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 detecting device configured to detect information concerning an attitude of a tire / wheel assembly mounted on a 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 communicatably connected to the detecting device and the fastening / loosening device. The control device is configured to obtain information concerning the attitude of the tire / wheel assembly mounted on the vehicle and control the fastening / loosening device on the basis of the information. The fastening / loosening device is configured to align the fastening / loosening device with respect to the tire / wheel assembly and to fasten and loosen the one or more fasteners of the tire / wheel assembly.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 have been known. For example, Patent Document 1 discloses a technique used in combination with 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 detection device configured to detect information regarding the attitude of a tire-wheel assembly attached to a vehicle, a tightening / loosening device configured to be able to tighten and loosen one or more fasteners of the tire-wheel assembly, and a control device communicably connected to each of the detection device and the tightening / loosening device. The control device is configured to acquire information regarding the attitude of the tire-wheel assembly attached to the vehicle via the detection device, and to control the tightening / loosening device based on the information. The tightening / loosening device is configured to align the position of the tightening / loosening device with respect to the tire-wheel assembly, and to tighten and loosen one or more fasteners of the tire-wheel assembly. According to the system of the present disclosure, the usefulness of the technology for replacing the tire-wheel assembly attached to a vehicle can be improved.

[0007] In the system according to the present disclosure, the tightening / loosening device includes one or more tools capable of tightening and loosening the one or more fasteners. As the alignment of the tightening / loosening device with respect to the tire-wheel assembly, it is preferable that each of the central axes of the one or more tools is aligned with the central axis of any one of the one or more fasteners of the tire-wheel assembly. According to the system having such a configuration, the usefulness of the technology for replacing the tire-wheel assembly attached to a vehicle can be further improved.

[0008] In the system according to the present disclosure, the tightening / loosening device includes a head portion configured to be rotatable about a rotation axis, and on the head portion, the one or more tools are arranged on a circumference centered on the rotation axis when viewed from the extending direction of the rotation axis. The tightening / loosening device is configured to align the rotation axis of the head portion with the rotation axis of the tire-wheel assembly in a straight line as alignment of the tightening / loosening device with respect to the tire-wheel assembly, and rotate the head portion about the rotation axis of the head portion so that each of the central axes of the one or more tools is aligned with the central axis of any one of the one or more fasteners of the tire-wheel assembly in a straight line. According to a system having such a configuration, the usefulness of the technique for replacing a tire-wheel assembly attached to a vehicle can be further improved.

[0009] In the system according to the present disclosure, the control device is preferably configured to acquire a user input and control the tightening / loosening device when it is determined based on the user input that the user permits execution of control. According to a system having such a configuration, the usefulness of the technique for replacing a tire-wheel assembly attached to a vehicle can be further improved.

[0010] The method according to the present disclosure is a method executed by a control device communicably connected to each of a detection device configured to detect information regarding the attitude of a tire-wheel assembly attached to a vehicle and a tightening / loosening device configured to be able to tighten and loosen one or more fasteners of the tire-wheel assembly, including controlling the detection device to acquire information regarding the attitude of the tire-wheel assembly attached to the vehicle, controlling the tightening / loosening device based on the information to perform alignment of the tightening / loosening device with respect to the tire-wheel assembly, and controlling the tightening / loosening device to tighten and loosen one or more fasteners of the tire-wheel assembly. According to the method according to the present disclosure, the usefulness of the technique for replacing a tire-wheel assembly attached to a vehicle can be improved.

[0011] The program according to the present disclosure causes a control device, which is communicably connected to each of a detection device configured to detect information regarding the attitude of a tire-wheel assembly attached to a vehicle, and a tightening / loosening device configured to be able to tighten and loosen one or more fasteners of the tire-wheel assembly, to control the detection device to acquire information regarding the attitude of the tire-wheel assembly attached to the vehicle, to control the tightening / loosening device based on the information to align the tightening / loosening device with respect to the tire-wheel assembly, and to control the tightening / loosening device to tighten and loosen one or more fasteners of the tire-wheel assembly. According to the program of the present disclosure, the utility of the technique for replacing the tire-wheel assembly attached to a vehicle can be improved.

Effects of the Invention

[0012] According to the present disclosure, the utility of the technique for replacing the tire-wheel assembly attached to a vehicle can be improved.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0014] 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 assigned to common members and parts in each figure. However, note that the drawings are schematic, and the ratios of each dimension etc. may be different from the actual ones.

[0015] 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 a schematic configuration of the system 1. The system 1 is a tire-wheel assembly replacement system used for replacing a tire-wheel assembly 3 attached to a vehicle 2.

[0016] 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 SAE (Society of Automotive Engineers).

[0017] 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 tools. The fastening tools are, for example, bolts or nuts, but are not limited thereto.

[0018] The 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 the 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.

[0019] For example, the system 1 is installed at a corner of a parking lot or a gas station, or at a maintenance factory or the like. First, the vehicle 2 is parked so that the tire-wheel assembly 3 attached to the vehicle 2 is located at a predetermined working position S, and the vehicle body is jacked up or the like, so that the tire-wheel assembly 3 can be replaced. Thereafter, the control device 20 acquires information regarding the posture of the tire-wheel assembly 3 attached to the vehicle 2 via the second detection device 70, and controls the tightening / loosening device 60 based on the information. As a result, the tightening / loosening device 60 aligns the position of the tightening / loosening device 60 with respect to the tire-wheel assembly 3, and tightens and loosens one or more fasteners of the tire-wheel assembly 3. In this way, the system 1 can automatically tighten and loosen one or more fasteners of the tire-wheel assembly 3 attached to the vehicle 2. Therefore, according to the system 1 according to the present disclosure, the usefulness of the technique for replacing the tire-wheel assembly 3 attached to the vehicle 2 can be improved.

[0020] In FIG. 1, for simplicity of explanation, one control device 20, first detection device 30, lifting device 40, attachment / detachment device 50, tightening / loosening device 60, second detection device 70, first storage 80, second storage 90, and terminal device 100 are shown respectively. However, the 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.

[0021] Hereinafter, with reference to FIGS. 1, 2, 3, 4, and 5, the control device 20, first detection device 30, lifting device 40, attachment / detachment device 50, tightening / loosening device 60, second detection device 70, first storage 80, second storage 90, and 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 attachment / detachment 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.

[0022] (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.

[0023] 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.

[0024] 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.

[0025] 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, or a speaker, etc. The output unit 23 outputs information regarding the system 1 via one or more output devices.

[0026] The storage unit 24 includes one or more memories. The memory included in the storage unit 24 may function as, for example, a main memory 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.

[0027] 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 specific processing, 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.

[0028] (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 a predetermined working position S.

[0029] The first detection device 30 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, in order to control each function of the first detection device 30 and communicate with the control device 20.

[0030] As shown in FIG. 1, for example, the first detection device 30 may be installed on the ground or 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 be provided with a weight sensor as the sensor 31 on the flat plate portion 32 to sense that the tire-wheel assembly 3 is on it. Alternatively, the first detection device 30 may be provided with a displacement sensor as the sensor 31 on the wheel stopper portion 33 to sense that the tire-wheel assembly 3 is in contact with it. 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. For this reason, 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.

[0031] (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, etc. 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.

[0032] The lifting device 40 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 lifting device 40 and communicate with the control device 20.

[0033] 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.

[0034] (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 attach the tire-wheel assembly 3 to the vehicle 2.

[0035] 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.

[0036] In this embodiment, the attaching / detaching device 50 is provided with moving means 53 such as a motor and wheels, and is capable of moving. Specifically, as indicated by the arrow in FIG. 1, the attaching / detaching device 50 is capable of moving 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 capable of moving along rails installed between a predetermined working position S, the first storage 80, and the second storage 90.

[0037] 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.

[0038] (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.

[0039] In this embodiment, the tightening / loosening device 60 includes, as the tightening / 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. And, 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 is parallel to the rotation axis R of the head portion 61B. Thereby, the tightening / 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 / loosening device 60 by a guide 61C. Thereby, the tightening / loosening device 60 can align the vertical position of the head portion 61B with the tire-wheel assembly 3.

[0040] The head portion 61B of the tightening / 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 / 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 / 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 / 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.

[0041] The tightening and loosening device 60 is provided with a motor and moving means 62 such as wheels and is made movable. In the present embodiment, the tightening and loosening device 60 is made 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 the predetermined working position S.

[0042] 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.

[0043] (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 attitude 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 the predetermined working position S.

[0044] 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.

[0045] (First storage) The first storage 80 stores the new tire-wheel assembly 3 before it is attached to the vehicle 2. The first storage 80 may be capable of storing a plurality of tire-wheel assemblies 3. Thereby, the system 1 can continuously execute the replacement work of the plurality of tire-wheel assemblies 3. The first storage 80 may be capable of storing 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 work 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.

[0046] The first storage 80 is provided with one or more sensors. For example, the sensor is an image sensor (camera), a weight sensor, or the like. In the first storage 80, one or more sensors are arranged at positions where the number of tire-wheel assemblies 3 stored in the first storage 80 can be detected. Thereby, the first storage 80 can detect the storage information of the tire-wheel assemblies 3 stored in the first storage 80.

[0047] 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.

[0048] (Second storage) The second storage 90 stores the tire-wheel assembly 3 removed from the vehicle 2. The second storage 90 may be capable of storing 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 capable of storing 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 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.

[0049] The second storage 90 is provided with one or more sensors. For example, the sensors are image sensors (cameras), weight sensors, etc. In the second storage 90, the 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.

[0050] 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.

[0051] 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 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.

[0052] 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, 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 System 1. Thereby, it is possible to prevent in advance a failure of the device due to rain or the like hitting the device included in System 1.

[0053] (Operation of the system) With reference to FIG. 6, the operation of System 1 according to the present embodiment will be described. FIG. 6 is a flowchart showing an operation example of 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 System 1.

[0054] 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 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.

[0055] 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.

[0056] 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 a 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.

[0057] 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.

[0058] 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.

[0059] Step S103: The lifting device 40 lifts the vehicle 2.

[0060] 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 cause the lifting device 40 to hold the vehicle 2 at a position where the tire-wheel assembly 3A can be replaced. 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.

[0061] Next, in steps S104 to S106, the tightening / loosening device 60 loosens one or more fasteners of the tire-wheel assembly 3A.

[0062] Step S104: The second detection device 70 detects information regarding the attitude of the tire-wheel assembly 3A attached to the vehicle 2.

[0063] 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 of the tire-wheel assembly 3A or fasteners 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.

[0064] Step S105: The tightening / loosening device 60 aligns the tightening / loosening device 60 with respect to the tire-wheel assembly 3A.

[0065] 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.

[0066] 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 is no longer necessary for a human to manually align the tightening / loosening device 60.

[0067] In this 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. In this way, 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.

[0068] Note that the loosening device 60 may 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 provided in the tire-wheel assembly 3A by any method. For example, the loosening device 60 may 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 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 may 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 provided in the tire-wheel assembly 3A based on the information acquired by the sensor.

[0069] Step S106: The loosening device 60 loosens one or more fasteners of the tire-wheel assembly 3A.

[0070] The loosening device 60 contacts each of the one or more fasteners of the tire-wheel assembly 3A by advancing the one or more tools 61A in the extending direction of the tools 61A. 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 the one or more fasteners removed from the tire-wheel assembly 3A by each of the one or more tools 61A 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.

[0071] 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, when it is one, 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.

[0072] Step S107: The attaching / detaching device 50 removes the tire-wheel assembly 3A from the vehicle 2.

[0073] 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 (the holding part 51A and the support part 51B in this embodiment) to sandwich the tire-wheel assembly 3A attached to the vehicle 2 and remove 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 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.

[0074] 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.

[0075] Step S108: The attaching / detaching device 50 attaches a new tire-wheel assembly 3B to the vehicle 2.

[0076] 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.

[0077] 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, the attaching / detaching device 50 may store the position where the tire-wheel assembly 3A was attached to the vehicle 2 in step S107. Alternatively, the attaching / detaching device 50 may attach the new tire-wheel assembly 3B to the vehicle 2 based on the information obtained 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.

[0078] In steps S109 to S111, the tightening / loosening device 60 tightens one or more fasteners of the new tire-wheel assembly 3B.

[0079] Step S109: The second detection device 70 detects information regarding the attitude of the new tire-wheel assembly 3B attached to the vehicle 2.

[0080] 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, the contour of the new tire-wheel assembly 3B or feature points such as 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 the 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, to the control device 20 as information regarding the attitude of the new tire-wheel assembly 3B. In this way, the control device 20 controls the second detection device 70 to obtain information regarding the attitude of the new tire-wheel assembly 3B attached to the vehicle 2.

[0081] 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.

[0082] 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 in a straight line. 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 in a straight line.

[0083] Step S111: The tightening / loosening device 60 tightens one or more fasteners of the new tire-wheel assembly 3B.

[0084] The tightening and 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 and 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 and loosening device 60 to tighten one or more fasteners of the new tire-wheel assembly 3B attached to the vehicle 2.

[0085] In addition, when the number of tools 61A included in the tightening and loosening means 61 is smaller than the number of fasteners included in the new tire-wheel assembly 3B, the tightening and 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.

[0086] Step S112: The lifting device 40 lowers the vehicle 2.

[0087] Specifically, when the lifting device 40 receives a control command from the control device 20, the lifting device 40 operates a 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 as before the replacement.

[0088] In addition to the processes described above in the operation example of the system 1, the control device 20 may execute the processes exemplified below.

[0089] 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, failure information, or error information of the devices included in the system 1. 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. When the acquired information meets a predetermined condition, the control device 20 may cause the terminal device 100 to output an alert. Thereby, the maintainability of the system 1 is improved.

[0090] 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 communicates with the second storage 90, acquires the storage information of the tire-wheel assembly 3 removed from the vehicle 2 stored in the second storage 90, and may 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.

[0091] Further, 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 input to the terminal device 100 from the terminal device 100.

[0092] 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 the 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 the 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. Thus, 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 usability of the system 1 is further improved.

[0093] 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. Thus, 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 perform confirmation of the safety of the system 1. Therefore, the usability of the system 1 is further improved.

[0094] 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. Thus, 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 or the like to stop the replacement of the tire-wheel assembly 3 attached to the vehicle 2 by the system 1. Therefore, the usability of the system 1 is further improved.

[0095] As described above, the system 1 according to an embodiment of the present disclosure is a tire-wheel assembly replacement system, and includes a detection device (second detection device 70) configured to detect information regarding the attitude of the tire-wheel assembly 3 attached to the vehicle 2, a tightening / 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 detection device (second detection device 70) and the tightening / loosening device 60. The control device 20 is configured to acquire information regarding the attitude of the tire-wheel assembly 3 attached to the vehicle 2 via the detection device (second detection device 70), and control the tightening / loosening device 60 based on the information. The tightening / loosening device 60 is configured to align the position of the tightening / loosening device 60 with respect to the tire-wheel assembly 3, and tighten and loosen one or more fasteners of the tire-wheel assembly 3. According to the system 1 having such a configuration, one or more fasteners of the tire-wheel assembly 3 attached to the vehicle 2 can be automatically tightened and loosened. Therefore, according to the system 1 according to an embodiment of the present disclosure, the usefulness of the technique for replacing the tire-wheel assembly 3 attached to the vehicle 2 can be improved.

[0096] In the system 1 according to an embodiment of the present disclosure, the tightening / loosening device 60 includes one or more tools 61A capable of tightening and loosening one or more fasteners, and it is preferable that the tightening / loosening device 60 is configured to align each central axis C of the one or more tools 61A with a central axis of any one of the one or more fasteners of the tire-wheel assembly 3 as the alignment of the tightening / loosening device 60 with respect to the tire-wheel assembly 3. According to such a configuration, in the system 1, it is not necessary for a human to manually align the tightening / loosening device 60, and the usefulness of the technique for replacing the tire-wheel assembly 3 attached to the vehicle 2 can be further improved.

[0097] In the system 1 according to an embodiment of the present disclosure, the tightening / loosening device 60 includes a head portion 61B configured to be rotatable about a rotation axis R. On the head portion 61B, one or more tools 61A are arranged on a circumference centered on the rotation axis R when viewed from the extending direction of the rotation axis R. The tightening / loosening device 60 aligns the rotation axis R of the head portion 61B with the rotation axis of the tire-wheel assembly 3 as alignment of the tightening / loosening device 60 with respect to the tire-wheel assembly 3, and rotates the head portion 61B about the rotation axis R of the head portion 61B so that each of the central axes C 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 3. Preferably, it is configured as such. According to such a configuration, in the system 1, it is not necessary for a human to manually align the tightening / loosening device 60, and the usefulness of the technique for replacing the tire-wheel assembly 3 attached to the vehicle 2 can be further improved.

[0098] In the system 1 according to an embodiment of the present disclosure, the control device 20 is preferably configured to acquire a user input and control the tightening / loosening device 60 when it is determined based on the user input that the user permits the execution of control. 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, etc., and the usefulness of the technique for replacing the tire-wheel assembly 3 attached to the vehicle 2 can be further improved.

[0099] 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 detection device (second detection device 70) configured to detect information regarding the attitude of a tire-wheel assembly 3 attached to a 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 controlling the detection device (second detection device 70) to obtain information regarding the attitude of the tire-wheel assembly 3 attached to the vehicle 2, based on the information, controlling the tightening / loosening device 60 to align the tightening / loosening device 60 with respect to the tire-wheel assembly 3, and controlling the tightening / loosening device 60 to tighten and loosen one or more fasteners of the tire-wheel assembly 3. According to the method having such a configuration, one or more fasteners of the tire-wheel assembly 3 attached to the vehicle 2 can be automatically tightened and loosened. Therefore, according to the method according to an embodiment of the present disclosure, the usefulness of the technique for replacing the tire-wheel assembly 3 attached to the vehicle 2 can be improved.

[0100] A program according to an embodiment of the present disclosure causes a control device 20 communicably connected to each of a detection device (second detection device 70) configured to detect information regarding the attitude of a tire-wheel assembly 3 attached to a 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 control the detection device (second detection device 70) to obtain information regarding the attitude of the tire-wheel assembly 3 attached to the vehicle 2, based on the information, control the tightening / loosening device 60 to align the tightening / loosening device 60 with respect to the tire-wheel assembly 3, and control the tightening / loosening device 60 to tighten and loosen one or more fasteners of the tire-wheel assembly 3. According to the program having such a configuration, one or more fasteners of the tire-wheel assembly 3 attached to the vehicle 2 can be automatically tightened and loosened. Therefore, according to the program according to an embodiment of the present disclosure, the usefulness of the technique for replacing the tire-wheel assembly 3 attached to the vehicle 2 can be improved.

[0101] 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 alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included within 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 inconsistent. Also, the configurations or functions included in each embodiment can be used in combination with other embodiments or other examples, and it is possible to combine, divide, or omit a part of a plurality of configurations or functions into one.

[0102] For example, an embodiment is also possible in which a general-purpose computer functions as the control device 20 according to the above-described embodiment. 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 out 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.

[0103] 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 operate as the control device 20 of the system 1.

[0104] Also, for example, in the operation of the above-described system 1, some of the operations described as being automatically executed by the devices included in the system 1 may be manually executed by a human. For example, instead of the lifting device 40, a human may operate a jack or the like to lift the vehicle 2 from the ground, make the tire-wheel assembly 3 replaceable, or lower the vehicle 2 to the ground. Alternatively, instead of the attaching / detaching device 50, a human may remove the tire-wheel assembly 3 from the vehicle 2 or attach the tire-wheel assembly 3 to the vehicle 2.

[0105] 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 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 may be an arbitrary number. For example, in the operation of the above-described system 1, it has been 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 above-described system 1 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

[0106] 1: System, 2: Vehicle, 3: Tire-wheel assembly, 20: Control device, 21: Communication unit, 22: Input unit, 23: Output unit, 24: Memory unit, 25: Control unit, 30: First detection device, 31: Sensor, 32: Flat plate part, 33: Wheel stop part, 40: Lifting device, 50: Attachment / detachment device, 51: Attachment / detachment means, 51B: Holding part, 52: Guide, 53: Moving means, 60: Tightening / loosening device, 61: Tightening / loosening means, 61A: Tool, 61B: Head part, 61C: Guide, 62: Moving means, 70: Second detection device, 80: First storage, 90: Second storage, 100: Terminal device, C: Central axis of the tool, R: Rotation axis of the head part, S: Predetermined working position

Claims

1. A tire - wheel assembly replacement system, comprising: a detection device configured to detect information regarding the attitude of a tire - wheel assembly positioned at a predetermined working position while attached to a vehicle; a detaching / attaching device configured to detachably attach the tire - wheel assembly to / from the vehicle; a tightening / loosening device configured 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; a second storage configured to accommodate a tire - wheel assembly removed from the vehicle; a control device communicably connected to each of the detection device, the detaching / attaching device, and the tightening / loosening device; The control device: acquires information regarding the attitude of the tire - wheel assembly attached to the vehicle via the detection device; is configured to control the tightening / loosening device based on the information; The tightening / loosening device: aligns the position of the tightening / loosening device with respect to the tire - wheel assembly; is configured to tighten and loosen the one or more fasteners of the tire - wheel assembly; The detaching / attaching device: includes moving means and is configured to be movable between the predetermined working position, the first storage, and the second storage; holds the tire - wheel assembly removed from the vehicle at the predetermined working position and transports it to the second storage; is configured to hold the new tire - wheel assembly taken out from the first storage and transport it to the predetermined working position. A system.

2. The tightening / loosening device includes one or more tools capable of tightening and loosening the one or more fasteners, and the tightening / loosening device is configured to align each central axis of the one or more tools with a central axis of any one of the one or more fasteners of the tire - wheel assembly in a straight line as alignment of the tightening / loosening device with respect to the tire - wheel assembly. The system according to claim 1.

3. The tightening / loosening device includes a head portion configured to be rotatable about a rotation axis, and on the head portion, the one or more tools are arranged on a circumference centered on the rotation axis as viewed from the extending direction of the rotation axis, and the tightening / loosening device, as alignment of the tightening / loosening device with respect to the tire - wheel assembly, Align the rotation axis of the head portion with the rotation axis of the tire-wheel assembly in a straight line. The system according to claim 2, wherein the head portion is rotated about the rotation axis of the head portion so that each of the central axes of the one or more tools is aligned with the central axis of any one of the one or more fasteners of the tire-wheel assembly in a straight line.

4. The control device acquires user input, and is configured to control the tightening / loosening device when it is determined based on the user input that the user permits execution of control, according to any one of claims 1 to 3.

5. A method executed by a control device communicably connected to each of a detection device configured to detect information regarding the attitude of a tire-wheel assembly located at a predetermined working position while attached to a vehicle, a detaching / attaching device configured to detachably attach the tire-wheel assembly to / from the vehicle, and a tightening / loosening device configured to tighten and loosen one or more fasteners of the tire-wheel assembly, the method comprising: controlling the detection device to obtain information regarding the attitude of the tire-wheel assembly attached to the vehicle; controlling the tightening / loosening device based on the information to align the tightening / loosening device with the tire-wheel assembly; controlling the tightening / loosening device to tighten and loosen one or more fasteners of the tire-wheel assembly; including the detaching / attaching device includes moving means and is configured to be movable between the predetermined working position, a first storage, and a second storage, the first storage is configured to store a new tire-wheel assembly before being attached to the vehicle, the second storage is configured to store the tire-wheel assembly removed from the vehicle, the method further includes controlling the detaching / attaching device to hold the tire-wheel assembly removed from the vehicle at the predetermined working position and transport it to the second storage; controlling the detaching / attaching device to hold the new tire-wheel assembly taken out from the first storage and transport it to the predetermined working position. The method further includes.

6. A detection device configured to detect information regarding the posture of a tire-wheel assembly positioned at a predetermined working position while attached to a vehicle, a detaching / attaching device configured to detachably attach the tire-wheel assembly to the vehicle, and a tightening / loosening device configured to tighten and loosen one or more fasteners of the tire-wheel assembly, each communicably connected to a control device, control the detection device to acquire information regarding the posture of the tire-wheel assembly attached to the vehicle; based on the information, control the tightening / loosening device to align the tightening / loosening device with respect to the tire-wheel assembly; control the tightening / loosening device to tighten and loosen one or more fasteners of the tire-wheel assembly; A program for causing the above to be executed, wherein the detaching / attaching device includes moving means and is configured to be movable between the predetermined working position, a first storage, and a second storage; the first storage is configured to store a new tire-wheel assembly before being attached to the vehicle; the second storage is configured to store the tire-wheel assembly removed from the vehicle; the program further causes the control device to control the detaching / attaching device to hold the tire-wheel assembly removed from the vehicle at the predetermined working position and transport it to the second storage; control the detaching / attaching device to hold the new tire-wheel assembly taken out from the first storage and transport it to the predetermined working position; A program.

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