WO2000063109A1 - A method and an arrangement for localising a fuelling point on a vehicle - Google Patents
A method and an arrangement for localising a fuelling point on a vehicle Download PDFInfo
- Publication number
- WO2000063109A1 WO2000063109A1 PCT/SE2000/000733 SE0000733W WO0063109A1 WO 2000063109 A1 WO2000063109 A1 WO 2000063109A1 SE 0000733 W SE0000733 W SE 0000733W WO 0063109 A1 WO0063109 A1 WO 0063109A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- light
- fuel
- sensor means
- tank
- fuelling
- Prior art date
Links
Classifications
-
- 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
- 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
- B67D2007/0467—Sensors recognising the position of the fuel tank flap and/or fuel tank opening
- B67D2007/0473—Sensors recognising the position of the fuel tank flap and/or fuel tank opening optically
-
- 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
- B67D2007/0474—Sensors recognising the position of the filling nozzle relative to the fuel tank opening, e.g. engagement between nozzle and tank opening
Definitions
- the present invention relates to a method and to an arrangement for localising a fuelling point on a vehicle, and more specifically for localising a fuel flap on one side of a vehicle chassis, where a fuel-tank pipe is located inwardly of said fuel-tank flap.
- the arrangement according to this prior patent specification comprises a robot which includes a fuelling nozzle or corresponding device and which when the vehicle is located in a predetermined position in relation to the robot functions to move the fuelling nozzle automatically from a rest position to a vehicle fuelling position in response to sensing and control means.
- the fuelling nozzle includes a rigid first tubular element which is adapted to be moved by the robot towards an adapter provided with a hole associated with the vehicle fuelling point.
- a flexible second tube is arranged for movement within the first , rigid tube so that the free end of the second tube can be moved down into the fuel-tank pipe of the vehicle, whereafter fuel is pumped through the second tube and into the fuel tank.
- Swedish Patent Specification 9702011-9 describes an arrangement for positioning a robot of the kind described when automatically fuelling vehicles, primarily cars, wherein the robot head is moved from a rest position to a predetermined position relative to the fuel -tank pipe.
- the robot head carries an opening device which functions to open the fuel -tank flap in response to movements of the robot head.
- the positioning system includes an optical sensor means arranged on or in the vicinity of the robot and adapted to detect optically the position of the fuel-tank flap of a vehicle, parked for fuelling purposes, relative to the rest position of the robot head and therewith deliver to a robot computer a signal relating to said relative position.
- the computer is programmed to guide the opening device of said robot to open the fuel-tank flap in a predetermined movement plan.
- the sensor means functions to detect the position of the orifice of the fuel -tank pipe or of the adapter relative to the current position of the robot head after the fuel -tank flap has been opened, and therewith deliver to the computer a signal relating to this relative position.
- the computer then causes the robot head to effect said docking and to carry out said movements in a reverse order and therewith close the fuel-tank flap, when fuelling of the vehicle has been completed.
- One problem with using an optical sensor means of a video or laser type is that it is difficult in some circumstances to interpret the light arriving from one side of a vehicle with respect to the presence of a fuel-tank flap.
- the problems have several different causes.
- One cause is that different kinds of surrounding objects are mirrored in this side of the vehicle.
- the problem is particularly acute when said side of the vehicle is very shiny.
- the optical sensor means may also be affected by sunlight, either as a result of reflections or as a result of light incident on the sensor means.
- One overlapping problem in this respect is that the fuel-tank flap of a standard car is fully integrated in said side of the vehicle with no deviation in colour or shape.
- the present invention solves these problems.
- the present invention thus relates to a method of locating a vehicle fuelling point and more particularly of locating on one side of a vehicle chassis a fuel-tank flap which has situated inwardly thereof a fuel-tank pipe through which fuel is delivered to the fuel tank of said vehicle, with the aid of optical sensor means, such as to cause a fuelling robot to open the fuel-tank flap and to dock the robot head of said fuelling robot with the fuel-tank pipe, said method being characterised in that the area around the fuel -tank flap on one side of the vehicle chassis is illuminated with the aid of a light source which emits a spectral irradiance that corresponds to or is higher than the spectral irradiance of surrounding lighting; in that the optical sensor means is adapted to detect light from the light source reflected from said side; and in that a computer is used to detect the position of the fuel-tank flap on said chassis side relative to the position of the robot head.
- the invention also relates to an arrangement of the kind defined in the preamble of Claim 11 and having the substantive features set forth in said Claim.
- Figure 1 illustrates schematically and from above a vehicle and a robot of the kind concerned positioned adjacent said vehicle;
- Figure 2 is a front view of a vehicle and a robot positioned adjacent thereto,-
- FIG. 3 shows part of one side of a vehicle with the fuel- tank flap open
- FIG. 6 is an image of a detected fuel-tank flap.
- Figure 1 illustrates schematically an automatic vehicle fuelling station, preferably for cars 1, wherein the station includes a robot 2 that has a robot head 3 which can move relative to the robot to a predetermined position relative to the fuel-tank pipe of the vehicle.
- the robot may be moveable in the direction of the arrow 4.
- the robot head 3 is moveable in the directions of arrows 5 and 6 and also in a direction perpendicular to the plane of the paper.
- the robot head 3 includes an outer tube and an inner tube which is axially moveable within and out of the outer tube, wherein the outer tube is intended to be docked with an adapter attached to the upper orifice of the fuel-tank pipe. Subsequent to docking the outer tube , the free forward end of the inner tube is intended to be projected down to a lower position in the fuel-tank pipe, whereafter fuel is delivered through the inner tube .
- the robot head 3 carries an opening device 11.
- the opening device 11 is intended to open a fuel-tank flap 12 of a vehicle 1 in response to movements of the robot head.
- An opening and docking sequence is performed in the following manner: The vehicle is placed in a predetermined position relative to the robot, although reasonable deviations are permitted. The robot is then positioned relative to the fuel- tank flap.
- the robot computer causes the robot head to move in accordance with a predetermined movement plan, wherewith the robot head is brought into abutment with the fuel-tank flap and the opening device carried by said robot head caused to open said flap.
- the robot head causes the outer tube to dock with the adapter, whereafter the inner tube is moved down into the fuel-tank pipe of the vehicle. Fuel is then delivered to the fuel tank through the inner tube in the fuel -tank pipe.
- the positioning system described in said patent specification includes an optical sensor means 23 which is arranged in connection with the robot 2.
- the sensor means is adapted to detect optically the position of the fuel-tank flap 12 on a vehicle parked for fuelling purposes relative to the rest position of the robot head 3 and therewith deliver to a robot computer a signal relating to said relative position.
- the computer 29 is programmed to guide the opening device 11 of the robot into abutment with the fuel -tank flap and to open said flap in accordance with a predetermined movement plan.
- the sensor means 23 functions to detect the position of the fuel-tank pipe or the position of the adapter relative to the position of the robot head 3 at that time and to send to the computer 29 a signal relating to this relative position.
- the sensor means 23 thus detects the respective positions of both the fuel-tank flap and the adapter.
- the computer 29 then causes the robot head 3 to perform said docking operation, and, when fuelling of the vehicle is terminated, causes the robot to perform said movements in a reverse order and therewith close the fuel -tank flap.
- the optical sensor means is suitably mounted on the upper part of the robot and directed obliquely downwards as shown in Figure 2.
- the broken lines 24 in Figures 1 and 2 show the approximate extension of the area scanned by the sensor means .
- the fuel -tank flap can be readily identified with the aid of a computer that includes a signal processing facility.
- the computer is programmed to search for a preferably rectangular or round shape formed by the groove-like gap.
- Figure 4 is a block schematic in which the robot computer is referenced 29.
- the computer memory is referenced 30.
- the sensor means 23 delivers to the computer signals that are processed in a signal processing circuit, which may be included in the computer or which may be a separate entity, either completely or partially, as indicated by the broken- line square 31, in which latter case the circuit is connected to the computer.
- the computer activates manoeuvring circuits 32 which, in turn, activate the robot 2.
- That side of the vehicle chassis on which the fuel -tank flap is situated is irradiated in the region of said flap with the aid of a light source that emits a spectral irradiance which corresponds to or is greater than the spectral irradiance of the ambient lighting.
- the optical sensor means is adapted to detect light from the light source that is reflected from said side of the chassis, and a computer is provided for detecting the position of the fuel-tank flap on said chassis side.
- the computer may be integrated with the computer 29 or may consist of a separate computer 31.
- the sensor means may also sense the position of the fuel-tank pipe. Accordingly, the expression fuel-tank pipe as used below and in the Claims is also intended to denote an embodiment in which an adapter is mounted in the orifice of the fuel -tank pipe.
- the optical sensor means includes a video camera of a suitable known kind. Its light sensitive element may be a two-dimensional array of CCD elements or C-MOS elements.
- the illumination is therewith controlled, as is also the image to be detected by the sensor means, inasmuch that detection will not £>e affected by unknown contributions that have a disturbing influence on the result .
- two illuminating panels 13, 14 are fixedly mounted in relation to the robot 2.
- the panels are sufficiently large to project sufficiently large luminous flux onto said side of the vehicle.
- the panels may have, for instance, a horizontal extension of 10 to 30 centimetres and a vertical extension of 50 to 150 centimetres.
- Light sources are mounted on the flat outwardly directed surface of respective panels, i.e. the surface facing towards the vehicle. The person skilled in this art will be able to adapt readily the number of light sources and the panel sizes required to achieve adequate illumination intensity.
- the panels may, alternatively, be placed on top of the robot 2 and directed obliquely downwards to that position where one side of a vehicle to be fuelled can be expected to be situated.
- a further optical sensor means 15 is fixedly mounted on the robot head 3 and caused to detect the fuel-tank flap 12 and/or the fuel -tank pipe 7.
- said chassis side is illuminated two times in succession, first from one direction and then from another. This enables the two images generated to be compared in said computer, wherewith reflections in said chassis side, shadows, etc., can be sorted out in an image processing procedure performed in the computer. Such image processing will suitably be of a known kind. Moreover, this allows different parts of the gap around the fuel-tank flap to be shown more clearly in one or the other illumination.
- the area of the fuel-tank flap is illuminated with infrared light, IR-light.
- IR-light is also meant so-called near IR-light, NIR-light. This light has a wavelength close to the wavelength of IR- light, such as a wavelength of 0.7 to 1.1 micrometer.
- IR-light has several advantages, one important advantage being that it is not visible to the human eye. Moreover, conventional CCD or C-MOS-based electronic cameras are very sensitive in the IR range, meaning that the equipment required will be relatively inexpensive.
- Figure 5 shows various curves in graph form.
- the X-axis relates to wavelength and the Y-axis relates to intensity and sensitivity respectively.
- the broken-line curve 16 shows the spectral irradiance of the sun.
- the full-line curve 17 shows the light emitted by IR-light-emitting diodes.
- the full-line curve 18 shows the sensitivity of a conventional electronic camera, and the chain-line curve 19 shows the sensitivity of the human eye . It will be evident from Figure 5 that wnen IR-light is emitted by light panels 13, 14 that include a large number of IR diodes of a well-known kind, the eye of an observer will not discern the light.
- a typical video camera on the other hand, is very receptive to light.
- the intensity of sunlight is lower than the intensity of the sun in lower wavelength ranges. This means in practice that the intensity of the IR-light from the IR diodes will be more than sufficient for taking an image with a conventional camera and processing an image deriving from IR-light.
- the area around the fuel -tank flap is irradiated with laser light of suitable wavelength, for instance a wavelength in the IR range.
- IR-light-emitting diodes and IR laser diodes can be pulsed in short bursts, for instance in bursts of 1 millisecond in duration, so as to deliver a considerably higher optical power output than when operated continuously.
- a diode intended to be supplied with 100 mA when operating continuously can be supplied with 1 A during a short pulse.
- the optical sensor means is provided with a known spectral filter that has high transmission for the transmitted light and low transmission for other light. This will, of course, enhance the suppression of the effect that surrounding light gives rise to.
- the spectral filter may be an absorption filter of the bandpass type or lowpass type.
- the spectral filter may, alternatively, be an interference filter.
- the optical sensor means is caused to detect light reflected from said chassis side from two or more positions or angles relative to said side. This can be achieved by moving the camera or the robot relative to a stationary vehicle or by taking two or more pictures with the camera whilst the vehicle moves. For instance, the last meter or the last few meters through which the vehicle moves before stopping can be used to this end.
- the camera may also be rotated to take different pictures from different angles relative to said chassis side. The pictures taken from different positions relative to said chassis side can then be compared when processing the pictures or images in the computer and therewith establish the shape and position of the fuel-tank flap.
- Figure 6 is a picture that has been taken by illuminating one side of a vehicle chassis with IR-light.
- the fuel-tank flap is shown clearly as a square. Other lines on the picture derive from folds and edges in this side of the chassis.
- said chassis side is .illuminated with laser light from a predetermined direction, so that a continuos line or a number of laser dots will appear on said side, said sensor means being adapted to detect the angle between its optical axis and the laser light that impinges on the sensor means. The angle is detected on the basis of where the reflected laser light is received by the light sensitive element of the camera.
- the laser light is suitably transmitted by a diode laser 20 placed on the robot and provided with a lens which permits a horizontal plane of laser light to be transmitted. This plane thus occurs as a horizontal line on said chassis side and is reflected into the camera.
- a further optical sensor means 15 may be mounted fixedly on the robot head and caused to detect the fuel-tank flap and/or the fuel-tank pipe.
- This additional sensor means is used conveniently when the robot head is moved forwards to a position close to the fuel-tank flap. This enables the position of the flap to be determined with great precision.
- the additional sensor means can also be used to detect the position of the fuel -tank pipe with great accuracy, after the flap has been opened but before docking has been carried out.
- the additional sensor means is located close to the fuel-tank flap or close to the fuel-tank pipe, it is possible that the positions of the flap and pipe can be detected without requiring any special lighting to this end.
- the aforementioned panels 13, 14, or a separate light source may be used in conjunction with detecting said positions with the aid of the additional sensor means .
- a marking 21 which will reflect the prevailing light is applied on or adjacent to said pipe.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Loading And Unloading Of Fuel Tanks Or Ships (AREA)
- Cooling, Air Intake And Gas Exhaust, And Fuel Tank Arrangements In Propulsion Units (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000612210A JP2003508305A (en) | 1999-04-19 | 2000-04-17 | Method and apparatus for finding vehicle refueling points |
AU46329/00A AU759843B2 (en) | 1999-04-19 | 2000-04-17 | A method and an arrangement for localising a fuelling point on a vehicle |
CA002367425A CA2367425A1 (en) | 1999-04-19 | 2000-04-17 | A method and an arrangement for localising a fuelling point on a vehicle |
EP00928035A EP1194365A1 (en) | 1999-04-19 | 2000-04-17 | A method and an arrangement for localising a fuelling point on a vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9901386A SE9901386L (en) | 1999-04-19 | 1999-04-19 | Method and apparatus for locating a refueling point on a vehicle |
SE9901386-4 | 1999-04-19 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000063109A1 true WO2000063109A1 (en) | 2000-10-26 |
Family
ID=20415262
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE2000/000733 WO2000063109A1 (en) | 1999-04-19 | 2000-04-17 | A method and an arrangement for localising a fuelling point on a vehicle |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP1194365A1 (en) |
JP (1) | JP2003508305A (en) |
AU (1) | AU759843B2 (en) |
CA (1) | CA2367425A1 (en) |
SE (1) | SE9901386L (en) |
WO (1) | WO2000063109A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009072973A1 (en) * | 2007-12-04 | 2009-06-11 | Clad Holding N.V | Method for payment in connection with automatic fuelling of vehicles |
WO2017103248A1 (en) * | 2015-12-18 | 2017-06-22 | Volkswagen Ag | Method for implementing at least one power supply procedure from at least one power supply unit to at least one motor vehicle to be supplied with power |
CN110475743A (en) * | 2017-03-28 | 2019-11-19 | 杜尔索马克有限公司 | For filling the device of vehicle on the assembly line of auto industry |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108098775A (en) * | 2017-12-26 | 2018-06-01 | 河南理工大学 | Fuel adding method, device and storage medium |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3642036A (en) * | 1970-04-30 | 1972-02-15 | Irwin Ginsburgh | Automatic fueling system for automobiles |
WO1998054084A1 (en) * | 1997-05-28 | 1998-12-03 | Autofill Patent Ab | Device for positioning at automatic fuelling of vehicles |
-
1999
- 1999-04-19 SE SE9901386A patent/SE9901386L/en not_active Application Discontinuation
-
2000
- 2000-04-17 JP JP2000612210A patent/JP2003508305A/en active Pending
- 2000-04-17 EP EP00928035A patent/EP1194365A1/en not_active Withdrawn
- 2000-04-17 CA CA002367425A patent/CA2367425A1/en not_active Abandoned
- 2000-04-17 WO PCT/SE2000/000733 patent/WO2000063109A1/en not_active Application Discontinuation
- 2000-04-17 AU AU46329/00A patent/AU759843B2/en not_active Ceased
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3642036A (en) * | 1970-04-30 | 1972-02-15 | Irwin Ginsburgh | Automatic fueling system for automobiles |
WO1998054084A1 (en) * | 1997-05-28 | 1998-12-03 | Autofill Patent Ab | Device for positioning at automatic fuelling of vehicles |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009072973A1 (en) * | 2007-12-04 | 2009-06-11 | Clad Holding N.V | Method for payment in connection with automatic fuelling of vehicles |
WO2017103248A1 (en) * | 2015-12-18 | 2017-06-22 | Volkswagen Ag | Method for implementing at least one power supply procedure from at least one power supply unit to at least one motor vehicle to be supplied with power |
CN110475743A (en) * | 2017-03-28 | 2019-11-19 | 杜尔索马克有限公司 | For filling the device of vehicle on the assembly line of auto industry |
CN110475743B (en) * | 2017-03-28 | 2021-09-24 | 杜尔索马克有限公司 | Device for filling vehicles in an assembly line of the automotive industry |
Also Published As
Publication number | Publication date |
---|---|
SE9901386L (en) | 2000-10-20 |
AU759843B2 (en) | 2003-05-01 |
AU4632900A (en) | 2000-11-02 |
EP1194365A1 (en) | 2002-04-10 |
SE9901386D0 (en) | 1999-04-19 |
JP2003508305A (en) | 2003-03-04 |
CA2367425A1 (en) | 2000-10-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US5237404A (en) | Inspection apparatus with improved detection of surface defects over large and curved surfaces | |
JPH0854218A (en) | Device for generating,detecting and recognizing image of profile of liquid container | |
EP1422498A2 (en) | Automatic reflector tracking apparatus | |
EP3111165A1 (en) | Distance measuring device and parallax calculation system | |
AU759843B2 (en) | A method and an arrangement for localising a fuelling point on a vehicle | |
EP1037852B1 (en) | Device for automatic fuelling of vehicles | |
WO2020086698A1 (en) | Methods and systems used to measure tire treads | |
EP4307496A1 (en) | Line laser module and self-moving device | |
CA2290452C (en) | Device for positioning at automatic fuelling of vehicles | |
JP3400788B2 (en) | Apparatus and method for detecting the position of a component and / or detecting the position of a connection of a component, and a mounting head provided with the device for detecting the position of a component and / or detecting the position of a connection of a component | |
US4649270A (en) | Photo-electric object detector having removable field stop means | |
US4851913A (en) | Picture recording apparatus | |
JPH075242A (en) | Position measuring apparatus for moving object | |
CN108427424B (en) | Obstacle detection device and method and mobile robot | |
US5299290A (en) | Ink sensing system for vector plotters | |
CN209102119U (en) | Automatic detection device and vehicle equipped with the device | |
CN212109899U (en) | Positioning detection device | |
CN212515091U (en) | Back scattering detection device | |
EP4351124A1 (en) | Line laser module and self-moving device | |
JP3095820B2 (en) | Surface condition detection device | |
CN116068578A (en) | Depth camera module and robot with dirty detection function | |
CN116222960A (en) | Laser copying tester | |
CN113933319A (en) | Glass defect detection device | |
JPH05240639A (en) | Distance measuring instrument | |
KR19980017951U (en) | Parking facility with photoelectric sensor for camera |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY CA CH CN CR CU CZ DE DK DM DZ EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): GH GM KE LS MW SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 46329/00 Country of ref document: AU |
|
ENP | Entry into the national phase |
Ref document number: 2367425 Country of ref document: CA Ref country code: CA Ref document number: 2367425 Kind code of ref document: A Format of ref document f/p: F |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2000928035 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref country code: JP Ref document number: 2000 612210 Kind code of ref document: A Format of ref document f/p: F |
|
REG | Reference to national code |
Ref country code: DE Ref legal event code: 8642 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 09959157 Country of ref document: US |
|
WWP | Wipo information: published in national office |
Ref document number: 2000928035 Country of ref document: EP |
|
WWG | Wipo information: grant in national office |
Ref document number: 46329/00 Country of ref document: AU |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: 2000928035 Country of ref document: EP |