WO2015088331A1 - 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 PDF

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Publication number
WO2015088331A1
WO2015088331A1 PCT/NL2014/050823 NL2014050823W WO2015088331A1 WO 2015088331 A1 WO2015088331 A1 WO 2015088331A1 NL 2014050823 W NL2014050823 W NL 2014050823W WO 2015088331 A1 WO2015088331 A1 WO 2015088331A1
Authority
WO
WIPO (PCT)
Prior art keywords
tank
vehicle
tank unit
frame
sub
Prior art date
Application number
PCT/NL2014/050823
Other languages
French (fr)
Inventor
Henk Hofman
Johannes Sijbrand VOGELAAR
Original Assignee
Rotec Special Projects B.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rotec Special Projects B.V. filed Critical Rotec Special Projects B.V.
Priority to AU2014360929A priority Critical patent/AU2014360929B2/en
Publication of WO2015088331A1 publication Critical patent/WO2015088331A1/en

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
    • 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

Definitions

  • TANK UNIT FOR AUTOMATIC REFUELLING A VEHICLE TANK, TANKSTATION COMPRISING SUCH TANK UNIT AND METHOD THEREFOR
  • the present invention relates to an automatic tank unit for automatic refuelling a tank of a vehicle.
  • the tank unit according to the present invention 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.
  • 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.
  • special purpose vehicles such as dumpers
  • 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.
  • the present invention has for its object to obviate or at least reduce the above stated problems with known tank units.
  • the present invention provides for this purpose 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
  • 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;
  • a frame 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.
  • 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.
  • the frame 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.
  • 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.
  • 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 invention. This provides an additional safety matter for the tank unit according to the invention.
  • 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.
  • 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 sub-frame 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 invention comprises contacting means that are configured for contacting the vehicle at a desired position.
  • These contacting means comprise first
  • 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 invention further comprises a tank tool with a refuelling nozzle movable in the sub-frame and configured for connecting with a fuel tank inlet of the tank unit connection of the vehicle.
  • the tank tool further comprises second compensation means.
  • 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.
  • 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 invention 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 invention 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.
  • the sub-frame further comprises a tank valve opening system.
  • a tank valve opening 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 invention.
  • the tank .unit comprises a vibrator configured for vibrating the refuelling nozzle when connecting to the tank connection.
  • the nozzle can be vibrated when it enters the vehicle tank and more specifically the tank inlet thereof.
  • a vibrating movement preferably substantially in the x-y plane
  • the application of this vibration is preferably achieved in combination with the second compensation means, such as the damper.
  • 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.
  • a driver 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.
  • 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.
  • the vehicle positioning system further comprises a refuel process management system.
  • a 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.
  • 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.
  • the container prevents fouling of components of the tank unit, and prevents unauthorized access to the tank unit.
  • the container preferably comprises transportation means that are configured for enabling transport of the container on a truck.
  • 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 invention is used under harsh conditions.
  • 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 invention is used under harsh conditions.
  • the container comprises an energy supply system configured for a stand-alone application of the tank unit.
  • energy supply system may comprise solar cells, a wind turbine and/or batteries. This enables use of the tank unit also at remote locations.
  • 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 invention.
  • the present invention 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.
  • the present invention further also relates to a method for automatic refuelling a vehicle tank, comprising the steps of:
  • 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 invention.
  • connecting the refuelling nozzle to the vehicle comprises:
  • 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.
  • 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 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.
  • Fig. 1 shows a tank unit according to the present invention
  • FIGs. 2-6 details of the tank unit of figure 1 ;
  • 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.
  • 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.
  • 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.
  • camera 40 is attached to carrier frame 38.
  • 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.
  • Sub- frame 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 sub- frame 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.
  • 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.
  • 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.
  • control system 80 is fully integrated with display 90 or tank unit 22. Other configurations are also available to the skilled person.
  • truck driver 94 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.
  • driver 94 has finished this step he can confirm this to system 12 and the refueling process can begin.
  • 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.
  • 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.
  • 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.
  • flap 60 opens valve 64 of tank 4 in an upward position.
  • 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.
  • 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) 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cooling, Air Intake And Gas Exhaust, And Fuel Tank Arrangements In Propulsion Units (AREA)
  • Filling Or Discharging Of Gas Storage Vessels (AREA)

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 invention relates to an automatic tank unit for automatic refuelling a tank of a vehicle. The tank unit according to the present invention 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.
The present invention has for its object to obviate or at least reduce the above stated problems with known tank units.
The present invention provides for this purpose 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.
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 invention. This provides an additional safety matter for the tank unit according to the invention. 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 invention, 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 sub-frame 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 invention 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 invention further comprises a tank tool with a refuelling nozzle movable in the sub-frame and configured for connecting with a fuel tank inlet of the tank unit connection of the vehicle. In a presently preferred embodiment according to the invention 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 invention 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 invention 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 invention.
In an advantageous preferred embodiment according to the present invention, 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 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 invention and further reduces the required positioning accuracy for the tank unit relative to the vehicle.
In an advantageous preferred embodiment according to the present invention, 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.
In a further advantageous preferred embodiment according to the present invention, 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 invention 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 invention.
The present invention 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.
The present invention 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 invention.
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 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. Sub- frame 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 sub- frame 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. 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) 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 invention as claimed.
The present invention is by no means limited by the above described preferred embodiments thereof. The rights sought are defined by the following claims, within the scope of which many modifications are possible.

Claims

Claims
Tank unit for automatic refueling a vehicle tank, the 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.
Tank unit according to claim 1 , wherein the first compensation means comprise a bellow cylinder.
Tank unit according to claim 1 or 2, wherein the sub-frame comprises a tank valve opening system.
Tank unit according to claim 1, 2 or 3, wherein the tank tool further comprises second compensation means.
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.
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.
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.
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.
15. Method according to claiml4, 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.
PCT/NL2014/050823 2013-12-09 2014-12-02 Tank unit for automatic refuelling a vehicle tank, tankstation comprising such tank unit and method therefor WO2015088331A1 (en)

Priority Applications (1)

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AU2014360929A AU2014360929B2 (en) 2013-12-09 2014-12-02 Tank unit for automatic refuelling a vehicle tank, tankstation comprising such tank unit and method therefor

Applications Claiming Priority (2)

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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

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EP3533755A1 (en) * 2018-03-02 2019-09-04 Zipfluid S.R.L. Device for transferring fluids
US20220122383A1 (en) * 2020-10-21 2022-04-21 Deere & Company Method for supplying a mobile usage unit with a consumable

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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
JP2011031919A (en) * 2009-07-31 2011-02-17 Kanto Auto Works Ltd Automatic fuel injection system

Patent Citations (3)

* Cited by examiner, † Cited by third party
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
JP2011031919A (en) * 2009-07-31 2011-02-17 Kanto Auto Works Ltd Automatic fuel injection system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3533755A1 (en) * 2018-03-02 2019-09-04 Zipfluid S.R.L. Device for transferring fluids
US20220122383A1 (en) * 2020-10-21 2022-04-21 Deere & Company Method for supplying a mobile usage unit with a consumable
EP3988499A1 (en) * 2020-10-21 2022-04-27 Deere & Company Method for supplying a mobile user unit with a consumable material

Also Published As

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AU2014360929A1 (en) 2016-06-09
CL2016001379A1 (en) 2017-01-27
AU2014360929B2 (en) 2019-01-31
NL2011916C2 (en) 2015-06-11

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