EP-4737387-A2 - ROBOTIC SYSTEMS AND METHODS FOR VEHICLE FUELING AND CHARGING

EP4737387A2EP 4737387 A2EP4737387 A2EP 4737387A2EP-4737387-A2

Abstract

A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained condition.

Inventors

GRAHAM, ANDREW
BOYCE, CHRISTOPHER
Nisbet, Peter
CURLE, Jason
HAWKE, Trevor

Assignees

Oliver Crispin Robotics Limited

Dates

Publication Date: 20260506
Application Date: 20201215

Claims (13)

A robotic system for fueling or charging a vehicle having a vehicle connector, comprising: a robotic arm; a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the flexible conduit being connected to a source at a first end and a delivery connector at a second end; and a control system for operating the robotic arm and the flexible conduit; wherein the control system includes a sensor for detecting a position of the vehicle relative to the robotic system; and wherein the control system provides instructions to the vehicle or a vehicle operator to position the vehicle properly for fueling or charging.
The robotic system of claim 1, wherein the robotic arm is operated first in a state of tension before it is connected to the vehicle, and upon connection relaxes to an under-constrained condition, and upon completion of delivering the fluid or the electrical current resumes the state of tension.
The robotic system of any preceding claim, wherein the control system provides instructions to the vehicle operator via a visual display.
The robotic system of any preceding claim, wherein the control system provides audible instructions to the vehicle operator.
The robotic system of any preceding claim, wherein the control system provides audible instructions to the vehicle operator via an onboard vehicle speaker system.
The robotic system of any preceding claim, wherein the control system provides instructions to the vehicle operator via a smartphone application.
The robotic system of any preceding claim, wherein the vehicle is an aircraft.
The robotic system of any preceding claim, wherein the sensor is a video camera.
The robotic system of any preceding claim, wherein the sensor is capable of receiving a signal from the vehicle.
The robotic system of any preceding claim, wherein the control system maintains a list of authorized vehicles.
The robotic system of any preceding claim, wherein the control system is capable of receiving an authorization code from an operator.
The robotic system of any preceding claim, wherein the control system communicates a schedule when the robotic system is available for use.
The robotic system of any preceding claim, wherein the robotic system of the vehicle is configured to refuel another vehicle while both vehicles are in motion.

Description

FIELD OF THE INVENTION The present subject matter relates generally to robotic systems and methods for vehicle fueling and charging. More particularly, the present subject matter relates to a robotic system for fueling or charging a vehicle in an autonomous fashion. BACKGROUND OF THE INVENTION Many vehicles in use today operate on a finite energy source such as a fossil fuel or an electrical charge stored on board the vehicle. As such, these vehicles require periodic replenishment of their stored supply of fuel or electrical charge. Replenishment typically requires parking the vehicle in proximity to a source of fuel or electric current for a predetermined amount of time sufficient to replenish the vehicle's energy source. Replenishment also typically requires establishing a connection between a receptacle in or on the vehicle and a conduit capable of delivering fuel or electrical current to the vehicle. This is typically a manual process requiring human intervention, as well as some familiarity with both the vehicle and with the available replenishment equipment. The replenishment operation can give rise to certain hazards, such as a loss of connectivity and spillage or fluid or electrical arcing, incorrect selection of fueling or charging equipment, and inadvertent movement of the vehicle during replenishment. Accordingly, there remains a need for improved systems and methods of fueling and charging vehicles which deliver enhanced safety, reliability, and ease of use. BRIEF DESCRIPTION OF THE INVENTION In one aspect, a robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained condition. In another aspect, a robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the delivery connector has a plurality of connection configurations which are capable of being selected in response to information about the vehicle connector. In another aspect, a robotic system for charging a vehicle having a vehicle connector, the robotic system including a robotic arm, a flexible cable operably connected with the robotic arm for delivering an electrical current to a vehicle, the cable being connected to a source at a first end and a delivery connector at a second end, a flexible conduit operably connected with the robotic arm for delivering a fluid to the vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm, the cable, and the conduit, wherein the control system activates the flexible conduit to deliver the fluid to the vehicle to control battery temperature while the flexible cable delivers the electrical current to the vehicle. In yet another aspect, a robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system includes a sensor for detecting movement of the vehicle, and wherein the control system directs the robotic arm to engage the delivery connector with the vehicle connector and, upon detecting movement of the vehicle beyond a predetermined threshold, the control system initiates an action to prevent damage to the vehicle or the robotic system. In another aspect, a robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm, a flexible conduit operably conne