AU2014360929B2 - Tank unit for automatic refuelling a vehicle tank, tankstation comprising such tank unit and method therefor - Google Patents
Tank unit for automatic refuelling a vehicle tank, tankstation comprising such tank unit and method therefor Download PDFInfo
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- AU2014360929B2 AU2014360929B2 AU2014360929A AU2014360929A AU2014360929B2 AU 2014360929 B2 AU2014360929 B2 AU 2014360929B2 AU 2014360929 A AU2014360929 A AU 2014360929A AU 2014360929 A AU2014360929 A AU 2014360929A AU 2014360929 B2 AU2014360929 B2 AU 2014360929B2
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- tank
- vehicle
- frame
- tank unit
- positioning
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
- B67D2007/0417—Manipulator arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
- B67D2007/043—Moveable
- B67D2007/0432—Moveable according to a planar coordinate system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0403—Fuelling robots
- B67D2007/043—Moveable
- B67D2007/0436—Moveable according to a spatial coordinate system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0444—Sensors
- B67D2007/0455—Sensors recognising the position
- B67D2007/0457—Sensors recognising the position of the car
- B67D2007/0461—Sensors recognising the position of the car by calculating from a reference position, e.g. the car's silhouette, reference marks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
- B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
- B67D2007/0444—Sensors
- B67D2007/0455—Sensors recognising the position
- B67D2007/0467—Sensors recognising the position of the fuel tank flap and/or fuel tank opening
- B67D2007/0469—Sensors recognising the position of the fuel tank flap and/or fuel tank opening by interrogating a transponder
Abstract
The invention relates to a tank unit (20), a tank station provided therewith and a method therefore. The tank unit (20) according to the invention for automatically refuelling a vehicle tank (4) comprises: a housing (24) comprising guiding means (26) and an actuator (28); a camera system (40) configured for detecting the vehicle with a tank connection; a frame (30) movable over the guiding means (26), the frame comprising a sub-frame (34) and a positioning system configured for positioning the sub-frame (34) relative to the frame (24) with the camera system, wherein the sub-frame (34) comprises: contacting means configured for contacting the vehicle (2), wherein the contacting means comprise first compensation means (44); and a tank tool (46) with a refueling nozzle (48) movable in the sub-frame (34) and configured for connecting with a fuel tank inlet of the tank connection (6) of the vehicle (2).
Description
TANK UNIT FOR AUTOMATIC REFUELLING A VEHICLE TANK,
TANKSTATION COMPRISING SUCH TANK UNIT AND METHOD
THEREFOR
The present disclosure relates to an automatic tank unit for automatic refuelling a tank of a vehicle. The tank unit according to the present disclosure typically includes a refuelling device capable of refuelling vehicle tanks of so-called special purpose vehicles, such as dumpers that are often used in mining.
Known tank units require manual positioning of the refuelling nozzle in the tank inlet.
Especially under harsh conditions such positioning is inconvenient. This is especially the case in so-called special purpose vehicles, such as dumpers, that are used under a wide range of weather and climate conditions, including use at high altitudes and/or in deserts. Conventional tank units for automatic refuelling a vehicle tank involve a large number of degrees of freedom thereby resulting in a complex system involving a large number of parts for the tank unit. Such complex system is sensitive for fouling, high risk of malfunctioning and require a high level of maintenance. Such system is especially disadvantageous when applied under the afore mentioned harsh conditions.
It is an object of the present invention to substantially overcome, or at least ameliorate, one or more of the above disadvantages.
In one aspect, the present invention provides a tank unit for automatic refuelling a vehicle tank, the tank unit comprising:
- a stationary frame comprising guiding means and an actuator;
- a camera system configured for detecting the vehicle with a tank connection;
- a frame movable over the guiding means, the frame comprising a sub-frame and a positioning system configured for positioning the sub-frame relative to the stationary frame with the camera system, wherein the sub-frame comprises:
- contacting means configured for contacting the vehicle, wherein the contacting means comprise first compensation means;
- a tank tool with a refuelling nozzle movable in the sub-frame and configured for connecting with a fuel tank inlet of the tank connection of the vehicle; and
- a control system for positioning the sub-frame in relation to the vehicle tank.
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In another aspect, the present invention provides a tank station for automatic refueling a vehicle, the station comprising a housing provided with the above described tank unit.
In yet another aspect, the present invention provides a method for automatic refueling a vehicle tank, comprising the steps of:
- providing a tank station and/or tank unit according to one or more of the foregoing claims;
- positioning the vehicle;
- connecting the refueling nozzle to the vehicle;
- refueling the vehicle; and
- disconnecting the tank unit from the vehicle.
The present disclosure also provides a tank unit for automatic refuelling a fuel tank, the tank unit comprising:
- a housing comprising guiding means and an actuator;
- a camera system configured for detecting the vehicle with a tank connection;
- a frame movable over the guiding means, the frame comprising a sub-frame and a positioning system configured for positioning the sub-frame relative to the frame with the camera system, wherein the sub-frame comprises:
- contacting means configured for contacting the vehicle, wherein the contacting means comprise first compensation means; and
- a tank tool with a refuelling nozzle movable in the sub-frame and configured for connecting with a fuel tank inlet of the tank connection of the vehicle.
By providing a tank unit with a housing that comprises guiding means with an actuator, a frame can be moved over the guiding means by this actuator. In the presently preferred embodiment, the frame moves over the guiding means in a first direction, preferably in a substantial horizontal plane. This direction will be preferred to as the z-axis. The actuator moves the frame, for the so-called delta robot, in this z-direction towards the vehicle with the tank that needs refuelling. The actuator may involve a ball screw drive or possible rack drive, or other appropriate actuator. In a rest position, the frame is preferably positioned inside the housing, such that the frame is preferably covered against weather and climate influences. This prevents fouling of the frame, especially under harsh weather and climate conditions.
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The tank unit further comprises a camera system, that is configured for detecting a vehicle. The camera system detects the vehicle and more specifically detects the tank connection, and even more specifically the tank inlet thereof. The data provided by the camera system is used by the control system to control the moving of the frame in the z-direction and the further positioning of the refuelling nozzle. This will be described hereafter. The controller may communicate directly or indirectly with the frame and its components, and optionally also with an external network and/or the vehicle and/or its driver. Furthermore, the camera system can be used to identify the vehicle to enable the controller to determine authorization for the vehicle to refuel its tank at the tank unit according to the present disclosure. This provides an additional safety matter for the tank unit according to the present disclosure. Furthermore, this identification data can be used by the controller to provide an external network or operator with data for billing the vehicle owner or user.
According to the present disclosure, the frame comprises a sub-frame and a positioning system that is configured for positioning the sub-frame relative to the frame. This positioning system enables positioning the sub-frame preferably in a plane that is substantially vertical and perpendicular to the z-direction. This plane will be referred to as the x-y plane with a y-axis that is substantially vertical and perpendicular thereto an x-axis that is substantially horizontal and is perpendicular to the z-axis. The positioning system provides actuators for positioning the subframe relative to the frame, preferably involving three spindle drive actuators. Alternatively, other actuators including hydraulic cylinders etc. can be applied. The positioning system is directly or indirectly through a control structure provided with data of the camera system to position the sub-frame correctly in relation to the vehicle and its fuel tank.
The sub-frame according to the present disclosure comprises contacting means that are configured for contacting the vehicle at a desired position. These contacting means comprise first compensation means. In a presently preferred embodiment these first compensation means comprise a so-called bellow cylinder. These first compensation means provide a possibility to correct a misalignment between the tank unit and the vehicle tank. This significantly reduces the level of positioning accuracy that is required for positioning the tank unit relative to the vehicle and its tank.
The sub-frame according to the present disclosure further comprises a tank tool with a refuelling nozzle movable in the sub-frame and configured for connecting with a fuel tank inlet
AH26(21996124_1):BJM
2014360929 18 Jan 2019 of the tank unit connection of the vehicle. In a presently preferred embodiment according to the present disclosure the tank tool further comprises second compensation means. By providing the tank tool movable in the sub-frame, an additional correction possibility is provided with the help of the second compensation means. In a presently preferred embodiment, the second compensation means comprise a damper, preferably a rubber damper, that is configured for compensation of a misalignment between the refuelling nozzle and the tank inlet of the tank connection. It will be understood that other dampers and damper materials would also be possible.
It is shown that a combination of a first relatively rough positioning by the first compensation means and the fine-tuning positioning of the nozzle involving the second compensation means provides the tank unit according to the present disclosure with a high level of flexibility with requiring only a low number of degrees of freedom, preferably only three. The tank unit according to the present disclosure provides a tank unit that is on the one hand very flexible and relatively insensitive for correct positioning of the vehicle that needs to be refuelled, while on the other hand the tank unit only requires a relatively simple robot system thereby limiting the required maintenance, reducing costs and decreasing the risk of malfunctioning of (complex) components. This is especially relevant under harsh conditions, such as when applied for special purpose vehicles, including mine dumpers at high altitudes.
In a presently preferred embodiment, the sub-frame further comprises a tank valve opening system. Such system is configured to be capable of opening the tank valve that covers the tank inlet of the vehicle tank. This system involves an actuator for lifting or otherwise moving the tank valve into a position such that the tank inlet is capable of receiving the refuelling nozzle. The refuelling nozzle can be a so-called Wiggins unit or nozzle that is applied in the tank unit according to the present disclosure.
In an advantageous preferred embodiment according to the present disclosure, the tank .unit comprises a vibrator configured for vibrating the refuelling nozzle when connecting to the tank connection.
Providing a vibrator to the sub-frame that is in use connected to the refuelling nozzle, the nozzle can be vibrated when it enters the vehicle tank and more specifically the tank inlet thereof. By providing a vibrating movement, preferably substantially in the x-y plane, while
AH26(21996124_1):BJM
2014360929 18 Jan 2019 pushing the refuelling nozzle into the tank, a misalignment between the refuelling nozzle and the tank inlet can be handled due to the applied vibrations. The application of this vibration is preferably achieved in combination with the second compensation means, such as the damper. It was shown that the use of the vibrator, especially in combination with the rubber damper acting as second compensation means solves, or at least significantly further reduces, the problem of a misalignment of the refuelling nozzle with the tank inlet that blocks the further movement of the nozzle. This improves the flexibility of the tank unit according to the present disclosure and further reduces the required positioning accuracy for the tank unit relative to the vehicle.
In an advantageous preferred embodiment according to the present disclosure, the tank unit further comprises a truck positioning system comprising a display for the truck driver and a transistor/receiver, the display configured for receiving a camera view to enable the driver to bring the vehicle in the working area of the tank unit. The working area of the tank unit is defined by the range of positions the refuelling nozzle can take in the x, y, z-directions.
By providing a driver of the vehicle, specifically a special purpose vehicle such as a mine dumper, with a vehicle positioning system, a driver is provided with guidelines or directions or feedback about the actual positioning of the vehicle relative to the tank unit. This improves positioning the vehicle and thereby improves the efficiency of the refuelling operation. Preferably, the display provides the driver with a view obtained by the camera system of the tank unit, optionally with additional instructions for the driver how to position the vehicle. These instructions can be provided by visual indications on the display and/or on additional devices such as a traffic light or warning light and/or involve the use of sound signals indicating the distance to a desired position and/or distance to another object. It will be understood that other approaches will also be possible.
Preferably, the vehicle positioning system further comprises a refuel process management system. Such refuel process management system provides the vehicle driver with information about the refuelling process. This information may include information about the actual status, amount of litres that is provided to the vehicle tank, costs of refuelling, historical data about vehicle performance including fuel consumption etc. The driver may use this information to further improve the operations performed by the vehicle.
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In a further advantageous preferred embodiment according to the present disclosure, the tank unit further comprises a container configured for housing the tank unit.
Providing a container enables an effective and efficient protection for the tank unit against (harsh) conditions in which the tank unit needs to operate. In addition, the container prevents fouling of components of the tank unit, and prevents unauthorized access to the tank unit. Furthermore, providing a container for housing the tank unit enables easy transport of the tank unit to the required location. This is especially relevant in remote locations, such that a container can easily be placed at a desired location. When circumstances change, the tank unit can also easily be relocated. Furthermore, in case of malfunction of the tank unit, the tank unit can be replaced in its entirety, such that the refuelling operation can continue. Therefore, the container preferably comprises transportation means that are configured for enabling transport of the container on a truck.
Preferably, the container comprises a conditioning system, such as a cooling and/or heating equipment for conditioning the container and the tank unit, depending on the actual environmental conditions. This is especially relevant when the tank unit according to the present disclosure is used under harsh conditions.
In a presently preferred embodiment, the container comprises an energy supply system configured for a stand-alone application of the tank unit. Such energy supply system may comprise solar cells, a wind turbine and/or batteries. This enables use of the tank unit also at remote locations.
Preferably, the tank unit is provided with a separate fuel tank to store fuel and/or is provided with a connection to enable a truck delivering the fuel to connect to the tank unit according to the present disclosure.
The present disclosure further relates to a tank station for automatic refuelling a vehicle, the station comprising a housing provided with a tank unit as described above.
Such tank station provides the same effects and advantages as described in respect of the tank unit.
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The present disclosure further also relates to a method for automatic refuelling a vehicle tank, comprising the steps of:
- providing a tank station and/or tank unit as described above;
- positioning the vehicle;
- connecting the refuelling nozzle to the vehicle;
- refuelling the vehicle; and
- disconnecting the tank unit from the vehicle.
Such method provides the same effects and advantages as those described in respect of the tank unit and/or tank station. The method provides for an effective and robust refuelling operation, using the tank unit according to the present disclosure.
In a presently preferred embodiment, connecting the refuelling nozzle to the vehicle comprises:
- opening a container;
- positioning the frame in a first position;
- positioning the sub-frame in a plane substantially perpendicular to the first direction;
- contacting the vehicle with the contacting means and providing first compensation means;
- positioning the tank tool relative to the tank inlet of the vehicle; and
- connecting the refuelling nozzle to the vehicle tank.
The first compensation means provide a rough correction on a misalignment between the sub-frame with the refuelling nozzle and the tank inlet. The in a presently preferred embodiment provided second compensation means provide for a fine-tuning step, preferably between the tank tool/nozzle and the sub-frame. In a presently preferred embodiment, the step of providing second compensation means further comprises the step of vibrating the refuelling nozzle when connecting the nozzle to the vehicle tank, using a vibrating device. By vibrating the nozzle when moving the nozzle into the vehicle tank, a slight misalignment between the refuelling nozzle and the tank inlet can be dealt with. This further reduces the required accuracy of the positioning of the vehicle
AH26(21996124_1):BJM
WO 2015/088331
PCT/NL2014/050823 relative to the tank unit, thereby reducing the required complexity of the tank unit. This enables automatically connecting and disconnecting the tank unit to and from the vehicle, such that an effective and efficient refuelling operation can be performed.
Further advantages, features and details of the inventions are illustrated on the basis of preferred embodiments thereof, wherein reference is made to the accompanying drawings, in which:
- Fig. 1 shows a tank unit according to the present invention;
- Figs. 2-6 details of the tank unit of figure 1; and
- Fig. 7 an overview of the (communication) system with the tank unit of figure 1.
Vehicle 2 (figure 1) with fuel tank 4 having a tank connection 6 and tank inlet 8 is moveable over ground surface 10 from and/or to tank system 12. In the illustrated embodiment tank system 12 comprises 20 ft high cube container 14 with container doors 16 wherein behind tank door 18 tank unit 20 is provided in a rest position. Tank system 12 is provided with fuel from fuel truck or tank 20. Tank system 12 comprises tank unit 22.
Tank unit 22 (figs. 2-6) comprises stationary frame 24 that is provided in container 14. In the illustrated embodiment frame 24 (fig. 2) is provided with three guides 26 and actuator 28 for moving frame/tank frame 30 relative to container 14 along a z-axis, and guide rod 30. Frame 24 further comprises three spindle drive actuators 32 for driving sub-frame 34 relative to frame 24 involving movement of rods 36 thereby enabling movement of sub-frame 34 in the x-y plane.
Sub-frame 34 (figs 3-4) is connected to carrier frame 38. In the illustrated embodiment camera 40 is attached to carrier frame 38. Alternatively or in combination therewith a camera (not shown) is provided on or adjacent container 14. Sub-frame 34 comprises conus/plate 42 that is connected to carrier frame 38 with bellow cylinders 44 that act as first compensating means. Subframe 34 further houses tank tool 46 with nozzle 48. Tank connection 6 comprises centre ring 50.
Sub-frame 34 (figs. 5-6) with bellows 44 comprises housing 52 with guides 54 enabling movement of tank tool 46. Tank tool 46 is provided with contacting elements 56 that connect to guides 54 in sliding manner. Tool actuator 58 is capable of moving tank tool 46 relative to subframe 34. Flap actuator 61 (fig 6) drives flap 62 through flap connector 62 for opening tank valve 64. Nozzle 48 is connected with rubber dampers 66 acting as second compensation means to enable movement relative to housing 52. Lever 68 is manipulated by lever actuator 69. Vibrator 70 is capable of vibrating nozzle 48. In the illustrated embodiment vibrator 70 is a pneumatic vibrator. Nozzle actuator 72 is capable of moving nozzle 48.
Operator room 74 (fig. 2) comprises panel PC 76 to configure or manually overtake the robot and other components optionally including electrical hardware, fuel pump, air compressor, generator, climate control.
WO 2015/088331
PCT/NL2014/050823
In the illustrated embodiment of tank system 12 the working area is about
1500x1000x1000 mm. System 12 can deal with vehicle 2 being at an angle to container 6 relative to the x-axis of 3 degrees for example. It will be understood that other dimensions for system 12, container 14, vehicle 2 and other components would be possible according to the invention.
System 78 (fig. 7) comprises tank unit 22 and control system 80. Measurements 82 are provided from tank unit 22 to control system 80 and control commands 84 are received by tank unit 22. Camera 40 provides measurements 86 to control system 80. In the illustrated embodiment, control system 80 receives instructions 88 from display 90 that is provided with suitable input means. Control system 80 provides information 92 to display 90. Driver or operator 94 receives input 96 and sends instructions 98 via display 90 to control system 80. It will be understood that this control scheme 78 is one of possible schemes. Optionally, control system 80 is fully integrated with display 90 or tank unit 22. Other configurations are also available to the skilled person.
When refueling is required, truck driver 94 has to position his truck 2 in front of tank system 12. Driver 94 receives a camera view 96 from system 12 from camera 40, for example a WiFi camera and/or 3D time of flight camera. Camera 40 points in the z direction towards tank 4 of truck 2. This way driver 94 can bring tank system 12 within margins 100 of the robot and the vision system 12. When driver 94 has finished this step he can confirm this to system 12 and the refueling process can begin. Within margins 100 of robot tank system 12, 3D time of flight camera 40, or other camera, finds the position of the tank connection 6 attached to truck 2. Infrared light from the camera's internal lighting source is reflected by objects in the scene and travels back to camera 40, where its precise time of arrival is measured. This way a 3D image can be produced. With the vision algorithm tank system 12 will find the position of tank connection 6 independent of the vehicle type. It will be understood that this positioning can be performed with the use of other means, for example involving stereo vision, triangulation, radar, combinations thereof.
When the position of tank 6 is determent exact positioning is achieved by the conus plate 42 which slides into centre ring 50 of tank connection 6. In the illustrated embodiment nozzle 48 is able to be forced in x, y and z direction and rotation over the x and y-axis, because of the preferably two bellows cylinders 44. As soon as tank tool 46 is in place flap 60 opens valve 64 of tank 4 in an upward position. Next, two tool actuators 58 pull or push the refueling nozzle 48 into inlet 8 by the tool slide with guides 54.
Vibrator 70, refueling nozzle 48, nozzle actuator 72 and the lever actuator 69 form a solid body placed into rubber dampers 66. With the force of tool actuators 58 and the vibrations of pneumatic vibrator 70 and the flexibility of the rubber dampers 66 a (slight) misalignment between nozzle 48 and inlet 8 can be dealt with. This results in a smooth attaching process.
To lock refueling nozzle 48 to inlet 8 nozzle actuator 72 moves into a forward position and lever actuator 69 retracts such that lever 68 will move because of the force of a spring (not shown)
2014360929 18 Jan 2019 that is built into refueling nozzle 48. Inlet 8 will be opened because of a build-in mechanical mechanism into the refueling nozzle. Refueling can begin and the fuel pump is automatically activated.
Due to filling tank 4 tank pressure rapidly increases resulting in a force that activates a mechanism in tank connection 6. This mechanism forces lever 68 to move automatically back into its closed position. A sensor (not shown) detects lever position and moves lever actuator 69 to its closed position. Next, the fuel pump is turned off and decoupling of tank system 12 from vehicle 2 takes place in reversed direction such that system 12 retracts into container 14 and door 18 can be closed.
It will be understood that the above description of a refueling process is for illustration purposes and that modifications of this process are possible within the scope of the present disclosure.
The present disclosure is by no means limited by the above described preferred embodiments thereof.
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Claims (16)
1. Tank unit for automatic refueling a vehicle tank, the unit comprising:
- a stationary frame comprising guiding means and an actuator;
- a camera system configured for detecting the vehicle with a tank connection;
- a frame movable over the guiding means, the frame comprising a sub-frame and a positioning system configured for positioning the sub-frame relative to the stationary frame with the camera system, wherein the sub-frame comprises:
- contacting means configured for contacting the vehicle, wherein the contacting means comprise first compensation means;
- a tank tool with a refuelling nozzle movable in the sub-frame and configured for connecting with a fuel tank inlet of the tank connection of the vehicle; and
- a control system for positioning the sub-frame in relation to the vehicle tank.
2. Tank unit according to claim 1, wherein the first compensation means comprise a bellow cylinder.
3. Tank unit according to claim 1 or 2, wherein the sub-frame comprises a tank valve opening system.
4. Tank unit according to claim 1, 2 or 3, wherein the tank tool further comprises second compensation means.
5. Tank unit according to claim 4, wherein the second compensation means comprise a damper configured for compensation of a misalignment between the refueling nozzle and the tank connection.
6. Tank unit according to claim 4 or 5, wherein the tank tool further comprises a vibrator configured for vibrating the refueling nozzle when connecting to the tank connection.
7. Tank unit according to one or more of the foregoing claims, further comprising a vehicle positioning system comprising a display for the vehicle driver and a transistor/receiver, the display configured for receiving a camera view to enable the driver to bring the vehicle in the working area of the tank unit.
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8. Tank unit according to claim 7, wherein the vehicle positioning system further comprises a refuel process management system.
9. Tank unit according to one or more of the foregoing claims, further comprising a container configured for housing the tank unit.
10. Tank unit according to claim 9, wherein the container comprises transportation means configured for enabling transport of the container on a truck.
11. Tank unit according to claim 9 or 10, further comprising an energy supply system configured for a stand-alone application of the tank unit.
12. Tank station for automatic refueling a vehicle, the station comprising a housing provided with a tank unit according to one or more of the foregoing claims.
13. Method for automatic refueling a vehicle tank, comprising the steps of:
- providing a tank station and/or tank unit according to one or more of the foregoing claims;
- positioning the vehicle;
- connecting the refueling nozzle to the vehicle;
- refueling the vehicle; and
- disconnecting the tank unit from the vehicle.
14. Method according to claim 13, wherein connecting the refueling nozzle to the vehicle comprises:
- opening a container;
- positioning the frame in a first direction;
- positioning the sub-frame in a plane substantially perpendicular to the first direction;
- contacting the vehicle with the contacting means and providing first compensation means;
- positioning the tank tool relative to the tank inlet of the vehicle; and
- connecting the refueling nozzle to the vehicle tank.
AH26(21996124_1):BJM
2014360929 18 Jan 2019
15. Method according to claim 14, wherein providing second compensation means, comprising the step of providing second compensation means and vibrating the refueling nozzle when connecting to the vehicle tank.
16. Method according to claim 13, 14 or 15, wherein refueling the vehicle comprises automatically connecting and disconnecting the tank unit to and from the vehicle.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2011916A NL2011916C2 (en) | 2013-12-09 | 2013-12-09 | Tank unit for automatic refuelling a vehicle tank, tankstation comprising such tank unit and method therefor. |
| NL2011916 | 2013-12-09 | ||
| PCT/NL2014/050823 WO2015088331A1 (en) | 2013-12-09 | 2014-12-02 | Tank unit for automatic refuelling a vehicle tank, tankstation comprising such tank unit and method therefor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2014360929A1 AU2014360929A1 (en) | 2016-06-09 |
| AU2014360929B2 true AU2014360929B2 (en) | 2019-01-31 |
Family
ID=50156855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2014360929A Active AU2014360929B2 (en) | 2013-12-09 | 2014-12-02 | Tank unit for automatic refuelling a vehicle tank, tankstation comprising such tank unit and method therefor |
Country Status (4)
| Country | Link |
|---|---|
| AU (1) | AU2014360929B2 (en) |
| CL (1) | CL2016001379A1 (en) |
| NL (1) | NL2011916C2 (en) |
| WO (1) | WO2015088331A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT201800003219A1 (en) * | 2018-03-02 | 2019-09-02 | Zipfluid S R L | Fluid transfer device |
| DE102020127743A1 (en) * | 2020-10-21 | 2022-04-21 | Deere & Company | Method for supplying a mobile unit with a consumable |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998054083A1 (en) * | 1997-05-28 | 1998-12-03 | Autofill Patent Ab | Device for automatic fuelling of vehicles |
| US20040067117A1 (en) * | 2000-12-08 | 2004-04-08 | Claude Fioroni | Machine-tool in particular with parallel architecture accommodating deformed articulations |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5213809B2 (en) * | 2009-07-31 | 2013-06-19 | トヨタ自動車東日本株式会社 | Automatic fuel injection device |
-
2013
- 2013-12-09 NL NL2011916A patent/NL2011916C2/en active
-
2014
- 2014-12-02 WO PCT/NL2014/050823 patent/WO2015088331A1/en active Application Filing
- 2014-12-02 AU AU2014360929A patent/AU2014360929B2/en active Active
-
2016
- 2016-06-06 CL CL2016001379A patent/CL2016001379A1/en unknown
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998054083A1 (en) * | 1997-05-28 | 1998-12-03 | Autofill Patent Ab | Device for automatic fuelling of vehicles |
| US20040067117A1 (en) * | 2000-12-08 | 2004-04-08 | Claude Fioroni | Machine-tool in particular with parallel architecture accommodating deformed articulations |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015088331A1 (en) | 2015-06-18 |
| AU2014360929A1 (en) | 2016-06-09 |
| NL2011916C2 (en) | 2015-06-11 |
| CL2016001379A1 (en) | 2017-01-27 |
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