Autonomous Refueling Nozzle Alignment With Robotic Compensation
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Solution Overview
Problem
Manual refueling operations are time-consuming and pose safety hazards due to the need for manual connection and disconnection of refueling hoses, which can be inefficient and expose personnel to hazardous environments.
Innovation Solution
An autonomous refueling system featuring an end effector assembly with a six-axis robotic arm, sensor suite, and controller system that autonomously connects and disconnects a refueling line to a fueling port, using sensors and a compensation system for precise alignment and fueling, reducing manual labor and enhancing safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual refueling operations are performed, then personnel can directly control the refueling process, but labor time is consumed and safety hazards arise from manual connection and disconnection of refueling hoses
Solution Approach 1:
The refueling system autonomously performs connection, alignment, and refueling operations without human intervention. The end effector automatically connects to the fuel port, the robotic arm positions itself, and the system completes the refueling cycle independently, eliminating the need for manual operation while reducing labor time and safety risks
Solution Approach 2:
Manual mechanical operations are replaced with an automated robotic system comprising a robotic arm, end effector with compensation mechanism, and control system. The mechanical substitution transforms manual hose connection and positioning into automated robotic movements with precision control systems
2Measurement precision
If a robotic arm is used to position the end effector, then positioning capability is improved, but the complexity and cost of the robotic arm increases
Solution Approach 1:
The positioning system is divided into two independent segments: the robotic arm provides coarse positioning to bring the end effector near the fuel port, while the compensation mechanism on the end effector handles fine-tuning of the fuel nozzle position. This segmentation allows each component to be simpler and less expensive while achieving high overall precision
Solution Approach 2:
The compensation mechanism acts as an intermediary between the robotic arm and the fuel nozzle. It receives the roughly positioned end effector from the robotic arm and performs final precision alignment of the fuel nozzle with the fuel port, enabling high positioning precision without requiring an overly complex robotic arm
Data Source
AI summary
Systems and techniques are provided for autonomous or semi-autonomous connection and disconnection of an end effector to a port, such as a refueling port associated with a fuel tank. The end effector may be coupled with a carriage system, such as a robotic arm and have a connection with a supply source. A sensor suite may be coupled with the carriage system and output optical and/or proximity data that is received at a controller system. The controller system may identify a location of the port, position the end effector in proximity with the port, and provide a connection therebetween. The controller system may identify a fiducial target associated with the port that provides for alignment with the end effector and port. The end effector may also include a compensation system to adjust a location of the end effector to a finer degree than is possible using the carriage system.