Automated removal and replacement of vehicle wheels and tires
Systems, methods and apparatus for automated vehicle wheel removal and replacement are provided. One system includes a computer system with applications for scheduling the replacement of tires for the vehicle. An electronically controlled lift device and robotic apparatus is configured for interaction with the computer system. The lift device mechanically adjusts arms for placement on lift points of vehicles. The robotic apparatus detects positioning of lug nut configuration for a wheel, removes lug nuts, and then removes the wheel from the wheel hub with gripping arms. The wheel and tire are then handed off to a separate tire changing machine. When a new tire is replaced the robotic apparatus then mounts the wheel to the original wheel hub, and then secures the lug nuts to the lug nut bolts.
1. A computer-implemented method for vehicle wheel removal and replacement, the method comprising:
instructing a vehicle lifting device to lift a first vehicle to a height above a ground surface; and
instructing a robotic apparatus to remove wheel fasteners from one or more wheels of the first vehicle, wherein instructing the robotic apparatus comprises the operations of:
determining a wheel fastener pattern for a first wheel of the first vehicle;
based on the determined wheel fastener pattern, removing with the robotic apparatus three or more wheel fasteners from a first wheel hub of the first vehicle;
removing with the robotic apparatus, the first wheel from the first wheel hub of the first vehicle;
using the robotic apparatus, placing the first wheel onto the first wheel hub of the first vehicle; and
applying with the robotic apparatus the three or more wheel fasteners onto the first wheel hub of the first vehicle.
2. The method of claim 1 , further comprising:
based on the determined wheel fastener pattern, removing with the robotic apparatus three or more wheel fasteners from a second wheel hub of the first vehicle;
removing with the robotic apparatus, the second wheel from a second wheel hub of the first vehicle;
using the robotic apparatus, placing the second wheel onto the second wheel hub of the first vehicle; and
applying with the robotic apparatus the three or more wheel fasteners onto the second wheel hub of the first vehicle.
3. The method of claim 1 , wherein the three or more fasteners are removed in a sequentially alternating pattern.
4. The method of claim 1 , wherein the wheel fastener pattern comprises one of a 4-fastener pattern, a 5-fastener pattern, or a 6-fastener pattern.
5. The method of claim 1 , wherein determining a wheel fastener pattern comprises:
identifying one or more fiducial markers located on at least one of the three or more wheel fasteners; and
determining the wheel fastener pattern based on the location of the one or more fiducial markers.
6. The method of claim 1 , wherein determining a wheel fastener pattern comprises:
receiving vehicle information identifying a unique make and model of a vehicle; and based on the unique make and model of the vehicle identifying wheel fastener pattern for the vehicle.
7. The method of claim 1 , wherein determining a wheel fastener pattern comprises:
obtaining one or more images of the first wheel; and
determining a radial fastener pattern based on detecting lug nut objects in the one or more images.
8. The method of claim 1 , wherein determining a wheel fastener pattern comprises: receiving, from a user interface, a selection of pattern type of one of a four lug nut pattern, a five lug nut pattern or a six lug nut pattern.
9. The method of claim 1 , wherein determining a wheel fastener pattern comprises: retrieving a wheel fastener pattern value from a database, the database having different wheel fastener pattern values.
10. The method of claim 1 , further comprising:
receiving one or more control parameters from a user interface from two or more remote devices, wherein the one or more control parameters are a specific type of vehicle;
storing the one or more control parameters in a database; and
directing a robotic apparatus to perform an operation based on the stored one or more control parameters.
11. The method of claim 1 , further comprising:
determining one or more lifting points of the first vehicle; and
prior to the first vehicle moving over the lifting device, positioning lifting sections of the vehicle lifting device to the determined one or more lifting points.
12. The method of claim 1 , further comprising:
prior to removing with the robotic apparatus, the first wheel from the first wheel hub of the first vehicle, determining a socket which is sized for removal of the wheel fasteners of the first vehicle; and
selecting by the robotic apparatus, the determined socket for use to remove the wheel fasteners.
13. A computer-implemented method for vehicle wheel removal and replacement, the method comprising:
determining a socket size for removal of wheel fasteners of a first vehicle;
selecting by a robotic apparatus, a socket of the determined socket size for use to remove the wheel fasteners;
removing by the robotic apparatus with the selected socket, three or more wheel fasteners from a first wheel hub of the first vehicle;
removing with the robotic apparatus, the first wheel from the first wheel hub of the first vehicle;
using the robotic apparatus, placing the first wheel onto the first wheel hub of the first vehicle; and
applying by the robotic apparatus with the selected socket, the three or more wheel fasteners onto the first wheel hub of the first vehicle.
14. The method of claim 13 , further comprising:
determining one or more lifting locations of the first vehicle;
positioning lifting sections of the vehicle lifting device to the determined one or more lifting locations; and
instructing the vehicle lifting device to lift the first vehicle to a height above a ground surface.
15. The method of claim 1 , further comprising:
determining a wheel fastener pattern for a first wheel of the first vehicle, wherein the three or more wheel fasteners are removed by the robotic apparatus based on the determined wheel fastening pattern.
16. The method of claim 1 , further comprising:
placing by the robotic apparatus to a predetermined storage location each of the three or more wheel fasteners removed from the first wheel hub of the first vehicle.
17. The method of claim 16 , further comprising:
retrieving by the robotic apparatus the three or more wheel fasteners placed by the robotic apparatus from the predetermined storage location.
18. A computer-implemented method for vehicle wheel removal and replacement, the method comprising:
determining a socket size for removal of wheel fasteners of a first vehicle;
selecting by a robotic apparatus, a socket of the determined socket size for use to remove the wheel fasteners;
removing by the robotic apparatus with the selected socket, a first group of three or more wheel fasteners from a first wheel hub of the first vehicle;
removing with the robotic apparatus, the first wheel from the first wheel hub of the first vehicle;
removing by the robotic apparatus with the selected socket, a second group of three or more wheel fasteners from a second wheel hub of the first vehicle;
removing with the robotic apparatus, a second wheel from a second wheel hub of the first vehicle;
using the robotic apparatus, placing the first wheel onto the second wheel hub of the first vehicle;
applying by the robotic apparatus with the selected socket, three or more wheel fasteners onto the second wheel hub of the first vehicle;
using the robotic apparatus, placing the second wheel onto the first wheel hub of the first vehicle; and
applying by the robotic apparatus with the selected socket, three or more wheel fasteners onto the first wheel hub of the first vehicle.
19. The method of claim 18 , further comprising:
determining one or more lifting locations of the first vehicle;
positioning lifting sections of the vehicle lifting device to the determined one or more lifting locations; and
instructing the vehicle lifting device to lift the first vehicle to a height above a ground surface.
20. The method of claim 18 , further comprising:
determining a wheel fastener pattern for a first wheel of the first vehicle, wherein the three or more wheel fasteners are removed by the robotic apparatus based on the determined wheel fastening pattern.