CA2223386A1 - Method and apparatus for automated refuelling - Google Patents
Method and apparatus for automated refuelling Download PDFInfo
- Publication number
- CA2223386A1 CA2223386A1 CA002223386A CA2223386A CA2223386A1 CA 2223386 A1 CA2223386 A1 CA 2223386A1 CA 002223386 A CA002223386 A CA 002223386A CA 2223386 A CA2223386 A CA 2223386A CA 2223386 A1 CA2223386 A1 CA 2223386A1
- Authority
- CA
- Canada
- Prior art keywords
- vehicle
- location
- fuel
- fuel inlet
- refuelling
- Prior art date
- Legal status (The legal status 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 status listed.)
- Abandoned
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
- B67D7/06—Details or accessories
- B67D7/08—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred
- B67D7/14—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred responsive to input of recorded programmed information, e.g. on punched cards
- B67D7/145—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred responsive to input of recorded programmed information, e.g. on punched cards by wireless communication means, e.g. RF, transponders or the like
-
- 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
- B67D2007/0459—Sensors recognising the position of the car by interrogating a transponder
-
- 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
- B67D2007/0463—Sensors recognising the position of the car 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
- B67D2007/0467—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
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/3802—With vehicle guide or support, e.g., service station
Abstract
A method for automated refuelling is provided, the method comprising the steps of: providing the vehicle with a radio frequency transponder effective to communicate information sufficient to establish a position of a fuel inlet on the vehicle; receiving the communicated information at location where the vehicle is to be refuelled when the vehicle is located at the location where the vehicle is to be refuelled; when the vehicle is located at the location where the vehicle is to be refuelled, determining the position and orientation of the vehicle within the location; determining from the position and orientation of the vehicle and the communicated information, an expected location of the fuel inlet; after the vehicle is driven to an automated refuelling apparatus, initiating refuelling by moving a fuel dispenser to adjacent the expected location of the fuel inlet; providing a sensor on the fuel dispenser to determine the location of the fuel inlet relative to the fuel dispenser; repositioning the fuel dispenser based on a signal from the sensor on the fuel dispenser to a position from which the vehicle can be refuelled from the dispenser; and refuelling the vehicle from the repositioned fuel dispenser. This method, and the apparatus useful in the practice of this method, do not require accurate initial positioning of the vehicle by the driver, or extensive modifications to the vehicle. The refuelling operation is not commenced until engine operation of the vehicle is discontinued, and the refuelling operation can be discontinued when the vehicle engine is restarted.
Description
W O 96~g35~ PCTrUS96/078 D~CRIPTION
METHOD AND APPARATUS FOR AUTOMATED REFUELLING
Te~-hnical Field This invention relates to a method for automated ref~7~11;ng of vehicles.
~aok~vul.d A~t Numerous apparatuses have been proposed for automatic refuelling of vehicles, but none have been _ ~~cially applied at retail gasoline outlets. This is most probably because of the ~Y~nce and complexity of the systems. Such an automated refuelling system must be relatively simple, and must be Acr~ hled from relatively inexpensive components to be economically competitive with customers ability to refuel automobiles manually, or an atte~nt. Additionally, minimal modifications to vehicles to be refuelled is n~s~i~ry, U.S. Pat. No. 3,527,268 suggests a automated refuelling system that includes a movable head having three functional arms, an arm to open a gas cap cover lid, an arm to remove a gas cap, and a fuel fill nozzle that is inserted into the fuel inlet. The movable head is located near the fuel inlet of a vehicle by a gantry that positions the movable head in a horizontal two~ ncion plane over an appropriate position. A vertical arm supporting the movable head then extends downward from the gantry to position the movable head at an appropriate elevation. Primary positioning of the vehicle is proposed to be by physical means such as guide rails or trenches for a front tire of the vehicle.
It is suggested that a fully automatic identification means could be used to identify the make, model, year and body style of a vehicle for the ~uL~o~e of locating the fuel inlet. It is suggested that a card containing this information could be located in a window of the vehicle, and the card could be read photoelectrically. Alternatively, it is suggested that one, or preferably two, photoelectric silhouettes of the automobile could be generated and used to determine the make, model and year of the vehicle. The vehicle make, model, year and body style could also be provided by the driver of the vehicle via an input panel.
An emergency stop button is also provided to permit the driver to discontinue the refl~ll;ng operation. The system and method of this patent requires the driver to position S the vehicle properly for the refuelling arm to approach the vehicle accurately enough to refuel the vehicle, requires the driver to manually ~i~continue refuelling if the driver desires to depart before the refuelling process is completed, and in a preferred embodiment, requires that the driver correctly input the vehicle make, model, year and body style. Such reliance on the driver to correctly operate an automated refuelling system is not desirable.
A more automated system with less reliance on a driver to perform such tasks co~e~Lly is desired.
German Patent Application 42 42 243 A1, PCT Patent Application No. IT93/00017, and U.S. Patent Nos. 3,642,036 and 5,238,034 also suggest refuelling robots that could not reach fuel inlets for vehicles with fuel inlets in the rear or the side opposite to the position of the robot.
It is therefore an object of the present invention to provide an apparatus and method for automated refuelling of vehicles that is relatively simple and in~Yp~n~ive, and wherein a precise initial positioning by a driver of a vehicle to be refuelled is not required, and wherein driver input for determining the position of the fuel inlet is not required. It is a further object to provide such a method and apparatus wherein significant modifications to the vehicle to be refuelled are not required.
D;~sclosure of the Invention These and other objects of the present invention are achieved by a method for automatic refuelling of a vehicle comprising the steps of: providing the vehicle with a radio frequency trans~on~e~ effective to c- lnicate information sufficient to establish a position of the fuel inlet on the vehicle; receiving the communicated information at location where the vehicle is to be refuelled when the vehicle is located at the location where the vehicle is to be WO 96/39351 PCT~US96~07858 refuelled; when the vehicle is located at the location where the vehicle is to be refuelled, determining the position and orientation of the vehicle within the location; deter ;n;ng - from the position and orientation of the vehicle and the communicated information, an expected location of the fuel inlet; moving a fuel disp~n~er to adjacent the determined expected location of the fuel inlet; providing a sensor on the fuel dispenser to determine the location of the fuel inlet relative to the fuel dispenser; repositioning the fuel o ~; ~r~n~r based on a signal from the sensor on the fuel dispe~r to a position from which the vehicle can be refuelled from the disp~nr~ ; and refuelling the vehicle from the repositioned fuel dispenser.
The method of the present invention includes the use of a radio-frequency tr~ncron~r to identify sufficient information about the vehicle to determine the location of the fuel inlet, Fen~ors to determine the location of the vehicle within a refuelling bay, and a sensor on a fuel disp~n~r to determine a more precise position of the fuel inlet. In a preferred emho~; -nt, the information communicated from the radio-frequency transponder is also sufficient to provide billing or payment for the refuelling operation.
Initial positioning of the vehicle may be dete~ ;~e~
by a plurality of, and preferably at least three, range-finding type sensors, such as acoustic, laser, or radar range finding ce~cors, radar imaging, magnetic flux sensors, pressure pads in the pavement, or by a visual mat~-h; ng of outlines of the vehicle by data from a camera.
Engine operation, or lack thereof, in a preferred ho~iment of the present invention, is determined and used as a criteria for initiation of or continuation of the refuelling method. Engine operation can be dete~ ine~, for example, by an antenna loop placed within the surface below the location of the vehicle to be refuelled, the antenna effective to sense normal operation of an vehicle's alternator. operation of an alternator is differentiated -from operation of any electric motor such as fan motor or a motor to raise or lower h~A~lights or a radio antenna by the frequency and strength of the oscillating magnetic field created by operation of the alternator. Alternatively, operation of a vehicle's engine may be determined by a radio receiver that detects fields generated by the ignition system of the vehicle.
The sensor to determine the position of the refuelling head relative to the fuel inlet of the vehicle is preferably either a visual recognition system, or a magnetic flux ~~n~cr with a magnet located near the fuel inlet.
Alternatively, a trAn~ron~r could be located near the location of the fuel inlet. This transponder could be the same transponder that is used to transmit information on the location of the fuel inlet on the vehicle, or a different transponder. A more precise location of the fuel inlet is generally required because the fuel inlet position can vary on a vehicle due to variations in tire inflation, vehicle load, air-shock inflation, damage history, or in~on~istencies in the manufacture of each make and model of vehicle.
This method, and the apparatus useful in the practice of this method, do not require accurate initial positioning of the vehicle by the driver, or extensive modifications to the vehicle. Preferably, the refuelling operation is not commenced until engine operation of the vehicle is discontinued, and the refuelling operation is preferably ~;~continued when the vehicle engine is restarted.
~rief Descri~tion of the Fiqure FIG. 1 shows a perspective view of the general arrangement of a preferred refuelling system of the present invention.
DetA; led Descri~tion of the Invention Referring now to FIG. 1, the general arrangement of components of a vehicle refuelling system according to a preferred embodiment of the present invention is shown. An overhead gantry 101 with a set of longitll~; nA 1 supports 102 and a cross ~ h~r 103 is shown. This gantry can move a WO 96~9351 PC~r~US96~a78~
nozzle manipulator 105 to position the refuelling nozzle on either side, or the rear of a vehicle, according to the location of the fuel inlet.
The location of the fuel inlet can be determined from data obtained from a trAn~ronA~r card (not shown) preferably placed on a w;n~hield of a vehicle to be refueled 107. The tr~n~pon~r card can be one of many commercially available, preferably passive, transponder systems. For example, Amtech, located in Dallas, Texas, offers a trAncrQn~er card system called "INTELLA TAG" which cards sell for about twenty five U.S. dollars. This transpo~r card system has a data capacity of 1408 bits, and operate on a radio frequency of 924 Mhz. Motorola Indala, of San Jose, California, pro~-lcDs another passive RF transponder system.
Motorola's system has a 64 bit capacity that is readable from about two feet. Cards cost about three U.S. dollars, and acceptable readers can be purchased for about 630 U.S.
dollars. TIRIS, of Austin, Texas, also offers acceptable systems. Active transponders are also available that operate on watch-type batteries and have significantly greater range. Although active transponders are more ~Yp~ncive~ they could be acceptable in the practice of the e~t invention.
Other means of determining the vehicle type and/or identification are inferior to the radio-frequency tr~n~po~s of the present invention. For example, an optical bar code could be provided on a sticker on a window, bumper or fender, but such an optical system would be defeated if it were masked with dirt. Magnetic strips could also be provided to transmit this information, but the range from which a magnetic strip could be read is limited. It is also possible that a vision and recognition system could be used to identify the make and model of the vehicle.
The transponder system of the present invention provides vehicle information to the automated refuelling system thereby allowing the system to know the location of the fuel inlet on the vehicle. Credit card information W O 96/39351 PCTrUS96/07858 could al80 be transmitted automatically, but alternatively, a customer interface 108 including a credit card reader (not shown) may be included. The use of the customer interface and credit card reader ensures that the refuelling operation is intentionally initiated by the customer and provides a confirmation that the authorized customer is receiving the refuelling service.
The positioning of the fuel supply nozzle adjacent to the fuel inlet is preferably accomplished by a position rAn~or located on the fuel supply nozzle. The position r~nror determines the position of the fuel supply nozzle with relationship to the fuel supply inlet. This position ~n~or may be, for example, a magnetic flux determination, with a magnet located on either the fuel inlet, fuel cap or on the hinged lid over the fuel inlet, or a vision system with a visual pick-up located on the fuel supply nozzle with information from the visual pick-up processed by software capable of recognizing the outline of the fuel hinged cover or fuel cap, and most preferably, also the position of the hinged cover about its hinged axis.
If a vision system is utilized to identify the position of the fuel inlet, the vision system may also be used to identify the location of the fuel cap after the hinged cover is opened, and possibly to identify the license plate number of the vehicle, for example, as a security check.
The customer interface is preferably automatically movable in the vertical direction and laterally toward the vehicle so that the interface is easily accessible from the driver's side window without the driver having to open the vehicle door. Movement of the customer interface could be initiated by the automated refuelling system upon a vehicle coming to a stop in a position to be refuelled, and preferably, after a confirmation that the engine of the vehicle has been shutdown. Information obt~i n~ from the transponder system could dictate the best vertical height for the customer interface for the particular vehicle. The automated refuelling system also is preferably provided with WO 96/39351 PCT/US96~078~i8 a means to determine the location of the vehicle relative to the system, and this information can be used to determine the extent of l~ -nt toward the vehicle for best placement of the customer interface. The customer interface, in a preferred embodiment, does not move laterally along the axis of the vehicle because the driver is encouraged to pull up to the interface with the interface juxtapose to the driver's side window. This provides that the vehicle will be within reach of the automated refuelling system.
A preferred customer interface is disclosed in U.S.
Patent No. (docket no. TH0623), incorporated herein by reference.
A simple ultrasonic range determination can alternatively be provided to determine the location of the vehi~le relative to the customer interface. A preferred ultrasonic range finding system is available from Polaroid and cost only about fourteen U.S. dollars each. Preferably, an acoustic system is provided to confirm that ~. ?~t of the customer interface will not cause a collision with the vehicle.
Range fin~in~ r~n~ors of the present invention could be, rather than ultrasonic, for example, radar or laser.
Ultrasonic systems are presently preferred because they have acceptable sensitivity and are less expensive than currently available alternatives. An acceptable radar based range f ~ n~; n~ sensor has been recently developed by Lawrence Livermore Laboratories, and has been referred to as a micropower impulse radar, or MIR. This technology has been incorporated in commercial products and is both ;n~Yp~ncive and accurate.
The means to determine the position of the vehicle relative to the automated refuelling system may be, for example, a probe exte~e~ to an expected location of a tire, a series of pressure sensors under or in the surface on which the vehicle i5 located, a series of ultrasonic, radar, laser ranger finders or a vision system. The vision system is shown with a camera 110 positioned above the expected W O 96~9351 PCT~US96/07858 location of the vehicle looki ng down at the vehicle. The camera prsAl~c~s an image that is captured and re~-~ce~ to a digital format by a frame grabbing image processing card, and communicated to a central processing unit (not shown).
The central processing unit may be located in a convenient location, for example either in a building at the location of the automated refuelling system, or remotely. The vision system can determine from the data provided by the camera the location of the vehicle within the view of the camera.
A vision system could also verify that the shape and, if a color camera is utilized, if the color of the vehicle matches the vehicle for which the transponder card is issued.
Automated refuelling will require that measures be taken to prevent overfilling of fuel tanks by the automated refuelling systems. Preferred methods to prevent overfilling of fuel tanks include incorporation of an optical liquid ~e~or in the vapor recovery conduit, as disclosed in U.S. Patent No. (docket no. TH0628), incorporated herein by reference, and use of the fuel shut-off mech~n; disclosed in U.S. Patent No. (docket No.
TH0627), incorporated herein by reference.
Vision and recsgnition cameras and software is described in, for example, U.S. Patent Nos. 5,379,353, 5,381,155, and 5,381,489. Suitable cameras are available, and r~cognition algorithms useful in identifying outlines of vehicles are similar to those useful in identifying letters and symbols in documents. Edges of vehicles are identified by finding lines of changes in brightness as ~i~c~ in Patent '353. The template can be aligned and templates matched using te~hniques such as those discussed in Patent '489.
A preferred vision recognition system is described in U.S. Patent Application No. (docket no. TH0626), inco~ ated herein by reference. This preferred system stores image templates for each vehicle make and model.
When the make and model of the vehicle is determined by the W O 96~935S PCTn~S9~7858 radio frequency trAn~pon~ data, an edge template i5 prepared from the appropriate stored image template. A
series of modified edge templates are prepared from the edge template, each modified edge template with the vehicle in a different orientation (i.e., each Lu~ d by about two to three degrees). The series of modified edge templates and an edge image of a captured image of the vehicle adjacent to the refuelling apparatus are reduced and smoothed by averaging adjacent pixels. Each of the series of re~7~-e~
modi~ied edge templates is then compared to each location within the edge image of the captured image, with the differences guantified by, for example, a grey scale edge vector correlation. Less reduced edge image templates are then compared to less reduced edge images of the captured images to refine the location and orientation of the vehicle within the captured image. This algorithm has been found to be fast and reliable and can be accomplished using ce,.LLal processing units having a 386 type processing chip.
Range finding sensors of the present invention could be, rather than acoustic, for example, either radar or laser. Acoustic systems are presently preferred heCA~-ce they have acceptable sensitivity and are less eYp~ncive than currently available alternatives. A preferred radar range f; n~ i n~ system has been developed by Lawrence Liv~r ~re Laboratories, and has been referred to as a mi~Lv~er impulse radar, or MIR. This teçh~ology has been incorporated in commercial products and is both in~Yp~n~ive and accurate.
The system of the present invention also preferably includes a collision avoidance system to ensure that the movement of the fuel dispenser does not cause it to collide with any object not expected to be in the path of the ~uel ~;~penC~r. Such a system may be a radar system. Suitable radar systems are available for use with, for example, school buses, to ensure that people are not in blind spots in the path of the bus. Acoustic systems are also available -and acceptable. Acoustic systems are preferred because of the general lower expense.
The system of the present invention also preferably includes a system to determine if an intruder is in the vicinity of the vehicle to be refuelled. Such a system may be an infrared motion detector, radar, acoustic, or light beam~. The advantage of providing intruder detection is both to ensure that the refuelling apparatus is not tampered with while it is in operation, for the safety of people in the vehicle, and to avoid movement of the fuel dispenser colliding with the intruder.
An engine operation s~n~or that is preferred in the practice of the present invention is disclosed in U.S. Pat.
Appl. No. 461,279 (Docket No. TH0629), incorporated herein by reference. This preferred engine operation ~n~or utilizes an antenna, preferably placed in concrete below the expected location of the vehicle while it is to be refuelled, that picks up an electromagnetic signal generated by an operating automobile alternator. The signal from the antenna is pA~ through both high frequency and low frequency filters to l- ve signals of frequencies greater than about 2100 Hz and less than about 700 Hz. The filtered signal is then rectified and amplified thereby converting the filtered signal from the antenna to an analog voltage that can serve as a direct input into a co~.Llol system or computer. Electromagnetic signals generated from, for example, electrical motors that may operate electric windows or con~nC~ or fan motors are filtered by this circuit, along with radio frequency transmissions. This results in a very distinctive signal that indicates a presence of an operating alternator in the vicinity of the sensor.
A preferred fuel distribution head for use with an automated refuelling method and apparatus according to the present invention is disclosed in U.S. Pat. Appl. No.
461,281 (Docket No. TH0572), incorporated herein by reference, and a preferred apparatus for maneuvering the fuel distribution head is disclosed in U.S. Pat. Appl. No.
WO 96~393~;1 PCT/US96~078~8 461,276 (Docket No. TH0573), incorporated herein by reference.
The prec~;n~ description is of a preferred embodiment, and reference is made ~o the following claims to determine the full scope of the present invention.
METHOD AND APPARATUS FOR AUTOMATED REFUELLING
Te~-hnical Field This invention relates to a method for automated ref~7~11;ng of vehicles.
~aok~vul.d A~t Numerous apparatuses have been proposed for automatic refuelling of vehicles, but none have been _ ~~cially applied at retail gasoline outlets. This is most probably because of the ~Y~nce and complexity of the systems. Such an automated refuelling system must be relatively simple, and must be Acr~ hled from relatively inexpensive components to be economically competitive with customers ability to refuel automobiles manually, or an atte~nt. Additionally, minimal modifications to vehicles to be refuelled is n~s~i~ry, U.S. Pat. No. 3,527,268 suggests a automated refuelling system that includes a movable head having three functional arms, an arm to open a gas cap cover lid, an arm to remove a gas cap, and a fuel fill nozzle that is inserted into the fuel inlet. The movable head is located near the fuel inlet of a vehicle by a gantry that positions the movable head in a horizontal two~ ncion plane over an appropriate position. A vertical arm supporting the movable head then extends downward from the gantry to position the movable head at an appropriate elevation. Primary positioning of the vehicle is proposed to be by physical means such as guide rails or trenches for a front tire of the vehicle.
It is suggested that a fully automatic identification means could be used to identify the make, model, year and body style of a vehicle for the ~uL~o~e of locating the fuel inlet. It is suggested that a card containing this information could be located in a window of the vehicle, and the card could be read photoelectrically. Alternatively, it is suggested that one, or preferably two, photoelectric silhouettes of the automobile could be generated and used to determine the make, model and year of the vehicle. The vehicle make, model, year and body style could also be provided by the driver of the vehicle via an input panel.
An emergency stop button is also provided to permit the driver to discontinue the refl~ll;ng operation. The system and method of this patent requires the driver to position S the vehicle properly for the refuelling arm to approach the vehicle accurately enough to refuel the vehicle, requires the driver to manually ~i~continue refuelling if the driver desires to depart before the refuelling process is completed, and in a preferred embodiment, requires that the driver correctly input the vehicle make, model, year and body style. Such reliance on the driver to correctly operate an automated refuelling system is not desirable.
A more automated system with less reliance on a driver to perform such tasks co~e~Lly is desired.
German Patent Application 42 42 243 A1, PCT Patent Application No. IT93/00017, and U.S. Patent Nos. 3,642,036 and 5,238,034 also suggest refuelling robots that could not reach fuel inlets for vehicles with fuel inlets in the rear or the side opposite to the position of the robot.
It is therefore an object of the present invention to provide an apparatus and method for automated refuelling of vehicles that is relatively simple and in~Yp~n~ive, and wherein a precise initial positioning by a driver of a vehicle to be refuelled is not required, and wherein driver input for determining the position of the fuel inlet is not required. It is a further object to provide such a method and apparatus wherein significant modifications to the vehicle to be refuelled are not required.
D;~sclosure of the Invention These and other objects of the present invention are achieved by a method for automatic refuelling of a vehicle comprising the steps of: providing the vehicle with a radio frequency trans~on~e~ effective to c- lnicate information sufficient to establish a position of the fuel inlet on the vehicle; receiving the communicated information at location where the vehicle is to be refuelled when the vehicle is located at the location where the vehicle is to be WO 96/39351 PCT~US96~07858 refuelled; when the vehicle is located at the location where the vehicle is to be refuelled, determining the position and orientation of the vehicle within the location; deter ;n;ng - from the position and orientation of the vehicle and the communicated information, an expected location of the fuel inlet; moving a fuel disp~n~er to adjacent the determined expected location of the fuel inlet; providing a sensor on the fuel dispenser to determine the location of the fuel inlet relative to the fuel dispenser; repositioning the fuel o ~; ~r~n~r based on a signal from the sensor on the fuel dispe~r to a position from which the vehicle can be refuelled from the disp~nr~ ; and refuelling the vehicle from the repositioned fuel dispenser.
The method of the present invention includes the use of a radio-frequency tr~ncron~r to identify sufficient information about the vehicle to determine the location of the fuel inlet, Fen~ors to determine the location of the vehicle within a refuelling bay, and a sensor on a fuel disp~n~r to determine a more precise position of the fuel inlet. In a preferred emho~; -nt, the information communicated from the radio-frequency transponder is also sufficient to provide billing or payment for the refuelling operation.
Initial positioning of the vehicle may be dete~ ;~e~
by a plurality of, and preferably at least three, range-finding type sensors, such as acoustic, laser, or radar range finding ce~cors, radar imaging, magnetic flux sensors, pressure pads in the pavement, or by a visual mat~-h; ng of outlines of the vehicle by data from a camera.
Engine operation, or lack thereof, in a preferred ho~iment of the present invention, is determined and used as a criteria for initiation of or continuation of the refuelling method. Engine operation can be dete~ ine~, for example, by an antenna loop placed within the surface below the location of the vehicle to be refuelled, the antenna effective to sense normal operation of an vehicle's alternator. operation of an alternator is differentiated -from operation of any electric motor such as fan motor or a motor to raise or lower h~A~lights or a radio antenna by the frequency and strength of the oscillating magnetic field created by operation of the alternator. Alternatively, operation of a vehicle's engine may be determined by a radio receiver that detects fields generated by the ignition system of the vehicle.
The sensor to determine the position of the refuelling head relative to the fuel inlet of the vehicle is preferably either a visual recognition system, or a magnetic flux ~~n~cr with a magnet located near the fuel inlet.
Alternatively, a trAn~ron~r could be located near the location of the fuel inlet. This transponder could be the same transponder that is used to transmit information on the location of the fuel inlet on the vehicle, or a different transponder. A more precise location of the fuel inlet is generally required because the fuel inlet position can vary on a vehicle due to variations in tire inflation, vehicle load, air-shock inflation, damage history, or in~on~istencies in the manufacture of each make and model of vehicle.
This method, and the apparatus useful in the practice of this method, do not require accurate initial positioning of the vehicle by the driver, or extensive modifications to the vehicle. Preferably, the refuelling operation is not commenced until engine operation of the vehicle is discontinued, and the refuelling operation is preferably ~;~continued when the vehicle engine is restarted.
~rief Descri~tion of the Fiqure FIG. 1 shows a perspective view of the general arrangement of a preferred refuelling system of the present invention.
DetA; led Descri~tion of the Invention Referring now to FIG. 1, the general arrangement of components of a vehicle refuelling system according to a preferred embodiment of the present invention is shown. An overhead gantry 101 with a set of longitll~; nA 1 supports 102 and a cross ~ h~r 103 is shown. This gantry can move a WO 96~9351 PC~r~US96~a78~
nozzle manipulator 105 to position the refuelling nozzle on either side, or the rear of a vehicle, according to the location of the fuel inlet.
The location of the fuel inlet can be determined from data obtained from a trAn~ronA~r card (not shown) preferably placed on a w;n~hield of a vehicle to be refueled 107. The tr~n~pon~r card can be one of many commercially available, preferably passive, transponder systems. For example, Amtech, located in Dallas, Texas, offers a trAncrQn~er card system called "INTELLA TAG" which cards sell for about twenty five U.S. dollars. This transpo~r card system has a data capacity of 1408 bits, and operate on a radio frequency of 924 Mhz. Motorola Indala, of San Jose, California, pro~-lcDs another passive RF transponder system.
Motorola's system has a 64 bit capacity that is readable from about two feet. Cards cost about three U.S. dollars, and acceptable readers can be purchased for about 630 U.S.
dollars. TIRIS, of Austin, Texas, also offers acceptable systems. Active transponders are also available that operate on watch-type batteries and have significantly greater range. Although active transponders are more ~Yp~ncive~ they could be acceptable in the practice of the e~t invention.
Other means of determining the vehicle type and/or identification are inferior to the radio-frequency tr~n~po~s of the present invention. For example, an optical bar code could be provided on a sticker on a window, bumper or fender, but such an optical system would be defeated if it were masked with dirt. Magnetic strips could also be provided to transmit this information, but the range from which a magnetic strip could be read is limited. It is also possible that a vision and recognition system could be used to identify the make and model of the vehicle.
The transponder system of the present invention provides vehicle information to the automated refuelling system thereby allowing the system to know the location of the fuel inlet on the vehicle. Credit card information W O 96/39351 PCTrUS96/07858 could al80 be transmitted automatically, but alternatively, a customer interface 108 including a credit card reader (not shown) may be included. The use of the customer interface and credit card reader ensures that the refuelling operation is intentionally initiated by the customer and provides a confirmation that the authorized customer is receiving the refuelling service.
The positioning of the fuel supply nozzle adjacent to the fuel inlet is preferably accomplished by a position rAn~or located on the fuel supply nozzle. The position r~nror determines the position of the fuel supply nozzle with relationship to the fuel supply inlet. This position ~n~or may be, for example, a magnetic flux determination, with a magnet located on either the fuel inlet, fuel cap or on the hinged lid over the fuel inlet, or a vision system with a visual pick-up located on the fuel supply nozzle with information from the visual pick-up processed by software capable of recognizing the outline of the fuel hinged cover or fuel cap, and most preferably, also the position of the hinged cover about its hinged axis.
If a vision system is utilized to identify the position of the fuel inlet, the vision system may also be used to identify the location of the fuel cap after the hinged cover is opened, and possibly to identify the license plate number of the vehicle, for example, as a security check.
The customer interface is preferably automatically movable in the vertical direction and laterally toward the vehicle so that the interface is easily accessible from the driver's side window without the driver having to open the vehicle door. Movement of the customer interface could be initiated by the automated refuelling system upon a vehicle coming to a stop in a position to be refuelled, and preferably, after a confirmation that the engine of the vehicle has been shutdown. Information obt~i n~ from the transponder system could dictate the best vertical height for the customer interface for the particular vehicle. The automated refuelling system also is preferably provided with WO 96/39351 PCT/US96~078~i8 a means to determine the location of the vehicle relative to the system, and this information can be used to determine the extent of l~ -nt toward the vehicle for best placement of the customer interface. The customer interface, in a preferred embodiment, does not move laterally along the axis of the vehicle because the driver is encouraged to pull up to the interface with the interface juxtapose to the driver's side window. This provides that the vehicle will be within reach of the automated refuelling system.
A preferred customer interface is disclosed in U.S.
Patent No. (docket no. TH0623), incorporated herein by reference.
A simple ultrasonic range determination can alternatively be provided to determine the location of the vehi~le relative to the customer interface. A preferred ultrasonic range finding system is available from Polaroid and cost only about fourteen U.S. dollars each. Preferably, an acoustic system is provided to confirm that ~. ?~t of the customer interface will not cause a collision with the vehicle.
Range fin~in~ r~n~ors of the present invention could be, rather than ultrasonic, for example, radar or laser.
Ultrasonic systems are presently preferred because they have acceptable sensitivity and are less expensive than currently available alternatives. An acceptable radar based range f ~ n~; n~ sensor has been recently developed by Lawrence Livermore Laboratories, and has been referred to as a micropower impulse radar, or MIR. This technology has been incorporated in commercial products and is both ;n~Yp~ncive and accurate.
The means to determine the position of the vehicle relative to the automated refuelling system may be, for example, a probe exte~e~ to an expected location of a tire, a series of pressure sensors under or in the surface on which the vehicle i5 located, a series of ultrasonic, radar, laser ranger finders or a vision system. The vision system is shown with a camera 110 positioned above the expected W O 96~9351 PCT~US96/07858 location of the vehicle looki ng down at the vehicle. The camera prsAl~c~s an image that is captured and re~-~ce~ to a digital format by a frame grabbing image processing card, and communicated to a central processing unit (not shown).
The central processing unit may be located in a convenient location, for example either in a building at the location of the automated refuelling system, or remotely. The vision system can determine from the data provided by the camera the location of the vehicle within the view of the camera.
A vision system could also verify that the shape and, if a color camera is utilized, if the color of the vehicle matches the vehicle for which the transponder card is issued.
Automated refuelling will require that measures be taken to prevent overfilling of fuel tanks by the automated refuelling systems. Preferred methods to prevent overfilling of fuel tanks include incorporation of an optical liquid ~e~or in the vapor recovery conduit, as disclosed in U.S. Patent No. (docket no. TH0628), incorporated herein by reference, and use of the fuel shut-off mech~n; disclosed in U.S. Patent No. (docket No.
TH0627), incorporated herein by reference.
Vision and recsgnition cameras and software is described in, for example, U.S. Patent Nos. 5,379,353, 5,381,155, and 5,381,489. Suitable cameras are available, and r~cognition algorithms useful in identifying outlines of vehicles are similar to those useful in identifying letters and symbols in documents. Edges of vehicles are identified by finding lines of changes in brightness as ~i~c~ in Patent '353. The template can be aligned and templates matched using te~hniques such as those discussed in Patent '489.
A preferred vision recognition system is described in U.S. Patent Application No. (docket no. TH0626), inco~ ated herein by reference. This preferred system stores image templates for each vehicle make and model.
When the make and model of the vehicle is determined by the W O 96~935S PCTn~S9~7858 radio frequency trAn~pon~ data, an edge template i5 prepared from the appropriate stored image template. A
series of modified edge templates are prepared from the edge template, each modified edge template with the vehicle in a different orientation (i.e., each Lu~ d by about two to three degrees). The series of modified edge templates and an edge image of a captured image of the vehicle adjacent to the refuelling apparatus are reduced and smoothed by averaging adjacent pixels. Each of the series of re~7~-e~
modi~ied edge templates is then compared to each location within the edge image of the captured image, with the differences guantified by, for example, a grey scale edge vector correlation. Less reduced edge image templates are then compared to less reduced edge images of the captured images to refine the location and orientation of the vehicle within the captured image. This algorithm has been found to be fast and reliable and can be accomplished using ce,.LLal processing units having a 386 type processing chip.
Range finding sensors of the present invention could be, rather than acoustic, for example, either radar or laser. Acoustic systems are presently preferred heCA~-ce they have acceptable sensitivity and are less eYp~ncive than currently available alternatives. A preferred radar range f; n~ i n~ system has been developed by Lawrence Liv~r ~re Laboratories, and has been referred to as a mi~Lv~er impulse radar, or MIR. This teçh~ology has been incorporated in commercial products and is both in~Yp~n~ive and accurate.
The system of the present invention also preferably includes a collision avoidance system to ensure that the movement of the fuel dispenser does not cause it to collide with any object not expected to be in the path of the ~uel ~;~penC~r. Such a system may be a radar system. Suitable radar systems are available for use with, for example, school buses, to ensure that people are not in blind spots in the path of the bus. Acoustic systems are also available -and acceptable. Acoustic systems are preferred because of the general lower expense.
The system of the present invention also preferably includes a system to determine if an intruder is in the vicinity of the vehicle to be refuelled. Such a system may be an infrared motion detector, radar, acoustic, or light beam~. The advantage of providing intruder detection is both to ensure that the refuelling apparatus is not tampered with while it is in operation, for the safety of people in the vehicle, and to avoid movement of the fuel dispenser colliding with the intruder.
An engine operation s~n~or that is preferred in the practice of the present invention is disclosed in U.S. Pat.
Appl. No. 461,279 (Docket No. TH0629), incorporated herein by reference. This preferred engine operation ~n~or utilizes an antenna, preferably placed in concrete below the expected location of the vehicle while it is to be refuelled, that picks up an electromagnetic signal generated by an operating automobile alternator. The signal from the antenna is pA~ through both high frequency and low frequency filters to l- ve signals of frequencies greater than about 2100 Hz and less than about 700 Hz. The filtered signal is then rectified and amplified thereby converting the filtered signal from the antenna to an analog voltage that can serve as a direct input into a co~.Llol system or computer. Electromagnetic signals generated from, for example, electrical motors that may operate electric windows or con~nC~ or fan motors are filtered by this circuit, along with radio frequency transmissions. This results in a very distinctive signal that indicates a presence of an operating alternator in the vicinity of the sensor.
A preferred fuel distribution head for use with an automated refuelling method and apparatus according to the present invention is disclosed in U.S. Pat. Appl. No.
461,281 (Docket No. TH0572), incorporated herein by reference, and a preferred apparatus for maneuvering the fuel distribution head is disclosed in U.S. Pat. Appl. No.
WO 96~393~;1 PCT/US96~078~8 461,276 (Docket No. TH0573), incorporated herein by reference.
The prec~;n~ description is of a preferred embodiment, and reference is made ~o the following claims to determine the full scope of the present invention.
Claims (21)
1. A method for automatic refuelling of a vehicle comprising the steps of:
providing the vehicle with a radio frequency transponder effective to communicate information sufficient to establish a position of a fuel inlet on the vehicle;
receiving said information at location where the vehicle is to be refuelled when the vehicle is located at the location where the vehicle is to be refuelled;
when the vehicle is located at the location where the vehicle is to be refuelled, determining the position and orientation of the vehicle within the location;
determining from the determined position and orientation of the vehicle and the communicated information, an expected location of the fuel inlet;
moving a fuel dispenser to adjacent the determined expected location of the fuel inlet;
providing a sensor on the fuel dispenser to detect the fuel inlet and thereby to determine the location of the fuel inlet relative to the fuel dispenser;
repositioning the fuel dispenser based on a signal from the sensor on the fuel dispensing head to a position from which the vehicle can be refuelled from the fuel dispenser; and refuelling the vehicle from the repositioned fuel dispenser.
providing the vehicle with a radio frequency transponder effective to communicate information sufficient to establish a position of a fuel inlet on the vehicle;
receiving said information at location where the vehicle is to be refuelled when the vehicle is located at the location where the vehicle is to be refuelled;
when the vehicle is located at the location where the vehicle is to be refuelled, determining the position and orientation of the vehicle within the location;
determining from the determined position and orientation of the vehicle and the communicated information, an expected location of the fuel inlet;
moving a fuel dispenser to adjacent the determined expected location of the fuel inlet;
providing a sensor on the fuel dispenser to detect the fuel inlet and thereby to determine the location of the fuel inlet relative to the fuel dispenser;
repositioning the fuel dispenser based on a signal from the sensor on the fuel dispensing head to a position from which the vehicle can be refuelled from the fuel dispenser; and refuelling the vehicle from the repositioned fuel dispenser.
2. The method of claim 1 wherein the transponder is a passive transponder.
3. The method of claim 1 wherein the transponder is an active transponder.
4. The method of claim 1, 2 or 3 further comprising the step prior to the step of refuelling the vehicle, of determining whether or not the vehicle engine is operating.
5. The method of claim 4 wherein it is determined whether or not the vehicle engine is operating by signal generated from a loop antenna that is effective to detect an electromagnetic field generated by the vehicle's alternator when the alternator is operating and the refuelling step is not started unless it is determined that the vehicle engine is not operating.
6. The method of claim 1 wherein the vehicle's position and orientation is determined by a plurality of acoustic range-finding sensors.
7. The method of claim 1 wherein the vehicle's position and orientation is determined by a digitalized visual image.
8. The method of claim 1 wherein the sensor to determine the location of the fuel inlet relative to the fuel dispenser is a magnetic flux sensor, and a magnet is fixed to the vehicle in the vicinity of the fuel inlet.
9. The method of claim 1 wherein the sensor to determine the location of the fuel inlet relative to the fuel dispenser is a camera, and a visual image from the camera is digitalized and an outline of a fuel inlet is identified from the digitalized image.
10. The method of claim 1 wherein the sensor to determine the location of the fuel inlet relative to the fuel dispenser is a transponder receiver and a transponder is fixed to the vehicle in the vicinity of the fuel inlet.
11. The method of claim 4 wherein it is determined that the vehicle engine is not operating by a sensor that detects electromagnetic waves generated by an operating vehicle's ignition.
12. The method of claim 7 wherein the sensor to determine the location of the fuel inlet relative to the fuel dispenser is a camera, and a visual image from the camera is digitalized and an outline of a fuel inlet is identified from the digitalized image.
13. The method of claim 12 wherein it is determined that the vehicle engine is not operating by signal generated from a loop antenna that is effective to detect a magnetic field generated by the vehicle's alternator when the alternator is operating.
14. An apparatus for automatic refuelling of vehicles comprising:
a radio frequency transponder receiver effective to receive information communicated from a transponder unit, the information sufficient to establish a position of the fuel inlet on the vehicle;
a means to determine the position and orientation of the vehicle within the location the vehicle is to be refuelled;
a means to determine from the position and orientation of the vehicle and the communicated information, an expected location of the fuel inlet;
a means to determine if engine operation has ceased;
a means to initiate refuelling by moving a fuel dispenser to adjacent the expected location of the fuel inlet when it is determined that the engine of the vehicle is not operating;
a sensor on the fuel dispenser to determine the location of the fuel inlet relative to the fuel dispenser;
and a means to reposition the fuel dispenser based on a signal from the sensor on the fuel dispenser to a position from which the vehicle can be refuelled from the dispenser.
a radio frequency transponder receiver effective to receive information communicated from a transponder unit, the information sufficient to establish a position of the fuel inlet on the vehicle;
a means to determine the position and orientation of the vehicle within the location the vehicle is to be refuelled;
a means to determine from the position and orientation of the vehicle and the communicated information, an expected location of the fuel inlet;
a means to determine if engine operation has ceased;
a means to initiate refuelling by moving a fuel dispenser to adjacent the expected location of the fuel inlet when it is determined that the engine of the vehicle is not operating;
a sensor on the fuel dispenser to determine the location of the fuel inlet relative to the fuel dispenser;
and a means to reposition the fuel dispenser based on a signal from the sensor on the fuel dispenser to a position from which the vehicle can be refuelled from the dispenser.
15. The apparatus of Claim 14 wherein the transponder is a passive transponder.
16. The apparatus of Claim 14 wherein the transponder is an active transponder.
17. The apparatus of Claim 14 wherein the means to determine if the vehicle engine is not operating comprises a means to generate a signal from a loop antenna, the loop antenna effective to detect a magnetic field generated by the vehicle's alternator when the alternator is rotating at idle rotation speed.
18. The apparatus of Claim 14 wherein the means to determine the vehicle's position and orientation comprises at least three acoustic rang-finding sensors.
19. The apparatus of Claim 14 wherein the means to determine the vehicle's position and orientation comprises a means to digitalize a visual image, and a means to generate a visual image of the vehicle.
20. The apparatus of Claim 14 wherein the sensor to determine the location of the fuel inlet relative to the fuel dispensing head is a magnetic flux sensor, and a magnet is fixed to the vehicle in the vicinity of the fuel inlet.
21. The apparatus of Claim 22 wherein the sensor to determine the location of the fuel inlet relative to the fuel dispenser is a camera, and a visual image from the camera is digitalized and an outline of a fuel inlet is identified from the digitalized image.
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|---|---|---|---|
| US08/461,280 US5628351A (en) | 1995-06-05 | 1995-06-05 | Method for automated refuelling |
| US461,280 | 1995-06-05 |
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|---|---|
| CA2223386A1 true CA2223386A1 (en) | 1996-12-12 |
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|---|---|---|---|
| CA002223386A Abandoned CA2223386A1 (en) | 1995-06-05 | 1996-05-29 | Method and apparatus for automated refuelling |
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| US (1) | US5628351A (en) |
| EP (1) | EP0830306B1 (en) |
| JP (1) | JPH11506715A (en) |
| AT (1) | ATE183481T1 (en) |
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| CN110713163B (en) * | 2019-09-27 | 2022-02-22 | 深圳市元征科技股份有限公司 | Information processing method and related equipment |
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-
1995
- 1995-06-05 US US08/461,280 patent/US5628351A/en not_active Expired - Fee Related
-
1996
- 1996-05-29 EP EP96916707A patent/EP0830306B1/en not_active Expired - Lifetime
- 1996-05-29 CA CA002223386A patent/CA2223386A1/en not_active Abandoned
- 1996-05-29 AT AT96916707T patent/ATE183481T1/en not_active IP Right Cessation
- 1996-05-29 WO PCT/US1996/007858 patent/WO1996039351A1/en active IP Right Grant
- 1996-05-29 DE DE69603855T patent/DE69603855T2/en not_active Expired - Fee Related
- 1996-05-29 DK DK96916707T patent/DK0830306T3/en active
- 1996-05-29 JP JP9500786A patent/JPH11506715A/en active Pending
- 1996-05-29 AU AU59376/96A patent/AU698599B2/en not_active Ceased
- 1996-05-29 ES ES96916707T patent/ES2137698T3/en not_active Expired - Lifetime
-
1999
- 1999-10-27 GR GR990402740T patent/GR3031651T3/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| EP0830306A1 (en) | 1998-03-25 |
| JPH11506715A (en) | 1999-06-15 |
| DE69603855T2 (en) | 2000-03-16 |
| AU5937696A (en) | 1996-12-24 |
| US5628351A (en) | 1997-05-13 |
| ES2137698T3 (en) | 1999-12-16 |
| ATE183481T1 (en) | 1999-09-15 |
| AU698599B2 (en) | 1998-11-05 |
| EP0830306B1 (en) | 1999-08-18 |
| WO1996039351A1 (en) | 1996-12-12 |
| DK0830306T3 (en) | 1999-12-06 |
| GR3031651T3 (en) | 2000-02-29 |
| DE69603855D1 (en) | 1999-09-23 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued |