JP2003508305A - Method and apparatus for finding vehicle refueling points - Google Patents

Abstract

(57) Abstract: A fuel tank having a fuel tank pipe (10) inside for refueling a vehicle is located on one side of a chassis of the vehicle, particularly for refueling points by means of optical sensor means. In a manner that looks for the flap (12), whereby the refueling robot (2) opens the flap of the fuel tank and searches for a refueling point connecting the robot head (3) of the refueling robot with the pipe of the fuel tank. is there. The invention is characterized in that the area around the flap of the fuel tank on one side of the chassis is provided by light from a light source (13, 14) that provides a spectral radiance equal to or greater than the spectral radiance of the surrounding light. The illuminated and optical sensor means (23) are adapted to detect light rays from a light source reflected from the one side to the chassis, and a computer (29, 31) is provided on the side of the chassis relative to the position of the robot head (3). It is characterized by being used to detect the position of the fuel tank flap (112). The invention also relates to such a device.

Description

Detailed Description of the Invention

The present invention relates to a method and apparatus for locating a vehicle's refueling location, and in particular for locating a fuel flap on one side of a vehicle chassis when the fuel tank pipe is located inside the fuel tank flap. Regarding

A device for automatically refueling a vehicle is disclosed in Swedish Patent Specification 890167.
No. 4-5.

The device described in this prior art patent specification includes a refueling nozzle or a corresponding device, which resets the refueling nozzle in response to sensing and control means when the vehicle is in position relative to the robot. It includes a robot that functions to automatically move from a position to a vehicle refueling position. The refueling nozzle includes a first rigid tube element adapted to be moved by the robot towards an adapter with holes associated with the vehicle's refueling location. The free end of the flexible second tube moves into the fuel tank pipe of the vehicle and then moves in the first rigid tube so that fuel is pumped through the second tube into the fuel tank. Are arranged as follows.

The Swedish patent specification No. 9702011-9 is a device for positioning a robot of the above-mentioned type when automatically refueling a vehicle, mainly an automobile,
A device is described in which the robot head is moved from a rest position to a predetermined position relative to the pipe of the fuel tank. The robot head carries an opening and closing device that functions to open and close the flaps of the fuel tank in response to movement of the robot head.

In the invention according to the patent described later, the positioning device is an optical sensor means arranged on or near the robot, and is parked for refueling the rest position of the robot head. It is characterized in that it comprises optical sensor means adapted to optically detect the position of the flap of the fuel tank of the vehicle and thereby send a signal relating to said relative position to the robot computer. The computer is programmed to guide the opening device of the robot to open the flaps of the fuel tank in a given motion plan. The sensor means is operative to detect the position of the fuel tank pipe orifice or adapter relative to the current position of the robot head after the fuel tank flap has been opened, thereby sending a signal to the computer regarding this relative position. The computer then causes the robot head to perform the couplings and the movements in the reverse order, thereby closing the fuel tank flaps when the vehicle is refueled.

One problem with using optical sensor means of the video or laser type is that in some situations it is difficult to separate the rays coming from one side of the vehicle with respect to the presence of the flaps of the fuel tank. is there.

The problem has a number of different causes. One cause is that various types of surrounding objects are reflected on this side of the vehicle. This problem is noticeable if the said side of the vehicle is very shiny. Also, the optical sensor may be affected by sunlight either as a result of reflection or as a result of light rays incident on the sensor means. One overlapping issue in this regard is that standard vehicle fuel tank flaps are fully integrated into the side of the vehicle, regardless of color or shape.

[0008]   The present invention solves these problems.

Accordingly, the present invention provides an optical sensor means for a refueling robot to open a flap of a fuel tank and to connect the robot head of the refueling robot to a pipe of the fuel tank by means of an optical sensor means, in particular of a vehicle. A method of locating a fuel tank flap located inwardly of a fuel tank pipe through which fuel is fed to a fuel tank, the fuel tank flap on one side of a vehicle chassis. So that the region around the source is illuminated by a light source that produces a spectral radiance that is equal to or higher than the spectral radiance of the surrounding rays and the optical sensor means detects the rays from the light source reflected from said side. The position of the flap of the fuel tank on the side of the chassis with respect to the position of the robot head is detected. A method characterized in that a computer is used for.

The invention also relates to a device of the kind described in the preamble of claim 11 and having the essential characteristics of said claim.

[0011]   The present invention is described in detail below with reference to embodiments and with reference to the accompanying drawings.

FIG. 1 is an automatic vehicle refueling station, preferably for a motor vehicle 1, having a robot head 3 which is movable relative to a robot to a predetermined position relative to a pipe of a vehicle fuel tank. 1 schematically shows a station including a robot 2. The robot can move in the direction of arrow 4. The robot head 3 is also movable in the directions of arrows 5 and 6 as well as in a direction perpendicular to the plane of the drawing.

The robot head 3 comprises an outer tube and an inner tube which is movable in and axially from the outer tube, the outer tube being attached to the upper orifice of the pipe of the fuel tank. It is designed to be connected to the adapter. After connecting the outer tube, the inner tube is adapted to project downward to a position below the pipe of the fuel tank, and then the fuel is sent through the inner tube.

The robot head 3 carries an opening device 11, which opens the fuel tank flap 12 of the vehicle 1 in response to movement of the robot head.

The opening and connecting procedure is carried out as follows. The vehicle is positioned in place with respect to the robot, although reasonable deviations are allowed. The robot is then positioned against the fuel tank flap. When these tasks are completed, the robot computer causes the robot head to move according to a predetermined motion plan,
Thereby, the robot head is brought into contact with the flap of the fuel tank, and the opening device carried by the robot head opens the flap.

In the next part of this motion plan, the robot head connects the outer tube with the adapter and then the inner tube is moved down into the pipe of the fuel tank of the vehicle. The fuel is then delivered to the fuel tank through the inner tube of the fuel tank pipe.

When the vehicle is refueled, the above described movements are performed in reverse order, the fuel tank flaps are closed and the robot returns to its original position.

The positioning device described in the aforementioned patent specification comprises optical sensor means 23 arranged in association with the robot 2. The sensor means is adapted to optically detect the position of the flap 12 of the fuel tank of the parked vehicle for refueling with respect to the rest position of the robot head 3 and send a signal relating to said relative position to the robot computer. There is. The computer 29 is programmed to guide the opening device 11 of the robot head into contact with the flap of the fuel tank and to open said flap according to a predetermined movement plan.

After the flap of the fuel tank is opened, the sensor means 23 functions to detect the position of the pipe of the fuel tank, that is, the position of the adapter with respect to the position of the robot head 3 at that time, and send a signal relating to this relative position to the computer 29. To do.

In this way, the sensor means 23 detects the respective positions of both the flap of the fuel tank and the adapter.

Next, the computer 29 causes the robot head 3 to execute the connecting operation, and when refueling of the vehicle is completed, the robot executes the movements in the reverse order,
This causes the fuel tank flaps to close.

The optical sensor means is suitably mounted on the upper part of the robot and is oriented obliquely downwards as shown in FIG. The dotted lines in FIGS. 1 and 2 indicate the general extent of the area covered by the sensor means.

Since there is usually a groove-shaped recess, or gap 25, between the fuel tank flap and the surrounding chassis, the fuel tank flap is easily identifiable by a computer incorporating the signal processor. is there. The computer is programmed to search for a preferably rectangular or circular shape formed by the groove-like gap.

FIG. 4 is a schematic block diagram in which the robot computer is designated at 29. The computer memory is designated at 30. The sensor means 23 may be built in the computer, or may be completely or partially separated as indicated by a dotted square 31. In the latter case, in the signal processing circuit connected to the computer. Send the signal to be processed to the computer. When the calculation is performed,
The computer activates the actuation circuit 32, which activates the robot 2.

[0025]   The description provided so far can be found in the aforementioned patent specifications.

According to the invention, the side of the chassis on which the flap of the fuel tank is located is adapted to generate a spectral radiance of the surrounding light rays which is equal to or greater than the spectral radiance of said flap by means of a light source of said flap. The area is illuminated. An optical sensor is adapted to detect the light rays from the light source reflected from the chassis side and a computer is provided to detect the position of the fuel tank flap on the chassis side. The computer may be integrated with the computer 29 or may be composed of a separate computer 31.

The sensor means also detect the position of the pipe of the fuel tank. Therefore, the expression fuel tank pipe used below and in the claims is intended to mean an embodiment in which the adapter is mounted in the orifice of the fuel tank pipe.

The optical sensor means comprises a suitable well known type of video camera. The photosensitive element is C
It may be a two-dimensional array of CD elements or C-MOS elements.

By producing a spectral radiance that matches or is greater than the spectral radiance of the surrounding rays, the influence of said surrounding rays is eliminated or suppressed. So, unless the detection is affected by an unknown trigger that has a perturbing effect on the result, the illumination is controlled and so is the image detected by the sensor.

Thus, both with respect to the position of the flaps of the fuel tank and the position of the pipes of the fuel tank, both are preferred for optical detection of the position of the flaps of the fuel tank if the invention is not applied, Alternatively, extremely stable results can be obtained even under unfavorable light conditions.

In the case of the embodiment shown in FIG. 1, two irradiation panels 13 and 14 are fixed to the robot 2. The panel is large enough to project a sufficiently large illuminating beam onto the side of the vehicle. The panels may extend, for example, 10 to 30 cm horizontally and 50 to 150 cm vertically. The light sources are mounted on the flat outward facing surface of each panel, i.e. the surface facing the vehicle. Those skilled in the art can easily adapt the number of light sources and the panel size required to achieve sufficient illumination intensity.

Instead of being positioned in the manner shown in FIGS. 1 and 2, the panel may alternatively be positioned at the top of the robot 2 to a position where one side of the vehicle to be refueled could be assumed to be located. Can be turned diagonally.

According to a preferred embodiment of the invention, another optical sensor means 15 is fixed to the robot head 3 for detecting the flap 12 of the fuel tank and / or the pipe 7 of the fuel tank.

According to a very preferred embodiment of the present invention, the side of the chassis is twice in succession,
That is, irradiation is performed from one direction and then from another direction. This allows the two images generated in the computer to be compared, whereby reflections, shadows, etc. on the side of the chassis can be distinguished in the image processing procedure performed in the computer. Such image processing may be of any suitable known type. Furthermore, this allows different parts of the gap around the flap of the fuel tank to be more clearly shown in one or the other irradiation.

According to a very preferred embodiment, the area of the flap of the fuel tank is illuminated by infrared rays, ie IR rays. IR rays are so-called near IR rays, that is, NI
R rays are also meant. This ray has a wavelength close to that of the IR ray, such as a wavelength of 0.7 to 1.1 micrometers.

IR light has a number of advantages, one important advantage is that it is invisible to the human eye. Moreover, conventional CCD or C-MOS based electronic cameras are extremely sensitive in the IR range, meaning that the required equipment is relatively inexpensive.

FIG. 5 shows various curves in the form of a graph. The X-axis relates to wavelength and the Y-axis relates to intensity and sensitivity, respectively. The dotted curve 16 shows the spectral radiance of the sun. The solid curve 17 shows the rays emitted by the IR light emitting diode. The solid curve 18 shows the sensitivity of a conventional electronic camera and the dashed curve 19 shows the sensitivity of the human eye.

A light panel 13 from FIG. 5 in which the IR light beam comprises a large number of IR diodes of a known type.
, 14 it is clear that the eyes of the observer cannot distinguish the rays. On the other hand, a typical video camera is extremely sensitive to light rays. Moreover, the intensity of the sun's rays is lower than that of the sun in the lower wavelength range.
This actually means that the intensity of the IR light from the IR diode is more than sufficient to take an image with a conventional camera and process the image emerging from the IR light.

According to another preferred embodiment, the region around the flap of the fuel tank is of suitable wavelength,
For example, it is irradiated with a laser beam having a wavelength in the IR range.

However, instead it allows the rays to the side of the chassis to be distinguished from the ordinary rays, ie the ambient rays, so that the image taken and processed in the computer is essentially emitted from the panels 13, 14. Drawn from the rays. As an example, if the irradiance from sunlight in a wavelength range is 500 W per square meter and the micrometer, the irradiance from the irradiation ensures that reliable detection can be achieved by the light rays from the illuminated area. About 7
It can be said that it must be 00.

Although not preferred, it is clear that light rays in the visible spectrum where the irradiance of sunlight is high can also be used. However, the illumination effect is high enough to suppress the reflection on the chassis side generated from the sunlight, with respect to the light rays generated from the irradiation.

To provide sufficient illumination, the area is covered with a beam that is transmitted in one or more short pulses with a power that provides a reflected beam from the chassis of greater intensity than the ambient beam in the beam spectrum of interest. It is much more preferable to irradiate. In this regard,
The camera is synchronized with the pulse of light rays to match exclusively the light rays reflected by the chassis side during the illumination.

IR light emitting diodes and IR diodes can be pulsed in short bursts, eg bursts of 1 millisecond duration, to deliver a much higher optical power output than when continuously operated. is there. For example, when operating continuously 10
A diode designed to be supplied with 0 mA can be supplied with 1 A for a short pulse.

According to another preferred embodiment of the invention, the optical sensor is provided with a well-known spectral filter having a high transmission for transmitted rays and a low transmission for other rays. . This of course enhances the suppression of the effects of surrounding light rays.

[0045]   The spectral filter may be a band type or low band type absorption filter.

In another preferred embodiment, the optical sensor means are adapted to detect light rays reflected from more than one position or angle with respect to said side. This can be accomplished by moving the camera or robot relative to a stationary vehicle, or by taking a few pictures with the camera while the vehicle is in motion. For example, the last meter or the last few meters in which the vehicle moves before stopping can be used for this purpose. Also, the camera can also be rotated to take different pictures from different angles with respect to the side of the chassis.
Pictures taken from various positions relative to the side of the chassis are then compared when processing computer pictures or images, thereby setting the shape and position of the fuel tank flaps.

FIG. 6 is a photograph taken by irradiating one side of the vehicle chassis with IR rays. The fuel tank flaps are clearly shown as squares. The other lines in the picture originate from the folds and edges on this side of the chassis.

The present invention thus solves the problems mentioned in the introduction and generally provides a clear picture of the flaps of a fuel tank, independent of the ambient rays.

According to another preferred embodiment of the invention, the side of the chassis is illuminated by a laser beam from a predetermined direction so that a continuous line or multiple laser dots appear on that side and the sensor means is It is adapted to detect the angle between its optical axis and the laser beam impinging on the sensor means. The angle is detected based on where the reflected laser beam was received by the photosensitive element of the camera. This allows the distance to the chassis to be calculated by optical triangulation. The laser beam is positioned on the robot and is suitably transmitted by a diode laser 20 equipped with a lens that allows the horizontal plane of the laser beam to be transmitted. This plane thus appears as a horizontal line on the side of the chassis and is reflected into the camera.

It was mentioned above that another optical sensor 15 could be fixed to the head of the robot and detect the flap of the fuel tank and / or the pipe of the fuel tank. This additional sensor means is conveniently used when the robot head is advanced to a position close to the fuel tank flap. This allows the flap position to be detected with high accuracy. The additional sensor means can also be used to detect the position of the pipes of the fuel tank with a high degree of accuracy before the flaps have been opened but the connection has been carried out. When said additional sensor means are positioned near the flap of the fuel tank or near the pipe of the fuel tank, the position of the flap and pipe can be detected without any special illumination for this purpose. Is. However, the panels 13, 14 described above or a separate light source (not shown) may be used in connection with detecting the position by additional sensor means.

In order to make it easier to distinguish between the fuel tank pipe and its position,
A marking 21 for reflecting the light rays there is preferably applied to the pipe or in the vicinity thereof.

A number of examples have been described. However, it is also clear that the position of the camera can be changed and the position of the lighting device can also be changed. It is also understood that any suitable light beam that provides the above-mentioned effects may be transmitted and detected.

Therefore, it is understood that the invention is not limited to the embodiments described and shown above, but that changes and modifications may be made within the scope of the claims.

[Brief description of drawings]

1 diagrammatically from above a vehicle and a robot of the type described above located adjacent to the vehicle, FIG.

[Fig. 2]   It is a front view of a vehicle and a robot positioned adjacent to the vehicle.

[Figure 3]   2 shows a portion of one side of a vehicle with a fuel tank flap open.

[Figure 4]   It is a schematic block diagram.

[Figure 5]   It is a graph.

[Figure 6]   It is the image of the flap of the detected fuel tank.

[Procedure for Amendment] Submission for translation of Article 34 Amendment of Patent Cooperation Treaty

[Submission date] June 8, 2001 (2001.6.8)

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be amended] Claims

[Correction method] Change

[Contents of correction]

[Claims]

─────────────────────────────────────────────────── ─── Continued front page    (81) Designated countries EP (AT, BE, CH, CY, DE, DK, ES, FI, FR, GB, GR, IE, I T, LU, MC, NL, PT, SE), OA (BF, BJ , CF, CG, CI, CM, GA, GN, GW, ML, MR, NE, SN, TD, TG), AP (GH, GM, K E, LS, MW, SD, SL, SZ, TZ, UG, ZW ), EA (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM), AE, AG, AL, AM, AT, AU, AZ, BA, BB, BG, BR, BY, CA, CH, C N, CR, CU, CZ, DE, DK, DM, DZ, EE , ES, FI, GB, GD, GE, GH, GM, HR, HU, ID, IL, IN, IS, JP, KE, KG, K P, KR, KZ, LC, LK, LR, LS, LT, LU , LV, MA, MD, MG, MK, MN, MW, MX, NO, NZ, PL, PT, RO, RU, SD, SE, S G, SI, SK, SL, TJ, TM, TR, TT, TZ , UA, UG, US, UZ, VN, YU, ZA, ZW F term (reference) 2F065 AA01 AA06 BB08 BB29 CC11                       FF09 FF42 GG04 GG08 GG15                       GG21 JJ03 JJ05 JJ08 JJ19                       JJ26 LL22 LL26 NN02 PP25                 3E083 AA08 AB30

Claims (18)

[Claims] 1. A method for locating a refueling location by means of optical sensor means, in particular a vehicle with a fuel tank flap (12) having a fuel tank pipe (10) for refueling the vehicle. On one side of the chassis, thereby causing the refueling robot (2) to open the flaps of the fuel tank and to connect the pipe of the fuel tank to the robot head (3) of the refueling robot. A light source (13, 14) for providing a spectral radiance of a region around the fuel tank pipe on one side of the chassis that matches or is greater than the spectral radiance of ambient illumination in the method of locating locations. The optical sensor means (23) is adapted to detect the light from the light source which is reflected from the side of the chassis. A computer (29, 31) is used to position the fuel tank flap (on the side of the chassis relative to the position of the robot's head (3)).
12) A method for searching a refueling point, which is characterized by detecting the position. 2. Additional optical sensor means (15) fixed to said robot (3) for detecting the position of the flap (12) of the fuel tank and / or the pipe (10) of the fuel tank. The method according to claim 1, wherein the method is performed. 3. Method according to claim 1, characterized in that the side of the chassis is illuminated at least twice in succession, ie first from a first direction and then from a second direction. 4. The method of claim 1, 2 or 3 wherein said optical sensor means detects light rays reflected from the side of said chassis from more than one position relative to said side. 5. The method according to claim 1, wherein the area is illuminated with an IR ray.
The method according to 2, 3, or 4. 6. The laser beam irradiates the area.
The method according to 2, 3, or 4. 7. The region is illuminated with a light beam transmitted in one or more short pulses with a power that provides a high intensity light beam reflected from the side of the chassis relative to the surrounding light beams in the light spectrum. The method according to claim 1, 2, 3, 4, 5, or 6, characterized in that 8. The light ray sensor means (23, 15) is provided with a spectral filter having high transmittance for transmitted light rays and low transmittance for other light rays. The method according to claim 1, 2, 3, 4, 5, 6, or 7. 9. The chassis side is illuminated with a laser beam from a predetermined direction so that a laser line or multiple points of the laser appear on the chassis side, and the sensor means (23) is aligned with its optical axis. The angle to the laser beam reflected towards the sensor means (23) is detected and the distance to the side of the chassis is calculated by optical triangulation. 1, 2, 3, 4
The method according to 5, 6, 7, or 8. 10. Method according to claim 1, characterized in that markings (21) for reflecting the rays of light present there are provided on or in the vicinity of the fuel tank pipe. . 11. A device for searching a refueling point by means of an optical sensor, comprising:
In particular, the fuel refueling robot (2) opens the flap of the fuel tank and connects the robot head (3) of the refueling robot to the pipe of the fuel tank, so that the fuel tank pipe (10) for refueling the vehicle. ) Is located on one side of the chassis of the vehicle for a fuel tank flap (12) with one or more light sources illuminating one side of the chassis of the vehicle in the area of the fuel tank flaps. (13, 14), the light source being adapted to provide a spectral radiance equal to or greater than the spectral radiance of the surrounding light beam, the optical sensor means (23) being A fuel tank adapted to detect a light beam from a light source reflected from the side, the device being on the side of the chassis relative to the position of the robot head (3). Computer (29 for detecting the position of the flap (12),
31) A device for searching a refueling point, including: 12. Another optical sensor means fixed to the robot head (3) and adapted to detect the position of the flap (12) of the fuel tank and / or the pipe (10) of the fuel tank. 15) is included.
The apparatus according to item 3. 13. The light source emitting IR light.
The device according to 0, 11 or 12. 14. A device according to claim 10, 11 or 12, characterized in that the light source emits a laser beam. 15. The light source is adapted to transmit the light beam in one or more short pulses with a power that provides a higher intensity light beam reflected from the side of the chassis than the surrounding light beams in the light beam spectrum. 13. The method according to claim 10, 11, 12,
, 13 or 14. 16. The optical sensor means (23, 15) comprises a spectral filter having a high transmissivity for the rays emitted from the light source and a low transmissivity for the other rays. 16. A device according to claim 10, 11, 12, 13, 14 or 15. 17. A laser (20) adapted to emit a laser beam from a predetermined direction such that a laser line or multiple points of the laser appear on the side of the chassis.
), Said sensor means (23) being adapted to detect the angle between its optical axis and the laser beam reflected on said sensor means (23),
11. The method according to claim 1 is programmed to calculate the distance to the side of the chassis by optical triangulation.
The device according to 5 or 16. 18. A marking (21) for reflecting the rays of light present therein is provided on or near the fuel tank pipe.
The apparatus according to any one of 0 to 17.