WO2024104532A1

WO2024104532A1 - Refueling station for refueling a vehicle, and method for refueling a vehicle

Info

Publication number: WO2024104532A1
Application number: PCT/DE2023/100878
Authority: WO
Inventors: Florian SRAMA; Sebastian Keller; Thomas STIEDE
Original assignee: Bayerische Motoren Werke Aktiengesellschaft
Priority date: 2022-11-15
Filing date: 2023-11-15
Publication date: 2024-05-23
Also published as: DE102022130095A1

Abstract

The technology disclosed in the application relates to a refueling station (10) for refueling a vehicle (50) with gaseous fuel, wherein a connecting element (35) can be moved by means of a gripper arm (20). The technology disclosed here also relates, according to the invention, to an associated method.

Description

Fuelling station for fuelling a vehicle and method for fuelling a vehicle

The technology disclosed here relates to a refueling station for refueling a vehicle with gaseous fuel and an associated method.

Refueling stations are typically used to refuel vehicles with fuel such as gaseous fuel. For example, the vehicles can be industrial trucks, but also other types of vehicles. Known refueling stations typically have a refueling hose that is manually connected to the vehicle to be refueled. This requires a corresponding amount of effort, which must be carried out by suitable personnel. In addition, refueling can be delayed if no suitable employee is available to refuel.

It is a preferred object of the technology disclosed here to reduce or eliminate at least one disadvantage of a previously known solution or to propose an alternative solution. In particular, it is a preferred object of the technology disclosed here to implement a refueling process more easily. Further preferred objects can result from the advantageous effects of the technology disclosed here. The objects are solved by the subject matter of the independent patent claims. The dependent claims represent preferred embodiments.

The technology disclosed here relates to a refueling station for refueling a vehicle with gaseous fuel, comprising (i) a refueling hose having a connector for connection to the vehicle, (ii) a gripping arm which grips the connector and is designed to move and position the connector in space, and (iii) a control device which is configured to control the gripping arm for automatic or semi-automatic refueling of the vehicle. By means of such a refueling station, a refueling process can be carried out automatically, whereby manual intervention can typically be dispensed with. This saves effort and ensures faster refueling.

A refueling station is typically understood to be a station that can be approached by a vehicle to be refueled in order to refuel it. The refueling station typically has devices that can store the gaseous fuel or otherwise receive it and dispense it into the vehicle. The refueling hose typically establishes the connection to the vehicle to be refueled, for which it has the connector already mentioned. The gaseous fuel can flow through the refueling hose. The gripper arm can in particular freely position and/or pivot the connector within a designated area. The gripper arm can thereby move the connector in such a way that it moves towards the vehicle to be refueled and in particular towards a connection piece formed thereon and engages the connector in such a way that refueling is possible. The gripper arm can in particular be constructed and/or function like a typical robot arm. The control device can control the gripper arm, which typically means controlling motors or cylinders so that the gripper arm moves the connector in space.

Gaseous fuel can be, for example, hydrogen or natural gas. A gaseous fuel is understood to mean in particular a fuel that is gaseous at room temperature and normal pressure. The gaseous fuel mentioned here is therefore also understood to mean a fuel that is in a liquid state during refueling, for example due to high pressure and/or low temperature.

The refueling station can in particular have one or more sensors that are designed to detect an approach of the gripper arm to an object and/or contact of the gripper arm with an object. The control device can in particular be configured to instantly terminate a movement of the gripper arm in response to a detected approach and/or in response to a detected contact. Such an embodiment can ensure that the gripper arm can be operated particularly reliably even in areas where people are moving. A fence around the refueling station and in particular the gripper arm is therefore not necessary. Such a fence can therefore be dispensed with. If a person is in the working area of the gripper arm, the gripper arm is stopped immediately if they approach or make contact. This prevents injuries or damage. Instant termination can in particular be understood to mean that, within the scope of the technical possibilities, the movement of the gripper arm is terminated as quickly as possible after a contact or approach is detected. In particular, such an embodiment can be used to realize human-robot collaboration. The sensors mentioned can be designed, for example, as ultrasonic sensors, radar sensors, light barriers, cameras and/or capacitive sensors. A combination of such sensors is also possible. One such sensor can be used, or several such sensors can be used.

The refueling station can have a projector that projects or can project a floor marking or projection onto an area that corresponds to at least one range of motion of the gripper arm. The floor marking can therefore indicate to people that they should not enter the marked area because the gripper arm can move within it. The use of a projector enables a flexible display that can, for example, only be activated when a refueling process is taking place and/or the gripper arm is deflected from a rest position. In addition, additional information can be projected using the projector. A range of motion is typically the area in which the gripper arm can generally move, or in which the gripper arm moves during a specific refueling process.

For example, the projection of the floor marking can be constant, especially if it is switched on. In particular, it can be independent of where the gripper arm is currently moving or what state it is currently in. This means that a certain area can be designated as the working area for the gripper arm, which people are not allowed to enter or can only enter with great caution. This means that constant tracking is no longer necessary. In addition, such markings are easier to follow because people get used to them. The refueling station can have an actuator for actuating the connector to release a discharge of gaseous fuel. The actuator can in particular be triggered by the control device. The actuator can in particular be designed to move a ring or another element of the connector over a certain area so that a refueling process is released and gaseous fuel can flow out. Preferably, such an actuation is only carried out when it has been recognized that the connector is reliably connected to a refueling nozzle.

The refueling hose can in particular be attached completely or partially along the gripper arm. This can in particular mean that the refueling hose is connected to the gripper arm at several points so that it does not hang down loosely. The refueling hose is typically flexible. The refueling hose can be guided in a suitable manner using a connection as described above.

According to one embodiment, the refueling station comprises a contact plate with one or more contacts for electrical connection to the vehicle during a refueling process. This contact plate can in particular establish an electrical contact with the vehicle, whereby, for example, information can be exchanged and/or commands can be transmitted. For example, a command can be transmitted to the vehicle in this way which prevents the vehicle from driving away during the refueling process. Information can also be received from the vehicle, for example regarding a temperature of a container or a fill level. According to one embodiment, a predetermined breaking point is formed between the connector and the gripping arm. Such a predetermined breaking point can ensure in particular that the connector can be released from the gripping arm when a certain force is applied, by breaking the predetermined breaking point. This can prevent the connector from tearing off the vehicle and possibly gaseous fuel from escaping in an uncontrolled manner if the vehicle drives away unexpectedly or undesirably or is accidentally moved. In such a case, it is typically more sensible to accept that the connector tears off the gripping arm.

In particular, the connector can be attached to the gripper arm by means of one or more screws or pins. The predetermined breaking point can in particular be formed in the screws or pins. This has proven to be an advantageous design. In particular, in the event of excessive loading, for example when the vehicle is driven away, the predetermined breaking point or the predetermined breaking points in the screws or pins can break. A predetermined breaking point in a screw or pin can be realized, for example, by a local taper in the material and/or by using a less break-resistant material.

In particular, the predetermined breaking points mentioned are located on the side of the refueling station. This allows a one-off design that can be used when refueling several different vehicles. The provision of predetermined breaking points on the vehicle side can then be advantageously dispensed with.

In particular, a tear-off point can be formed in the refueling hose. This can tear off if a predefined tensile load is exceeded and close the refueling hose. This can If, for example, a vehicle drives away during the refueling process and a tensile load is exerted on the refueling hose, a defined tearing off can be achieved at the tearing point. Automatic closure of the refueling hose prevents gaseous fuel from escaping in an uncontrolled or undesirable manner. The closure can be carried out in particular at the part of the refueling hose that is still connected to a gaseous fuel supply after the tearing off.

In particular, the refueling station can be designed for refueling industrial trucks. Such industrial trucks can be used, for example, in a production hall or on a factory site to transport goods. In particular, they can drive to the refueling station when the fill level of an internal pressure vessel falls below a predetermined threshold. Manual transport to the refueling station is also possible.

In particular, the refueling station can be designed for refueling with a gas pressure of at least 300 bar, at least 350 bar, or at least 700 bar. This allows refueling to take place under high pressure, which means that refueling takes place more quickly and the existing storage volume can be better utilized.

According to one embodiment, the refueling station has a camera for observing a refueling nozzle of the vehicle. In particular, this can be used to identify a refueling nozzle and/or to locate it in space. The camera can be attached to the gripper arm near the connector, for example. In addition or as an alternative, a camera can be present, for example, which has a larger area of the refueling station. This cannot, for example, be attached to the gripper arm.

According to one embodiment, the refueling station has a blow-out device or blow-out opening for blowing out air next to the connector in the direction of a refueling nozzle to be connected to the connector. In particular, such a blow-out device can be designed as an opening through which air can be blown out. Instead of air, another gas such as nitrogen can also be blown out. In particular, the blow-out device can be attached to the gripping arm. This makes it possible to emit a blast of air before connecting the connector to a refueling nozzle in order to blow away any dust that may be present.

The technology disclosed here further relates to a method for refueling a vehicle with gaseous fuel. The method comprises the following steps:

Detecting that a vehicle is in a refueling position,

Moving a connector of a refueling hose by means of a gripper arm to a refueling nozzle of the vehicle, connecting the connector to the refueling nozzle, and refueling the vehicle.

By means of such a method, it is advantageously possible to carry out a refueling process automatically. Manual intervention can advantageously be dispensed with. Refueling the vehicle is understood in particular to mean that gaseous fuel is delivered to the vehicle. The connection of the connector to the refueling nozzle can in particular be carried out in a pressure-tight manner. The Recognition that a vehicle is in a refueling position can be achieved in particular by means of a higher-level control system. This can also initiate the refueling process. In particular, a handshake procedure can be implemented between the refueling station and the control system, which enables a suitable data flow.

In particular, the method just described can be carried out using a refueling station as described herein. With regard to the refueling station, all of the described designs and variants can be used.

In particular, it can be provided that an approach of the gripper arm to an object and/or a contact of the gripper arm with an object is detected during the movement of the connector by means of the gripper arm. Such a detection functionality can be permanently activated. In particular, it can also be provided that a movement of the gripper arm is terminated instantly in response to a detected approach and/or in response to a detected contact. This can achieve a particularly high level of safety, in particular when people or other objects are usually in the vicinity of the gripper arm. Reference is made to the relevant statements above.

Preferably, refueling is only started when a successful connection of the connector is detected. Such a successful connection of the connector typically ensures that the connector is connected to the refueling nozzle in a pressure-tight manner and that no gaseous fuel escapes during the refueling process. It is described below how this can be determined, for example. In particular, a driving prevention signal can be sent to the vehicle during refueling and/or between connecting and disconnecting the connection. The driving prevention signal can in particular be sent from the refueling station to the vehicle. After it has been received, the driving prevention signal can in particular prevent the vehicle from driving away. This can in particular be achieved by a control system implemented in the vehicle, which can in particular receive the driving prevention signal. For example, a release signal can be sent to the vehicle to signal that the refueling process has ended and the vehicle can drive away again.

In particular, the temperature of a pressure vessel can be read from the vehicle during refueling. Such a pressure vessel can be used in particular to store the gaseous fuel in the vehicle. The pressure vessel can be protected from excess temperature in particular by means of temperature monitoring. If excess temperature occurs, the refueling process is typically interrupted. This prevents damage to the pressure vessel that could otherwise possibly occur.

According to an advantageous embodiment, the method further comprises the following steps:

Detecting a feature on the vehicle and positioning the connector relative to the feature.

The feature can in particular be an optically recognizable feature. Instead of recognizing the feature, a predefined position can alternatively be approached. The step of In alternative embodiments, the step of detecting the feature and/or the step of positioning relative to the feature can be omitted.

Approaching the connector to the refueling nozzle and pivoting the connector several times relative to the refueling nozzle.

Such multiple pivoting can prevent any jamming or tension from affecting the placement of the connector on the refueling nozzle. For example, four directions can be used, with the connector being pivoted by a predefined maximum amount in each direction and then pivoted in another direction. After such a pivoting process, the connector can be finally connected to the refueling nozzle, in particular a pressure-tight connection.

In particular, pivoting may be performed after the connector has been positioned relative to the feature.

The pivoting can take place in particular in a force-controlled operating mode of the gripper arm. It can in particular represent a pendulum movement. A force-controlled pendulum movement of the gripper arm or

Robot can be used in particular to couple a fuel nozzle to the refueling nozzle.

After connection and before refueling, the connector in particular can be subjected to a force which refueling nozzle. In particular, refueling can only be carried out if the connector cannot be removed from the refueling nozzle. This can be done, for example, by monitoring the movement of the gripper arm. This can ensure that the connector is reliably connected to the refueling nozzle and that refueling only takes place when it is. This can prevent gaseous fuel from escaping because the connector is not yet properly connected to the connecting nozzle.

In particular, it can be determined if the distance by which the connector can be moved during the retraction described above is greater than a threshold value. In this case, it can be assumed that the coupling process was not successful and refueling can therefore be omitted.

An approach strategy can be implemented in particular as follows:

Moving a gripper arm from its home position, moving to a position for using a camera, searching for a tank nipple or refueling nozzle, particularly using the camera,

Moving to a position for air pressure cleaning, in particular ejecting a blast of air for cleaning, coupling contacts, coupling contact plates, and

Preventing travel release, particularly by means of the contact plate. In other words, vehicles can be refueled, for example, which can be hydrogen-powered fuel cell vehicles and which can be used in particular as industrial trucks. These can be manually refueled with hydrogen, especially in known designs. The vehicles can be designed as both manual and automatic vehicles.

For this purpose, for example, a handshake procedure was developed that enables communication between three main actors. These main actors can be the refueling station, a control system and an integrated process control system.

In order to enable use without a protective fence, the concept of a cobot can be used, for example. This acts in the sense of human-robot collaboration and is harmless to humans. This can be achieved, for example, using the sensors mentioned above. In addition, an end effector can preferably be designed in such a way that it is also not dangerous to humans.

A pneumatic retraction mechanism can be used that can automatically unlock a clutch. The end effector typically has a contact plate that is linearly mounted and docks onto the vehicle before the clutch is locked. This contact plate can be used to prevent further travel and to read the temperature or other parameters.

In the event of a tear-off, a predetermined breaking point can be created using plastic screws in combination with defined bent sheets. In order to compensate for the different positioning of vehicles on the approach and the different orientation of installed fuel filler necks, the solution described below can be used, for example. The gripper arm can move into a so-called camera pose, where an image is taken. A defined feature can be detected in this image. A fuel nozzle or connector can then be moved relative to this just in front of the tank filler neck. To enable coupling, a type of pendulum movement can be carried out in a force-controlled mode of the gripper arm. The gripper arm can move to four different points, each of which is stored at a different angle (end effector orientation). After the fourth orientation, the gripper arm can move back to the starting orientation without moving away from the tank filler neck. Another orientation drive can then be carried out, but with a higher force, for example. To ensure that the coupling is locked, a retraction test can be carried out.

The technology disclosed here is now described using the drawing. Shown are:

Fig. 1: a refueling station and a vehicle, and Fig. 2: a plan view of a floor with a refueling station.

Fig. 1 shows a refueling station 10. The refueling station 10 has a base 12. In this, devices (not shown in detail) for storing or supplying gaseous fuel such as hydrogen are housed. Furthermore, a control device 15 is housed therein, which is configured for control and monitoring. A gripping arm 20 is attached to the base 12. In the present case, this has a first link 22 and a second link 24. These are connected to each other at respective joints. Furthermore, the first link 22 is connected to the base 12 via a joint, and the second link 24 is connected to a connector 35 via a joint, which will be discussed in more detail below. Respective motors can be controlled at the joints, by means of which the control device 15 can move the gripping arm 20 so that the connector 35 is positioned at a desired location in space.

A fueling hose 30 is attached to the gripper arm 20. The fueling hose 30 is flexible and is attached to the gripper arm 20 at several points. It extends from the base 12 to the connector 35. This allows gaseous fuel to be supplied from the base 12 to the connector 35 and dispensed via the connector 35.

A camera 40 is attached to the gripper arm 20 adjacent to the connector 35. This allows a photo or video to be taken of an environment, whereby the camera 40 can, for example, help to position and connect the connector 35.

Adjacent to the connector 35 there is also an exhaust opening 42. This can blow out air in a direction in which the connector 35 points. This allows cleaning of an area in which a connection is to be made.

Furthermore, a contact plate 44, which has a plurality of electrical contacts, is arranged adjacent to the connector 35. These are used for connecting to an external device such as a vehicle 50, which will be discussed in more detail below. The refueling station 10 is used in particular for refueling a schematically illustrated vehicle 50. The vehicle 50 can be, for example, an industrial truck. The vehicle 50 has a refueling nozzle 55 through which it can receive gaseous fuel. It moves on a floor 11.

When the vehicle 50 is to be refueled, it first moves into a refueling position. Then an image is taken with the camera 40, and based on this, the gripper arm 20 moves the connector 35 into a starting position. In this position, a blast of air is first emitted through the blow-out opening 42 in order to clean the refueling nozzle 55. From the starting position, the gripper arm pushes the connector 35 at least partially onto the refueling nozzle 55. A pendulum movement is then carried out, with the connector 35 being pivoted in four directions by the gripper arm in its force-controlled mode so that tilting is prevented. After this pivoting, the connector 35 is pushed further onto the refueling nozzle 55 and is then connected in a pressure-tight manner so that a refueling process can be started.

To increase safety, a driving prevention signal is sent to the vehicle 50 via the contact plate 44. This prevents the vehicle 50 from driving away. Furthermore, to increase safety, before starting a refueling process, the connector 35 is pulled away from the vehicle 50 with a defined force. If a movement is possible that is greater than a predetermined threshold value, it can be assumed that the connection is unreliable and the refueling process is not started. This is also referred to as a retraction test. The connector 35 is connected to the gripping arm 20 via a predetermined breaking point (not shown). If the vehicle 50 does drive away, the connector 35 is released from the gripping arm 20 by breaking the predetermined breaking point and tearing off is prevented. This provides a certain degree of flexibility even if the vehicle 50 moves contrary to expectations.

Fig. 2 shows a top view of the floor 11 on which the vehicle 50 is movable and on which the base 12 with the gripper arm 20 attached to it is located. The gripper arm 20 has a maximum range of motion which is known due to its technical design. If the gripper arm 20 is used, i.e. moves, for example to enable refueling of a vehicle 50 that is approaching or is already in a refueling position, a projection 13 can be projected onto the floor 11 adjacent to the base 12. A projector 14, shown only schematically, is used for this purpose. This can signal to people in the area that they should not enter the area in which the gripper arm 20 is movable. Safety can be significantly increased as a result.

For reasons of readability, the expression "at least one" has been partially omitted for the sake of simplicity. If a feature of the technology disclosed here is described in the singular or indefinitely (e.g. the/a base, the/a gripper arm, etc.), the plural form is also intended to be disclosed at the same time (e.g. the at least one base, the at least one gripper arm, etc.).

The foregoing description of the present invention is for illustrative purposes only and not for the purpose of limiting the Invention. Various changes and modifications are possible within the scope of the invention and its equivalents.

List of reference symbols

10 refueling station

11 Floor

12 Base

13 Projection

14 Projector

15 Control device

20 gripper arm

22 first link

24 second link

30 refueling hose

35 connectors

40 Camera

42 Exhaust opening

44 Contact plate

50 vehicle

55 refueling nozzles

Claims

Expectations

1 . A refueling station (10) for refueling a vehicle (50) with gaseous fuel, comprising

- a refueling hose (30) having a connector (35) for connection to the vehicle (50),

- a gripping arm (20) which grips the connector (35) and is designed to move and position the connector (35) in space, and

- a control device (15) configured to control the gripper arm (20) for automatic or semi-automatic refueling of the vehicle (50).

2. Refueling station (10) according to claim 1, which has one or more sensors which are designed to detect an approach of the gripper arm (20) to an object and/or a contact of the gripper arm (20) with an object, and wherein the control device (15) is configured to instantly terminate a movement of the gripper arm (20) in response to a detected approach and/or in response to a detected contact.

3. Refueling station (10) according to one of the preceding claims, comprising a projector (14) which projects a projection (13) onto an area which corresponds to at least one range of movement of the gripper arm (20).

4. A fueling station (10) according to any one of the preceding claims, comprising an actuator for actuating the connector (35) to release a discharge of gaseous fuel, wherein the Actuator can be triggered by the control device (15). Refueling station (10) according to one of the preceding claims, wherein the refueling hose (30) is completely or partially attached along the gripper arm (20). Refueling station (10) according to one of the preceding claims, comprising a contact plate (44) with one or more contacts for electrical connection to the vehicle (50) during a refueling process. Refueling station (10) according to one of the preceding claims, wherein a predetermined breaking point is formed between the connector (35) and the gripper arm (20). Refueling station (10) according to claim 7, wherein the connector (35) is attached to the gripper arm (20) by means of one or more screws or pins, wherein the predetermined breaking point is formed in the screws or pins. Refueling station (10) according to one of the preceding claims, wherein a tear-off point is formed in the refueling hose (30), which tears off when a predefined tensile load is exceeded and closes the refueling hose (30). Refueling station (10) according to one of the preceding claims, which is designed for refueling industrial trucks. Refueling station (10) according to one of the preceding claims, which is designed for refueling with a gas pressure of at least 300 bar. is trained.

12. A refueling station (10) according to any one of the preceding claims, comprising a camera (40) for observing a refueling nozzle (55) of the vehicle (50).

13. A refueling station (10) according to any one of the preceding claims, comprising a blow-out opening (42) for blowing out air next to the connector (35) in the direction of a refueling nozzle to be connected to the connector (35).

14. A method for refuelling a vehicle (50) with gaseous fuel, comprising the following steps:

- Recognition of the vehicle (50),

- moving a connector (35) of a refueling hose (30) by means of a gripping arm (20) to a refueling nozzle (55) of the vehicle (50),

- Connecting the connector (35) to the refueling nozzle (55), and

- Refueling the vehicle (50).

15. Method according to claim 14, which is carried out by means of a refueling station (10) according to one of claims 1 to 13.

16. The method according to claim 14 or 15, wherein during the movement of the connector (35) by means of the gripping arm (20), an approach of the gripping arm (20) to an object and/or a contact of the gripping arm (20) with an object is detected, and wherein a movement of the gripping arm (20) is terminated instantaneously in response to a detected approach and/or in response to a detected contact. 17. The method according to any one of claims 14 to 16, wherein the refueling is only started when a successful connection of the connector (35) is detected.

18. The method according to any one of claims 14 to 17, wherein a driving prevention signal is sent to the vehicle (50) during refueling and/or between a connection and a release of the connection.

19. Method according to one of claims 14 to 18, wherein a temperature of a pressure vessel is read from the vehicle (50) during refueling.

20. The method according to any one of claims 14 to 19, further comprising the following steps:

- detecting a feature on the vehicle (50), and

- Positioning the connector (35) relative to the feature.

21. Method according to one of claims 14 to 20, further comprising the following steps:

- Moving the connector (35) to the refueling nozzle (55), and

- Multiple pivoting of the connector (35) relative to the refueling nozzle.

22. Method according to one of claims 14 to 21, wherein after the connection and before the refueling, the connector (35) is subjected to a force which points away from the refueling nozzle (55), and wherein the refueling is only carried out if the connector (35) cannot be removed from the refueling nozzle (55).