device 20 is, for example, one or a plurality of computers capable of communicating with each other. The control device 20 communicates with each of the first detection device 30, the lifting device 40, the attaching / detaching device 50, the tightening / loosening device 60, the second detection device 70, the first storage 80, the second storage 90, and the terminal device 100 to control these devices. Specifically, as shown in FIG. 2, the control device 20 includes a communication unit 21, an input unit 22, an output unit 23, a storage unit 24, and a control unit 25.

[0026] The communication unit 21 includes one or more communication interfaces connected to a network. The communication interfaces included in the communication unit 21 correspond to, for example, mobile communication standards, wired LAN (Local Area Network) standards, or wireless LAN standards, but are not limited thereto and may correspond to any communication standard. In the present embodiment, the control device 20 communicates with the first detection device 30, the lifting device 40, the attaching / detaching device 50, the tightening / loosening device 60, the second detection device 70, the first storage 80, the second storage 90, and the terminal device 100 via the communication unit 21.

[0027] The input unit 22 includes one or more input devices. The input devices included in the input unit 22 are, for example, a touch panel, an electronic pen, a camera, a microphone, a switch, or a card reader, etc. The input unit 22 receives user input via one or more input devices.

[0028] The output unit 23 includes one or more output devices. The output devices included in the output unit 23 are, for example, a touch panel, a display, a printer, a speaker, or the like. The output unit 23 outputs information regarding the system 1 via one or more output devices.

[0029] The storage unit 24 includes one or more memories. The memories included in the storage unit 24 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 24 stores any information used for the operation of the control device 20. For example, the storage unit 24 may store a system program, an application program, a database, and the like.

[0030] The control unit 25 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor is, for example, a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process, but is not limited thereto. The programmable circuit is, for example, an FPGA (Field-Programmable Gate Array), but is not limited thereto. The dedicated circuit is, for example, an ASIC (Application Specific Integrated Circuit), but is not limited thereto. The control unit 25 controls each function of the control device 20.

[0031] (First Detection Device) As shown in FIG. 3, the first detection device 30 includes one or more sensors 31. For example, the sensor 31 is a weight sensor, a displacement sensor, a laser sensor, an infrared sensor, an image sensor (camera), or the like. Thereby, the first detection device 30 can detect that the tire-wheel assembly 3 attached to the vehicle 2 is located at the predetermined working position S.

[0032] The first detection device 30 may control each function of the first detection device 30 and communicate with the control device 20, and thus may have functions such as a communication unit, an input unit, an output unit, a storage unit, and a control unit, similar to the control device 20.

[0033] As shown in FIG. 1, for example, the first detection device 30 may be installed on the ground or the floor within the range of a predetermined working position S. In such a case, as shown in FIG. 3, the first detection device 30 may include a flat plate portion 32 and a wheel stopper portion 33. For example, the first detection device 30 may include, as the sensor 31, a weight sensor on the flat plate portion 32 for detecting that the tire-wheel assembly 3 is mounted thereon. Alternatively, the first detection device 30 may include, as the sensor 31, a displacement sensor on the wheel stopper portion 33 for detecting that the tire-wheel assembly 3 is in contact therewith. Thereby, when the vehicle 2 is stopped so that the tire-wheel assembly 3 to be replaced rides on the flat plate portion 32 or contacts the wheel stopper portion 33, the first detection device 30 can detect that the tire-wheel assembly 3 attached to the vehicle 2 is located at the predetermined working position S. Therefore, when using the system 1, the driver of the vehicle 2 only needs to stop the vehicle 2 at a designated position such as above the first detection device 30, improving the convenience of the system 1.

[0034] (Lifting device) The lifting device 40 is configured to be able to lift and lower the vehicle 2. The lifting device 40 includes one or more lifting means. The lifting means includes, for example, an electric or mechanical jack or crane. Thereby, the lifting device 40 can lift the vehicle 2 from the ground to make the tire-wheel assembly 3 replaceable, and can lower the vehicle 2 to the ground.

[0035] The lifting device 40 may control each function of the lifting device 40 and communicate with the control device 20, and thus may have functions such as a communication unit, an input unit, an output unit, a storage unit, and a control unit, similar to the control device 20.

[0036] The lifting device 40 may be fixed in advance at a predetermined position. As shown in FIG. 1, the predetermined position is a position where the vehicle 2 can be lifted when the tire-wheel assembly 3 attached to the vehicle 2 is detected by the first detection device 30 to be located at the predetermined working position S. Alternatively, the lifting device 40 may include a sensor such as an infrared sensor and a moving means such as a motor and wheels, and may be movable to a position where the vehicle 2 can be lifted.

[0037] (Detaching and attaching device) The detaching and attaching device 50 is configured to be able to detach and attach the tire-wheel assembly 3 to and from the vehicle 2. As shown in FIG. 4, the detaching and attaching device 50 includes one or more detaching and attaching means 51. The detaching and attaching means 51 includes, for example, an electric or mechanical tire lifter or a robot arm. The detaching and attaching device 50 holds the tire-wheel assembly 3 by the detaching and attaching means 51 and moves it in the vertical or horizontal direction. Thereby, the detaching and attaching device 50 can remove the tire-wheel assembly 3 from the vehicle 2 and can attach the tire-wheel assembly 3 to the vehicle 2.

[0038] For example, the detaching and attaching device 50 may include two detaching and attaching means 51 that are movable on the guide 52 so as to approach or separate from each other. In the present embodiment, the detaching and attaching means 51 includes a holding portion 51A for holding the tire-wheel assembly 3 and a support portion 51B for moving the holding portion 51A in the vertical or horizontal direction. Thereby, the detaching and attaching device 50 sandwiches and holds the tire-wheel assembly 3 with the two detaching and attaching means 51 and moves it in the vertical or horizontal direction to remove the tire-wheel assembly 3 from the vehicle 2 or attach the tire-wheel assembly 3 to the vehicle 2. However, the number of the detaching and attaching means 51 provided in the detaching and attaching device 50 is not limited to two. For example, the detaching and attaching device 50 may hold the hub of the wheel by one detaching and attaching means 51 to remove the tire-wheel assembly 3 from the vehicle 2 or attach the tire-wheel assembly 3 to the vehicle 2.

[0039] In this embodiment, the attaching / detaching device 50 is provided with a moving means 53 such as a motor and wheels, and is configured to be movable. Specifically, as indicated by the arrow in FIG. 1, the attaching / detaching device 50 is configured to be movable between a predetermined working position S, a first storage 80, and a second storage 90. For example, the attaching / detaching device 50 may be provided with a motor and wheels as the moving means 53 and be capable of traveling. Alternatively, it may be movable along a rail installed between the predetermined working position S, the first storage 80, and the second storage 90.

[0040] The attaching / detaching device 50 may be provided with functions such as a communication unit, an input unit, an output unit, a storage unit, and a control unit, similar to the control device 20, in order to control each function of the attaching / detaching device 50 and communicate with the control device 20.

[0041] (Tightening / loosening device) The tightening / loosening device 60 is configured to be able to tighten and loosen one or more fasteners of the tire-wheel assembly 3. As shown in FIG. 5, the tightening / loosening device 60 includes one or more tightening / loosening means 61. The tightening / loosening means 61 includes, for example, an electric or mechanical wrench or screwdriver. The tightening / loosening device 60 tightens or loosens one or more fasteners of the tire-wheel assembly 3 attached to the vehicle 2 by the tightening / loosening means 61. Thereby, the tightening / loosening device 60 can make the tire-wheel assembly 3 in a state removable from the vehicle 2 and can fix the tire-wheel assembly 3 to the vehicle 2.

[0042] In this embodiment, the tightening and loosening device 60 includes, as the tightening and loosening means 61, one or more tools 61A (four tools 61A in the illustrated example) capable of tightening and loosening one or more fasteners of the tire-wheel assembly 3, and a head portion 61B on which the one or more tools 61A are arranged. The head portion 61B is configured to be rotatable about the rotation axis R of the head portion 61B. Then, as shown by the dashed line in FIG. 5, on the head portion 61B, one or more tools 61A are arranged on the circumference centered on the rotation axis R when viewed from the extending direction of the rotation axis R of the head portion 61B. In the head portion 61B, the one or more tools 61A are arranged such that the central axis C of each tool is parallel to the rotation axis R of the head portion 61B. Thereby, the tightening and loosening device 60 can align the positions of the one or more tools 61A with the positions of the fasteners of the tire-wheel assembly 3 by rotating the head portion 61B about the rotation axis R of the head portion 61B. Further, the head portion 61B may be movable vertically with respect to the main body of the tightening and loosening device 60 by a guide 61C. Thereby, the tightening and loosening device 60 can align the vertical position of the head portion 61B with the tire-wheel assembly 3.

[0043] The head portion 61B of the tightening and loosening device 60 may be replaceable. For example, a plurality of head portions 61B with different numbers of pre-arranged tools 61A may be prepared, and the tightening and loosening device 60 may be attached with a head portion 61B on which the same number of tools 61A as the number of fasteners provided in the tire-wheel assembly 3 are arranged. Thereby, the tightening and loosening means 61 can tighten or loosen the fasteners of the tire-wheel assembly 3 simultaneously, and the time required for the work of replacing the tire-wheel assembly 3 attached to the vehicle 2 can be shortened. However, the number of tools 61A arranged on the head portion 61B may be one. Thereby, the tightening and loosening means 61 can correspond to the tire-wheel assembly 3 having various numbers of fasteners by rotating the head portion 61B according to the tire-wheel assembly 3.

[0044] The tightening and loosening device 60 is provided with a moving means 62 such as a motor and wheels, and is movable. In this embodiment, the tightening and loosening device 60 is movable within the range of a predetermined working position S. For example, the tightening and loosening device 60 may be provided with a motor and wheels as the moving means 62 and be capable of traveling. Alternatively, it may be movable along a rail installed at a predetermined working position S.

[0045] The tightening and loosening device 60 may be provided with functions such as a communication unit, an input unit, an output unit, a storage unit, and a control unit, similar to the control device 20, in order to control each function of the tightening and loosening device 60 and communicate with the control device 20.

[0046] (Second detection device) Referring to FIG. 1 again, the second detection device 70 is provided with one or more sensors. For example, the sensor is an image sensor (camera), a laser sensor, an infrared sensor, or the like. Thereby, the second detection device 70 can detect information regarding the posture of the tire-wheel assembly 3 attached to the vehicle 2. As shown in FIG. 1, the second detection device 70 may be arranged facing a predetermined working position S.

[0047] The second detection device 70 may be provided with functions such as a communication unit, an input unit, an output unit, a storage unit, and a control unit, similar to the control device 20, in order to control each function of the second detection device 70 and communicate with the control device 20.

[0048] (First storage) The first storage 80 houses the new tire-wheel assembly 3 before it is attached to the vehicle 2. The first storage 80 may be capable of housing a plurality of tire-wheel assemblies 3. Thereby, the system 1 can continuously execute the replacement operation of the plurality of tire-wheel assemblies 3. The first storage 80 may be capable of housing the tire-wheel assemblies 3 arranged vertically side by side. Thereby, the tire-wheel assembly 3 taken out from the first storage 80 can be attached to the vehicle 2 in the same posture, and the time required for the operation of replacing the tire-wheel assembly 3 attached to the vehicle 2 can be shortened. However, the new tire-wheel assembly 3 is not limited to unused tires or wheels, and may include used tires or retread tires, or used wheels.

[0049] The first storage 80 is provided with one or more sensors. For example, the sensors are image sensors (cameras), weight sensors, etc. In the first storage 80, one or more sensors are arranged at positions where the number of tire-wheel assemblies 3 housed in the first storage 80 can be detected. Thereby, the first storage 80 can detect the storage information of the tire-wheel assemblies 3 housed in the first storage 80.

[0050] The first storage 80 may be provided with functions such as a communication unit, an input unit, an output unit, a storage unit, and a control unit, similar to the control device 20, in order to control each function of the first storage 80 and communicate with the control device 20.

[0051] (Second storage) The second storage 90 stores the tire-wheel assembly 3 removed from the vehicle 2. The second storage 90 may be able to store a plurality of tire-wheel assemblies 3. Thereby, the system 1 can continuously execute the replacement operation of the plurality of tire-wheel assemblies 3. The second storage 90 may be able to store the tire-wheel assemblies 3 arranged vertically side by side. Thereby, the second storage 90 can store the tire-wheel assembly 3 in the posture in which it has been removed from the vehicle 2, and the time required for the operation of replacing the tire-wheel assembly 3 attached to the vehicle 2 can be shortened.

[0052] The second storage 90 is provided with one or more sensors. For example, the sensor is an image sensor (camera), a weight sensor, or the like. In the second storage 90, one or more sensors are arranged at positions where the number of tire-wheel assemblies 3 stored in the second storage 90 can be detected. Thereby, the second storage 90 can detect the storage information of the tire-wheel assemblies 3 stored in the second storage 90.

[0053] The second storage 90 may be provided with functions such as a communication unit, an input unit, an output unit, a storage unit, and a control unit, similar to the control device 20, in order to control each function of the second storage 90 and communicate with the control device 20.

[0054] The terminal device 100 is a computer such as a personal computer, a smartphone, or a tablet terminal. The terminal device 100 may be installed, for example, at a location or facility away from the location where other devices included in the system 1 such as the control device 20 are installed. The terminal device 100 may be provided with functions such as a communication unit, an input unit, an output unit, a storage unit, and a control unit, similar to the control device 20, in order to control each function of the terminal device 100 and communicate with the control device 20. Thereby, the administrator or user of the system 1 can monitor the operating status, etc. of the system 1 from a remote location or control the system 1 via the control device 20 using the terminal device 100.

[0055] The system 1 may be provided with a roof configured to at least partially cover above a predetermined working position S. Thereby, when replacing the tire-wheel assembly 3 attached to the vehicle 2, it is possible to make it difficult for rainwater to enter screw holes or the like of the fasteners of the tire-wheel assembly 3. The roof may be installed on the ground. Alternatively, the roof may be attached to the tightening / loosening device 60. By providing the roof, the system 1 is not limited to indoors and can be installed outdoors, such as in a corner of a parking lot or a gas station. More preferably, the roof is configured to cover the entire device included in the system 1. Thereby, it is possible to prevent the device from malfunctioning due to rain or the like hitting the device included in the system 1.

[0056] (Operation of the system) Referring to FIG. 6, the operation of the system 1 according to the present embodiment will be described. FIG. 6 is a flowchart showing an operation example of the system 1 shown in FIG. 1. This operation corresponds to a method executed by each of the control device 20, the first detection device 30, the lifting device 40, the attaching / detaching device 50, the tightening / loosening device 60, the second detection device 70, the first storage 80, the second storage 90, and the terminal device 100 included in the system 1.

[0057] In this operation example, as shown in FIG. 1, it will be described that the tire-wheel assembly 3A attached to the vehicle 2 is removed by the system 1 and a new tire-wheel assembly 3B is attached to the vehicle 2. In the following, when the tire-wheel assemblies 3A and 3B are not distinguished, they are simply collectively referred to as "tire-wheel assembly 3". Also, in this operation example, it will be described that the number of tools 61A provided in the tightening / loosening device 60 is equal to the number of fasteners provided in the tire-wheel assemblies 3A and B.

[0058] Step S101: The first detection device 30 detects that the tire-wheel assembly 3A attached to the vehicle 2 is located at the predetermined working position S.

[0059] For example, when the first detection device 30 detects a load of a predetermined amount or more by a weight sensor disposed on the flat plate portion 32, it determines that the tire-wheel assembly 3A attached to the vehicle 2 is located at a predetermined working position S. Alternatively, when a displacement sensor disposed on the wheel stopper portion 33 detects a displacement of a predetermined amount or more, it may be determined that the tire-wheel assembly 3A attached to the vehicle 2 is located at the predetermined working position S. When the first detection device 30 detects that the tire-wheel assembly 3A attached to the vehicle 2 is located at the predetermined working position S, the first detection device 30 transmits information indicating that the tire-wheel assembly 3A attached to the vehicle 2 is located at the predetermined working position S to the control device 20. Thereby, the system 1 can automatically detect the tire-wheel assembly 3 attached to the vehicle 2 without manual intervention and start the replacement of the tire-wheel assembly 3A.

[0060] Step S102: The control device 20 acquires information indicating that the tire-wheel assembly 3A attached to the vehicle 2 is located at the predetermined working position S.

[0061] In the present embodiment, the control device 20 acquires the information by receiving, from the first detection device 30, information indicating that the tire-wheel assembly 3A is located at the predetermined working position S. However, the control device 20 may acquire the information by any method. For example, the control device 20 may communicate with the vehicle 2 and acquire the position information of the vehicle 2 as information indicating that the tire-wheel assembly 3A is located at the predetermined working position S. When the control device 20 acquires information indicating that the tire-wheel assembly 3A attached to the vehicle 2 is located at the predetermined working position, the control device 20 starts the processing after step S103.

[0062] Step S103: The lifting device 40 lifts the vehicle 2.

[0063] Specifically, when the lifting device 40 receives a control command for starting operation from the control device 20, it operates lifting means such as an electric or mechanical jack to lift the vehicle 2 from the ground, making the tire-wheel assembly 3A attached to the vehicle 2 replaceable. When the control device 20 receives information from the first detection device 30 indicating that the tire-wheel assembly 3A is not in contact with the first detection device 30, it may send a further control command to the lifting device 40 to hold the vehicle 2 at a position where the tire-wheel assembly 3A can be replaced by the lifting device 40. In this way, the control device 20 controls the lifting device 40 to lift the vehicle 2 to a position where the tire-wheel assembly 3A can be replaced.

[0064] Next, in steps S104 to S106, the tightening / loosening device 60 loosens one or more fasteners of the tire-wheel assembly 3A.

[0065] Step S104: The second detection device 70 detects information regarding the attitude of the tire-wheel assembly 3A attached to the vehicle 2.

[0066] The information regarding the attitude of the tire-wheel assembly 3A includes, for example, information indicating the position and orientation of the tire-wheel assembly 3A. For example, when the second detection device 70 receives a control command for starting operation from the control device 20, it captures an image of the tire-wheel assembly 3A located at a predetermined working position S. The second detection device 70 extracts feature points such as the contour or fasteners of the tire-wheel assembly 3A from the captured image of the tire-wheel assembly 3A by image processing, and identifies the three-dimensional coordinates of these feature points. The second detection device 70 identifies the three-dimensional coordinates of the rotation axis of the tire-wheel assembly 3A and its extending direction based on the three-dimensional coordinates of the feature points. The second detection device 70 transmits information such as the identified three-dimensional coordinates of the feature points of the tire-wheel assembly 3A and the three-dimensional coordinates and extending direction of the rotation axis to the control device 20 as information regarding the attitude of the tire-wheel assembly 3A. In this way, the control device 20 controls the second detection device 70 to obtain information regarding the attitude of the tire-wheel assembly 3A attached to the vehicle 2.

[0067] Step S105: The tightening / loosening device 60 aligns the tightening / loosening device 60 with respect to the tire-wheel assembly 3A.

[0068] The tightening / loosening device 60 aligns the tightening / loosening device 60 with respect to the tire-wheel assembly 3A when receiving an alignment control command from the control device 20. The alignment control command may include information regarding the posture of the tire-wheel assembly 3A attached to the vehicle 2 detected by the second detection device 70 in step S104.

[0069] Specifically, as the alignment of the tightening / loosening device 60 with respect to the tire-wheel assembly 3A, the central axis C of each of the one or more tools 61A is aligned with the central axis of any one of the one or more fasteners of the tire-wheel assembly 3A. Thereby, it becomes unnecessary for a human to manually align the tightening / loosening device 60.

[0070] In the present embodiment, the tightening / loosening device 60 first aligns the rotation axis R of the head portion 61B with the rotation axis of the tire-wheel assembly 3A. Next, the tightening / loosening device 60 rotates the head portion 61B about the rotation axis R of the head portion 61B to align the central axis C of each of the one or more tools 61A with the central axis of any one of the one or more fasteners of the tire-wheel assembly 3A. Thus, the control device 20 controls the tightening / loosening device 60 to align the tightening / loosening device 60 with respect to the tire-wheel assembly 3A attached to the vehicle 2.

[0071] Note that the loosening device 60 may align each of the central axes C of the one or more tools 61A with any one of the central axes of the one or more fasteners provided in the tire-wheel assembly 3A by any method. For example, the loosening device 60 may align each of the central axes C of the one or more tools 61A with any one of the central axes of the one or more fasteners provided in the tire-wheel assembly 3A based on the information regarding the posture of the tire-wheel assembly 3A attached to the vehicle 2 included in the control command from the control device 20. Alternatively, the loosening device 60 may be provided with a sensor such as a laser sensor or an image sensor, and based on the information acquired by the sensor, align each of the central axes C of the one or more tools 61A with any one of the central axes of the one or more fasteners provided in the tire-wheel assembly 3A.

[0072] Step S106: The loosening device 60 loosens one or more fasteners of the tire-wheel assembly 3A.

[0073] The loosening device 60 causes the one or more tools 61A to advance in the extending direction of the one or more tools 61A to contact each of the one or more fasteners of the tire-wheel assembly 3A. The loosening device 60 rotates the one or more tools 61A to loosen the one or more fasteners. In the present embodiment, the loosening device 60 rotates the four tools 61A to simultaneously loosen the four fasteners of the tire-wheel assembly 3. The loosening device 60 may continue to hold, by each of the one or more tools 61A, the one or more fasteners removed from the tire-wheel assembly 3A for reuse in subsequent processes. In this way, the control device 20 controls the loosening device 60 to loosen one or more fasteners of the tire-wheel assembly 3A attached to the vehicle 2.

[0074] Note that when the number of tools 61A provided in the loosening means 61 is less than the number of fasteners provided in the tire-wheel assembly 3A, for example, in the case of one tool 61A, the loosening means 61 may loosen all of the one or more fasteners of the tire-wheel assembly 3A by repeating the processes of steps S104 to S106.

[0075] Step S107: The attaching / detaching device 50 removes the tire-wheel assembly 3A from the vehicle 2.

[0076] When the attaching / detaching device 50 receives a control command to remove the tire-wheel assembly 3A from the control device 20, it moves to a predetermined working position S. Thereafter, the attaching / detaching device 50 controls the attaching / detaching means 51 (in this embodiment, the holding part 51A and the support part 51B) to sandwich the tire-wheel assembly 3A attached to the vehicle 2 and removes the tire-wheel assembly 3A from the vehicle 2. The removal of the tire-wheel assembly 3A from the vehicle 2 by the attaching / detaching device 50 may be realized by any method. For example, the control command to remove the tire-wheel assembly 3A may include information regarding the attitude of the tire-wheel assembly 3A attached to the vehicle 2. Thereby, the attaching / detaching device 50 controls the attaching / detaching means 51 based on the said information to remove the tire-wheel assembly 3A from the vehicle 2. Alternatively, the attaching / detaching device 50 may be provided with sensors such as a laser sensor or an image sensor and remove the tire-wheel assembly 3A from the vehicle 2 based on the information acquired by the sensors. The attaching / detaching device 50 holds the tire-wheel assembly 3A removed from the vehicle 2.

[0077] The attaching / detaching device 50 may further transport the tire-wheel assembly 3A removed from the vehicle 2 to the second storage 90. In this embodiment, the attaching / detaching device 50 holds the tire-wheel assembly 3A in the state of being removed from the vehicle 2 and travels to the second storage 90. Thereafter, the attaching / detaching device 50 controls the attaching / detaching means 51 to store the tire-wheel assembly 3A in the second storage 90. Thus, the control device 20 controls the attaching / detaching device 50 to remove the tire-wheel assembly 3A from the vehicle 2.

[0078] Step S108: The attaching / detaching device 50 attaches a new tire-wheel assembly 3B to the vehicle 2.

[0079] When the attaching / detaching device 50 receives a control command from the control device 20 to attach a new tire-wheel assembly 3B, it moves to the first storage 80. The attaching / detaching device 50 controls the attaching / detaching means 51 to take out the new tire-wheel assembly 3B before being attached to the vehicle 2 from the first storage 80.

[0080] After that, the attaching / detaching device 50 travels to a predetermined working position S while holding the new tire-wheel assembly 3B taken out from the first storage 80. The attaching / detaching device 50 controls the attaching / detaching means 51 to attach the new tire-wheel assembly 3B to the vehicle 2. The attachment of the new tire-wheel assembly 3B to the vehicle 2 by the attaching / detaching device 50 may be realized by any method. For example, in step S107, the attaching / detaching device 50 may store the position where the tire-wheel assembly 3A was attached to the vehicle 2. Alternatively, the attaching / detaching device 50 may attach the new tire-wheel assembly 3B to the vehicle 2 based on information acquired by a sensor such as a laser sensor or an image sensor provided in the attaching / detaching device 50. In this way, the control device 20 controls the attaching / detaching device 50 to attach the new tire-wheel assembly 3B to the vehicle 2.

[0081] In steps S109 to S111, the tightening / loosening device 60 tightens one or more fasteners of the new tire-wheel assembly 3B.

[0082] Step S109: The second detection device 70 detects information regarding the attitude of the new tire-wheel assembly 3B attached to the vehicle 2.

[0083] When the second detection device 70 receives a control command from the control device 20, similar to step S104, the second detection device 70 captures an image of the new tire-wheel assembly 3B located at the predetermined working position S. From the image of the new tire-wheel assembly 3B captured by the second detection device 70, the second detection device 70 extracts, by image processing, feature points such as the contour of the new tire-wheel assembly 3B or fasteners, and identifies the three-dimensional coordinates of these feature points. Based on the three-dimensional coordinates of the feature points, the second detection device 70 identifies the three-dimensional coordinates and the extending direction of the rotation axis of the new tire-wheel assembly 3B. The second detection device 70 transmits information such as the three-dimensional coordinates of the identified feature points of the new tire-wheel assembly 3B, and the three-dimensional coordinates and the extending direction of the rotation axis, as information regarding the posture of the new tire-wheel assembly 3B, to the control device 20. In this way, the control device 20 controls the second detection device 70 to obtain information regarding the posture of the new tire-wheel assembly 3B attached to the vehicle 2.

[0084] Step S110: The tightening / loosening device 60 aligns the tightening / loosening device 60 with the new tire-wheel assembly 3B attached to the vehicle 2.

[0085] When the tightening / loosening device 60 receives an execution command for alignment from the control device 20, similar to step S105, the tightening / loosening device 60 aligns the tightening / loosening device 60 with the new tire-wheel assembly 3B. Specifically, first, the tightening / loosening device 60 aligns the rotation axis R of the head portion 61B with the rotation axis of the new tire-wheel assembly 3B. Next, the tightening / loosening device 60 rotates the head portion 61B about the rotation axis R of the head portion 61B to align each of the central axes C of the one or more tools 61A with the central axis of any one of the one or more fasteners of the new tire-wheel assembly 3B.

[0086] Step S111: The tightening / loosening device 60 tightens one or more fasteners of the new tire-wheel assembly 3B.

[0087] The tightening / loosening device 60 contacts each of the attachment positions of one or more fasteners of the new tire-wheel assembly 3B by advancing one or more tools 61A in the extending direction of the tools 61A. The tightening / loosening device 60 rotates one or more tools 61A to tighten one or more fasteners. In this way, the control device 20 controls the tightening / loosening device 60 to tighten one or more fasteners of the new tire-wheel assembly 3B attached to the vehicle 2.

[0088] In addition, when the number of tools 61A included in the tightening / loosening means 61 is less than the number of fasteners included in the new tire-wheel assembly 3B, the tightening / loosening means 61 may tighten all of the one or more fasteners of the new tire-wheel assembly 3B by repeating the processes of steps S109 to S111.

[0089] Step S112: The lifting device 40 lowers the vehicle 2.

[0090] Specifically, when the lifting device 40 receives a control command from the control device 20, the lifting device 40 operates lifting means such as an electric or mechanical jack to lower the vehicle 2 to the ground. That is, the control device 20 controls the lifting device 40 to lower the vehicle 2 with the new tire-wheel assembly 3B attached to the ground. In this way, the tire-wheel assembly 3 attached to the vehicle 2 by the system 1 is replaced, and the vehicle 2 is returned to a state where it can travel in the same manner as before the replacement.

[0091] In addition to the processes described above in the operation example of the system 1, the control device 20 may execute processes as exemplified below.

[0092] The control device 20 may transmit information indicating the operating status of the system 1 to the terminal device 100. The information indicating the operating status of the system 1 includes, for example, the operating status of the devices included in the system 1, failure information, or error information. The control device 20 communicates with each device included in the system 1 and acquires the operating status, failure information, or error information of each device. The control device 20 transmits the acquired information to the terminal device 100 as information indicating the operating status of the system 1. The control device 20 may cause the terminal device 100 to output an alert when the acquired information meets a predetermined condition. Thereby, the maintainability of the system 1 is improved.

[0093] Also, for example, the information indicating the operating status of the system 1 may include the storage information of the tire-wheel assembly 3 stored in the first storage 80 or the second storage 90. Specifically, the control device 20 communicates with the first storage 80, acquires the storage information of the new tire-wheel assembly 3B stored in the first storage 80, and transmits the storage information to the terminal device 100. Alternatively, the control device 20 may communicate with the second storage 90, acquire the storage information of the tire-wheel assembly 3 removed from the vehicle 2 stored in the second storage 90, and transmit the storage information to the terminal device 100. Thereby, it is possible to prevent the opportunity to replace the tire-wheel assembly 3 attached to the vehicle 2 in the system 1 from being missed due to a shortage of stock of the new tire-wheel assembly 3A or the like.

[0094] Also, the control device 20 may acquire an input signal and determine whether to control each device included in the system 1 based on the acquired input signal. For example, the control device 20 may acquire a user input and determine whether to control each device included in the system 1 based on the acquired user input. The control device 20 may receive a user input, for example, by the input unit 22 of the control device 20. Alternatively, the control device 20 may receive the user input entered into the terminal device 100 from the terminal device 100.

[0095] Specifically, the user input may be a user input that permits the execution of any of the processes in steps S101 to S112 described above. When the control device 20 determines, based on the user input, that the user has permitted the execution of control, the control device 20 may control devices included in the system 1 such as the lifting device 40, the attaching / detaching device 50, and the tightening / loosening device 60. For example, in step S102, when the control device 20 acquires information indicating that the tire-wheel assembly 3 attached to the vehicle 2 is located at a predetermined working position S, and further receives a user input that permits the execution of the processes after step S103, the control device 20 may execute the processes after step S103. Thereby, basically, the control device 20 automatically advances each process executed in the system 1, but only a predetermined process can be advanced only when a user input is acquired. According to such a configuration, the system 1 can give an opportunity to the administrator or user of the system 1 to confirm the safety of the system 1 or confirm the payment of the replacement cost of the tire-wheel assembly 3. Therefore, the usefulness of the system 1 is further improved.

[0096] Also, for example, the user input may be a user input that causes the system 1 to make an emergency stop. When the control device 20 acquires the user input, the control device 20 may determine, based on the user input, that the user has not permitted the execution of control, and stop the replacement of the tire-wheel assembly 3 attached to the vehicle 2 by the system 1. Thereby, the system 1 can give an opportunity to the administrator or user of the system 1 to make an emergency stop of the replacement of the tire-wheel assembly 3 attached to the vehicle 2 by the system 1 and confirm the safety of the system 1. Therefore, the usefulness of the system 1 is further improved.

[0097] However, the input signal is not limited to the user input. For example, the input signal may be a signal transmitted from the vehicle 2. Thereby, in the case where the vehicle 2 is an autonomous vehicle, the system 1 can give an opportunity to the control device of the vehicle 2 to stop the replacement of the tire-wheel assembly 3 attached to the vehicle 2 by the system 1. Therefore, the usefulness of the system 1 is further improved.

[0098] As described above, the system 1 according to an embodiment of the present disclosure is a tire - wheel assembly replacement system, and includes a lifting device 40 configured to be able to lift and lower the vehicle 2, a detaching device 50 configured to be able to attach and detach the tire - wheel assembly 3 to and from the vehicle 2, a tightening and loosening device 60 configured to be able to tighten and loosen one or more fasteners of the tire - wheel assembly 3, and a control device 20 communicably connected to each of the lifting device 40, the detaching device 50, and the tightening and loosening device 60. The control device 20 is configured to control each of the lifting device 40, the detaching device 50, and the tightening and loosening device 60 when acquiring information indicating that the tire - wheel assembly 3 attached to the vehicle 2 is located at a predetermined working position S. According to the system 1 having such a configuration, the usefulness of the technique for replacing the tire - wheel assembly 3 attached to the vehicle 2 can be improved.

[0099] The system 1 according to an embodiment of the present disclosure preferably includes a first storage 80 configured to store a new tire - wheel assembly 3B(3) before being attached to the vehicle 2. According to such a configuration, the system 1 can store the tire - wheel assembly 3 in a state where the tire is pre - assembled to the wheel, and can shorten the time required for the operation of replacing the tire - wheel assembly 3 attached to the vehicle 2.

[0100] In the system 1 according to an embodiment of the present disclosure, the control device 20 is preferably configured to acquire the storage information of the new tire - wheel assembly 3B(3) stored in the first storage 80 and transmit the acquired storage information. According to such a configuration, the system 1 can prevent, in advance, missing the opportunity to replace the tire - wheel assembly 3 attached to the vehicle 2 due to a shortage of stock of the new tire - wheel assembly 3B.

[0101] System 1 according to an embodiment of the present disclosure preferably includes a second storage 90 configured to accommodate a tire-wheel assembly 3A (3) removed from vehicle 2. According to such a configuration, system 1 can store the tire-wheel assembly 3 removed from vehicle 2, and can further improve the usefulness of the technology for replacing the tire-wheel assembly 3 attached to vehicle 2.

[0102] System 1 according to an embodiment of the present disclosure preferably includes a roof configured to at least partially cover above a predetermined working position S. According to such a configuration, system 1 can be installed outdoors, and can further improve the usefulness of the technology for replacing the tire-wheel assembly 3 attached to vehicle 2.

[0103] In system 1 according to an embodiment of the present disclosure, the control device 20 is preferably configured to acquire a user input and control at least one of the lifting device 40, the attaching / detaching device 50, and the tightening / loosening device 60 when it is determined based on the user input that the user permits execution of control. According to such a configuration, system 1 can give an opportunity to the administrator or user of system 1 to confirm the safety of system 1 or to confirm payment of the replacement cost of the tire-wheel assembly 3, etc., and can further improve the usefulness of the technology for replacing the tire-wheel assembly 3 attached to vehicle 2.

[0104] System 1 according to an embodiment of the present disclosure preferably includes a detection device (first detection device 30) configured to detect that the tire-wheel assembly 3 attached to vehicle 2 is located at a predetermined working position S. According to such a configuration, system 1 can automatically detect the tire-wheel assembly 3 attached to vehicle 2 without manual intervention and execute replacement of the tire-wheel assembly 3A. Therefore, the usefulness of the technology for replacing the tire-wheel assembly 3 attached to vehicle 2 is further improved.

[0105] A method according to an embodiment of the present disclosure is a method executed by a control device 20 communicably connected to each of a lifting device 40 configured to be able to lift and lower a vehicle 2, a detaching device 50 configured to be able to attach and detach a tire-wheel assembly 3 to and from the vehicle 2, and a tightening / loosening device 60 configured to be able to tighten and loosen one or more fasteners of the tire-wheel assembly 3, the method including: acquiring information indicating that the tire-wheel assembly 3 attached to the vehicle 2 is located at a predetermined working position S; controlling the lifting device 40 to lift the vehicle 2; controlling the tightening / loosening device 60 to loosen one or more fasteners of the tire-wheel assembly 3; controlling the detaching device 50 to remove the tire-wheel assembly 3 from the vehicle 2; controlling the detaching device 50 to attach a new tire-wheel assembly 3 to the vehicle 2; controlling the tightening / loosening device 60 to tighten one or more fasteners of the new tire-wheel assembly 3; and controlling the lifting device 40 to lower the vehicle 2. According to a method having such a configuration, the utility of a technique for replacing the tire-wheel assembly 3 attached to the vehicle 2 can be improved.

[0106] A program according to an embodiment of the present disclosure causes a control device 20 communicably connected to each of a lifting device 40 configured to be able to lift and lower a vehicle 2, a detaching device 50 configured to be able to attach and detach a tire-wheel assembly 3 to and from the vehicle 2, and a tightening / loosening device 60 configured to be able to tighten and loosen one or more fasteners of the tire-wheel assembly 3 to: acquire information indicating that the tire-wheel assembly 3 attached to the vehicle 2 is located at a predetermined working position S; control the lifting device 40 to lift the vehicle 2; control the tightening / loosening device 60 to loosen one or more fasteners of the tire-wheel assembly 3; control the detaching device 50 to remove the tire-wheel assembly 3 from the vehicle 2; control the detaching device 50 to attach a new tire-wheel assembly 3 to the vehicle 2; control the tightening / loosening device 60 to tighten one or more fasteners of the new tire-wheel assembly 3; and control the lifting device 40 to lower the vehicle 2. According to a program having such a configuration, the utility of a technique for replacing the tire-wheel assembly 3 attached to the vehicle 2 can be improved.

[0107] Although the present disclosure has been described based on the drawings and embodiments, it should be noted that those skilled in the art can make various modifications and corrections based on the present disclosure. Therefore, it should be noted that these modifications and corrections are included in the scope of the present disclosure. For example, the configurations or functions included in each embodiment or each example can be rearranged so as not to be logically contradictory. In addition, the configurations or functions included in each embodiment can be used in combination with other embodiments or other examples, and a plurality of configurations or functions can be combined into one, divided, or partially omitted.

[0108] For example, an embodiment in which a general-purpose computer functions as the control device 20 according to the above-described embodiment is also possible. Specifically, a program describing the processing content for realizing each function of the control device 20 according to the above-described embodiment is stored in the memory of a general-purpose computer, and the program is read and executed by a processor. Therefore, the present disclosure can also be realized as a program executable by a processor or a non-transitory computer-readable medium storing the program.

[0109] Also, for example, in the above-described embodiment, the first detection device 30, the lifting device 40, the attaching / detaching device 50, the tightening / loosening device 60, the second detection device 70, the first storage 80, the second storage 90, or the terminal device 100 may be configured to execute part or all of the operations and processes executed by the control device 20. Alternatively, the control device 20 may be configured to execute part or all of the operations and processes of the first detection device 30, the lifting device 40, the attaching / detaching device 50, the tightening / loosening device 60, the second detection device 70, the first storage 80, the second storage 90, or the terminal device 100. For example, by configuring the tightening / loosening device 60 to execute all of the operations or processes of the control device 20, the tightening / loosening device 60 may be operated as the control device 20 of the system 1.

[0110] Also, for example, in the above-described embodiment, the number of each of the control device 20, the first detection device 30, the lifting device 40, the attachment / detachment device 50, the tightening / loosening device 60, the second detection device 70, the first storage 80, the second storage 90, and the terminal device 100 included in the system 1 may be any number. For example, in the operation of the system 1 described above, it was described that the system 1 includes one tightening / loosening device 60, and the one tightening / loosening device 60 attaches / detaches one tire / wheel assembly 3 of the vehicle 2. However, the system 1 may be configured to move one tightening / loosening device 60 and repeat the operation of the system 1 described above to sequentially replace a plurality of tire / wheel assemblies 3 of the vehicle 2. Alternatively, the system 1 may be configured to include a plurality of tightening / loosening devices 60 and operate the plurality of tightening / loosening devices 60 in parallel to replace a plurality of tire / wheel assemblies 3 of the vehicle 2 in parallel.

Description of Reference Numerals

[0111] 1: System, 2: Vehicle, 3: Tire / Wheel Assembly, 20: Control Device, 21: Communication Unit, 22: Input Unit, 23: Output Unit, 24: Storage Unit, 25: Control Unit, 30: First Detection Device, 31: Sensor, 32: Flat Plate Portion, 33: Wheel Stopping Portion, 40: Lifting Device, 50: Attachment / Detachment Device, 51: Attachment / Detachment Means, 51B: Holding Portion, 52: Guide, 53: Moving Means, 60: Tightening / Loosening Device, 61: Tightening / Loosening Means, 61A: Tool, 61B: Head Portion, 61C: Guide, 62: Moving Means, 70: Second Detection Device, 80: First Storage, 90: Second Storage, 100: Terminal Device, C: Central Axis of Tool, R: Rotation Axis of Head Portion, S: Predetermined Working Position

Claims

1. A tire - wheel assembly replacement system, comprising: A lifting device configured to be able to lift and lower a vehicle; A detaching and attaching device configured to be able to detach and attach a tire - wheel assembly to and from the vehicle; A tightening and loosening device configured to be able to tighten and loosen one or more fasteners of the tire - wheel assembly; A first storage configured to accommodate a new tire - wheel assembly before being attached to the vehicle, having one or more sensors, and configured to detect first storage information of the tire - wheel assembly stored in the first storage; A second storage configured to accommodate a tire - wheel assembly removed from the vehicle, having one or more sensors, and configured to detect second storage information of the tire - wheel assembly stored in the second storage; A control device communicably connected to each of the lifting device, the detaching and attaching device, the tightening and loosening device, the first storage, and the second storage; And comprising: When the control device acquires information indicating that a tire - wheel assembly attached to a vehicle is located at a predetermined working position, the control device is configured to control each of the lifting device, the detaching and attaching device, and the tightening and loosening device; The control device is configured to communicate with the first storage to acquire first storage information, and communicate with the second storage to acquire second storage information. A system.

2. The system according to claim 1, wherein the control device is configured to transmit the first storage information or the second storage information.

3. The system according to claim 1 or 2, comprising a roof configured to at least partially cover above the predetermined working position.

4. The control device is configured to: Acquire a user input, and When it is determined based on the user input that the user permits the execution of control, the control device is configured to control at least one of the lifting device, the detaching and attaching device, and the tightening and loosening device. The system according to any one of claims 1 to 3.

5. The system according to any one of claims 1 to 4, comprising a detection device configured to detect that a tire - wheel assembly attached to a vehicle is located at a predetermined working position.

6. A lifting device configured to be able to lift and lower a vehicle, a detaching device configured to be able to attach and detach a tire-wheel assembly to and from the vehicle, a tightening / loosening device configured to be able to tighten and loosen one or more fasteners of the tire-wheel assembly, a first storage configured to accommodate a new tire-wheel assembly before being attached to the vehicle, including one or more sensors and configured to detect first storage information of the tire-wheel assembly accommodated in the first storage, and a second storage configured to accommodate a tire-wheel assembly removed from the vehicle, including one or more sensors and configured to detect second storage information of the tire-wheel assembly accommodated in the second storage, a method executed by a control device communicably connected to each of the above, comprising: Obtaining information indicating that a tire-wheel assembly attached to the vehicle is located at a predetermined working position; Controlling the lifting device to lift the vehicle; Controlling the tightening / loosening device to loosen one or more fasteners of the tire-wheel assembly; Controlling the detaching device to remove the tire-wheel assembly from the vehicle; Controlling the detaching device to attach a new tire-wheel assembly to the vehicle; Controlling the tightening / loosening device to tighten one or more fasteners of the new tire-wheel assembly; Controlling the lifting device to lower the vehicle; Communicating with the first storage and obtaining first storage information; Communicating with the second storage and obtaining second storage information; A method comprising the above. Claim 7 A lifting device configured to be able to lift and lower a vehicle, a detaching device configured to be able to attach and detach a tire-wheel assembly to and from the vehicle, a tightening / loosening device configured to be able to tighten and loosen one or more fasteners of the tire-wheel assembly, a first storage for accommodating a new tire-wheel assembly before being attached to the vehicle, the first storage being provided with one or more sensors and configured to detect first storage information of the tire-wheel assembly stored in the first storage, and a second storage configured to accommodate a tire-wheel assembly removed from the vehicle, the second storage being provided with one or more sensors and configured to detect second storage information of the tire-wheel assembly stored in the second storage, to a control device communicably connected to each of the second storages, acquiring information indicating that the tire-wheel assembly attached to the vehicle is located at a predetermined working position; controlling the lifting device to lift the vehicle; controlling the tightening / loosening device to loosen one or more fasteners of the tire-wheel assembly; controlling the detaching device to remove the tire-wheel assembly from the vehicle; controlling the detaching device to attach a new tire-wheel assembly to the vehicle; controlling the tightening / loosening device to tighten one or more fasteners of the new tire-wheel assembly; controlling the lifting device to lower the vehicle; communicating with the first storage and acquiring first storage information; communicating with the second storage and acquiring second storage information; A program for causing the above to be executed.

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