Description:PREAMBLE TO THE DESCRIPTION:
[0001] The following specification particularly describes the invention, and the manner in which it has to be performed:

DESCRIPTION OF THE INVENTION

Technical field of the invention

[0002] The present invention relates to a system for loading fuel in bottom loading trucks, and more particularly to loading fuels such as oil, gasoline or other combustible liquids through a multi-valve assembly using loading arms.
Background of the invention
[0003] Typically, the fuel trucks are filled either manually or automatically, wherein the hose is attached to the opening in the truck and the truck is filled with fuel. The automatic fuel fill systems are not used as the trucks are movable and also filling a truck may be time consuming. The fuel trucks are either top loaded or bottom loaded, wherein in top-loading technology the loading terminals have an elevated gantry which allow operators to walk on top of the tank to open the hatch and drop fuel into each compartment.
[0004] The bottom loading trucks make use of fuel truck loading couplers such as American Petroleum Institute (API) petroleum coupler, wherein the fuel truck loading couplers are disposed at the bottom the tanker and connected by piping to each compartment. There is one coupler valve per compartment and fuel is pumped through the loading arm system at the terminal, via the fuel truck loading couplers, piping, and emergency valve, and into the tanker compartment. The system uses an emergency valve located at the bottom of each compartment, for controlling the entry and exit of fuel.
[0005] The drawbacks of the existing system include fuel spillage where some amount of fuel is wasted when the fuel loading is carried out and spilled fuel might cause accidents at the work sites. Further, the fuel loading in the trucks is carried out at a slower pace when manual intervention is required for attachment and detachment of the API coupler with the truck. Furthermore, when manual fuel loading system is being operated, there are chances of accidental filling where substantial fuel loss occurs during filling and discharging operations.
[0006] The Patent Application No. US2384628A entitled “Tank truck bottom loading and discharge means” discloses an improved emergency valve means which is mounted in the means for loading and discharging tank trucks such as used for transporting various kinds of liquids, and especially liquids such as oil and gasoline or other combustible liquids.
[0007] The Patent Application No. CN20131534896 entitled “Novel tank type fuel transporting and refueling truck” discloses a novel tank type fuel transporting and refueling truck that comprises a vehicle chassis system, a fuel pumping transmission system, a fuel tank system, fuel loading and unloading pipelines, an external 380-volt power supply pump assembly, a control system and a security protection system. The right of the truck body is provided with a control cabinet, and a DN65 (nominal diameter) three-way ball valve, a three-way screen, DN65 straight-through ball valves, a bottom valve air control switch, a CRJ rapid joint anode strip plugging cover, a pipeline pressure meter and a vacuum meter are arranged inside the control cabinet, so that the functions of bottom fuel loading during fuel loading of the truck and automatic-flow fuel unloading, pump discharging and refueling; the left of the truck body is provided with an operating cabinet which is provided with two Censtar refuelers, DN25 straight-through ball valves, a 10-meter one-inch refueling rubber hose refueling gun and the like. The novel tank type fuel transporting and refueling truck replaces a traditional fuel loading manner with the bottom fuel loading manner and performs totally-closed loading, thereby having significant influence on environmental protection and human health insurance; subsea valves can achieve bottom fuel loading and unloading, so that safety, environmental protection, high efficiency and operative convenience can be obtained.
[0008] The Patent Application No. US19640419538 entitled “Bottom loading system for tank trucks and trailers” discloses a bottom loading system for tank trucks that includes a manifold, having a plurality of ports sealed by valves held in a closed position by springs, and opened by the application of air pressure to a chamber. In order to bleed-off the pressure in the manifold before moving a valve poppet of its seat, the valve stem is slidably extended through the poppet and threaded to receive a wing nut member and a nylon lock washer. When the valve is closed, the member seats on a shoulder. On opening the valve, the member is moved forward, prior to the poppet being moved, allowing any pressure to bleed-off through a keyway in the stem. A shoulder on the stem then engages a shoulder on the poppet and moves the poppet from the valve seat. Each valve is stabilized in the open position by an extension of its stem entering a hole in a spider, in the center of the manifold.
[0009] Therefore, in order to overcome the shortcomings of the existing systems, there is a need for a system for autonomous fuel loading in bottom loading trucks with improved Takt time or the rate at which the fuel loading is to be completed to meet the demand of the consumers. Further, there is a need for a system that saves fuel wastage caused by spillage during fuel loading operation, wherein the accidents caused due to fuel spillage are prevented.
Summary of the invention
[0010] The present invention discloses a system for autonomous filling operation of the bottom loading truck, where the system uses various technologies to detect the truck valve, position the system using pneumatic power, where the digital signal is converted into mechanical output and the autonomous fuel loading is achieved.
[0011] The system discloses an arm control system attached to the structural beams and columns to provide mechanical support, wherein the arm control system comprises one or more loading arms. The loading arms comprises fuel truck loading coupler that is attached to the truck valve of the fuel truck and fuel is loaded into the truck. The rack and pinion gear drive mechanism facilitates movement of the loading arms where the loading arms are moved in different directions to align the fuel truck loading coupler with the truck valve. The system discloses a feedback system comprising feedback sensors that transmit the signal from the system to the electronic device of the user, facilitating the engagement and disengagement of the fuel truck loading coupler with the truck valve during fuel loading operation.
[0012] The process of autonomous loading of the fuel in the bottom loading trucks comprises the steps of detecting the truck valve using image detection mechanism, wherein the truck valve related data is sent to the electronic device of the user, followed by determining the position of the truck valve with respect to the fuel truck loading coupler such as API coupler by the electronic device of the user, where the said electronic device sends the information to a relay board through wired or wireless network infrastructure. The relay board controls the pneumatic system, wherein the movement of the loading arms is controlled as the relay board moves the loading arm to align the fuel truck loading coupler with the truck valve and the fuel truck loading coupler automatically latches onto the truck valve thereby creating a firm seal. Further, the latched fuel truck loading coupler is controlled by an actuator in the pneumatic system and a feedback system relays this information to the electronic device of the user confirming that the coupler is latched onto the truck valve. Further, the user signals the system to start the fuel loading process and upon loading the fuel, the user signals the system to cease the loading operation. Upon completing the fuel loading operation, the fuel truck loading coupler is detached from the truck valve through the clipping and clamping mechanism.
[0013] There are several advantages of the present invention, including saving fuel which may be wasted due to spillage during fuel loading operation, thus averting the accidents caused due to fuel spillage. The present invention reduces the human intervention during fuel loading process and further reduces the risk of health hazards caused to the personnel working in work sites. The system improves the overall TAKT time of the fuel loading operation resulting in better yield.
Brief description of the drawings
[0014] The foregoing and other features of embodiments will become more apparent from the following detailed description of embodiments when read in conjunction with the accompanying drawings. In the drawings, like reference numerals refer to like elements.
[0015] Figure 1 illustrates the schematic representation of the system for autonomous loading of fuel in the bottom loading trucks.
[0016] Figure 2 illustrates the isometric view of the arm control system for autonomous loading of fuel in the bottom loading trucks.
[0017] Figure 3 illustrates the schematic representation of the feedback system.
[0018] Figure 4 illustrates the flow diagram disclosing the process involved in autonomous fuel loading into bottom loading trucks.
Detailed description of the invention
[0019] Reference will now be made in detail to the description of the present subject matter, which are shown in figures. Various changes and modifications obvious to one skilled in the art to which the invention pertains are deemed to be within the spirit, scope and contemplation of the invention.
[0020] The present invention discloses a system (100) for autonomous fuel loading in the bottom loading truck, wherein the system (100) detects the truck valve in the user’s vehicle using the vision system (107) and positions and attaches the fuel truck loading coupler such as American Petroleum Institute (API) coupler (101d) to the truck valve using pneumatic power. Upon receiving digital signal from a user, the arm control system (101) converts the digital signal into mechanical output to initiate autonomous loading of fuel in the truck.
[0021] Figure 1 illustrates the schematic representation of the system (100) for autonomous loading of fuel in the bottom loading trucks. The arm control system (101) comprises the structural beams or columns (101a) and pneumatic component including the rack and pinion assembly (101b), loading arm (101c) and fuel truck loading coupler (101d). The arm control system (101) communicates to the user located in the truck through the electronic device (105). The user’s electronic device (105) communicates with the relay board (102) through wired or wireless network infrastructure such as ethernet, Wi-Fi and so on.
[0022] The feedback system (103) transmits a signal to the user electronic device (105) regarding the completion of the attachment of the fuel truck loading coupler (101d) to the truck valve through a data communication protocol (103c) such as Modbus. The user electronic device (105) transmits this data to the user’s server, which further transmits a digital signal to the arm control system (101) to initiate the fuel loading process.
[0023] According to the present invention, the vision system (107) uses image detection mechanism to identify and detect the truck valve on the fuel truck, wherein the vision system (107) sends the truck valve related information to the user’s electronic device (105) through Universal Serial Bus (USB) (106) to determine the position of each truck valve with respect to the fuel truck loading coupler (101d) in cartesian coordinates. The user electronic device (105) communicates with the relay board (102) via the wired or wireless infrastructure (104) such as ethernet, wherein the relay board (102) controls the pneumatic system containing rack and pinion assembly (101b) and loading arm (101c). One or more loading arm (101c) is moved in different directions until the fuel truck loading coupler (101d) is in line with the truck valve of the fuel truck. The relay board (102) controls the movement of the loading arm (101c) along the X-axis and Y-axis in order to align the truck valve on the truck side, and along the Z-axis in order to attach the fuel truck loading coupler (101d) in the loading arm (101c) with the truck valve.
[0024] Figure 2 illustrates the isometric view of the arm control system (101) for autonomous loading of fuel in the bottom loading trucks. The arm control system (101) comprising one or more structural beams and columns (101a) provides mechanical support for the system (101). The structural beams and columns (101a) are connected to a rack and pinion gear drive assembly (101b), wherein the rack and pinion gear drive assembly (101b) comprises one or more loading arms (101c). The rack and pinion assembly (101b) carries the complete load of loading arms (101c) and facilitates linear motion of the loading arm (101c).
[0025] The arm control system (101) comprises more than one loading arm (101c) through which one or more type of fuel such as gasoline, diesel fuel (fuel oil), liquid fuel products and almost any other kind of flammable or combustible liquids, is dispensed into various compartments of the bottom loading trucks. The movement of the said loading arm (101c) is controlled by the rack and pinion gear drive assembly (101b), enabling the loading arms (101c) to move in X, Y and Z axis. One end of the loading arm (101c) is attached to the rack and pinion gear drive assembly (101b) on the horizontal structural beam (101a) and the other end of the loading arm (101c) comprises a fuel truck loading coupler (101d) such as API coupler, wherein the fuel truck loading coupler (101d) establishes a secure seal with the truck valve prior to loading fuel in one or more compartments of the bottom loading truck.
[0026] The fuel truck loading coupler (101d) of the arm control system (101) is automatically attached to the truck valve, wherein the valve of the fuel truck loading coupler (101d) is opened using a rotary pneumatic actuator located in a feedback system (103). The fuel truck loading coupler (101d) is employed for effectively connecting to and disengaging from the truck valve of the bottom loading truck, wherein the fuel truck loading coupler (101d) is latched onto the truck valve of the bottom loading truck with a flange connection.
[0027] According to an additional embodiment of the present invention, the components of the system (100) including the relay board (102), feedback system (108), Modbus hardware (103c) are enclosed inside a single or multiple flameproof enclosures in order to safeguard from fire and other hazards.
[0028] Figure 3 illustrates the schematic representation of the feedback system (103). The feedback system (103) comprises feedback sensors that transmit the signals from the arm control system (101) to the user electronic device (105). The feedback system (103) is used for attachment and detachment of the fuel truck loading coupler (101d) to the truck valve. The fuel truck loading coupler (101d) is detached from the truck valve by engaging the clamping and clipping mechanism (103a) of the feedback system (103) where the proximity sensor (103b) signals the user electronic device (105) through a communication protocol (103c) such as, but not limited to RJ-485 Modbus hardware. Further, the actuator (103d) facilitates the movement of the loading arm (101c) in X-axis, Y-axis and Z axis and the wire encoder (103e) facilitates the motion feedback and motion control of the loading arm (101c) in X-axis, Y-axis and Z axis. Subsequent to the detection of the truck valve by the vision system (107) and attachment of the fuel truck loading coupler (101d) to the truck valve, the feedback system (103) converts the analog output (103f) to digital output using Analog-to-Digital Converters (ADC) and Data Acquisition module (DAQ) (103g), and the output is relayed to the user electronic device (105) through the communication protocol (103c) such as Modbus.
[0029] Figure 4 illustrates the flow diagram disclosing the process involved in autonomous fuel loading into bottom loading trucks. The method (200) involved in autonomous fuel loading in the bottom loading truck using the arm control system (101) comprises the steps of: identification and detection of the truck valves of the bottom loading truck through the vision system (107) as disclosed in step (201), followed by relaying the truck valve related information from the vision system (107) to the user electronic device (105) to determine the position of each truck valve with respect to the arm control system (101) in cartesian coordinates, as disclosed in step (202). A communication is established between the user electronic device (105) and the relay board (102) via a wired or wireless infrastructure (104) such as ethernet medium, as disclosed in step (203), and the movement of the loading arms (101c) is initiated, where the loading arm (101c) moves in different directions and the relay board (102) controls the movement of the loading arm (101c) along the X-axis and Y-axis in order to align the truck valve on the truck side and along the Z-axis in order to attach the fuel truck loading coupler (101d) in the loading arm (101c) with the truck valve of the bottom loading truck, as disclosed in step (204). The feedback system (103) transmits a signal to the user electronic device (105) to confirm the completion of attachment of the fuel truck loading coupler (101d) and truck valve, as disclosed in step (205). Subsequent to successful latching of fuel truck loading coupler (101d) and the truck valve, the data is transmitted from the user electronic device (105) to the user’s server, wherein the user’s server sends a digital signal to the arm control system (101) to initiate the fuel loading process, as disclosed in step (206). The fuel loading process is initiated where fuel is loaded into a fuel compartment of the bottom loading truck, as disclosed in step (207), and upon completion of the fuel loading process, a digital signal is transmitted from the user’s server to the arm control system (101) to cease the fuel loading process, as disclosed in step (208). On completion of fuel loading, the detachment of the fuel truck loading coupler (101d) from the truck valve is initiated by engaging the clamping and clipping mechanism (103a) in the feedback system (103), as disclosed in step (209).
[0030] There are several advantages of the present invention, wherein the arm control system (101) saves the fuel that is wasted due to spillage during fuel loading process, and also avoids the accidents caused due to fuel spillage. Further, the arm control system (101) facilitates autonomous fuel loading into the bottom loading truck, thus reducing the human intervention in the fuel loading process. Furthermore, the reduction of human intervention in the fuel loading reduces the possibility of health hazards in the personnel working in fuel loading stations. The system (100) improves the overall TAKT time of the fuel loading operation resulting in better yield.
Reference numbers
System for autonomous fuel loading 100
Arm control system 101
Structural beams and columns 101a
Rack and pinion assembly 101b
Loading arm 101c
Fuel truck loading coupler 101d
Relay board 102
Feedback system 103
Clamping and clipping mechanism 103a
Proximity sensor 103b
Data communication protocol 103c
Pneumatic actuator 103d
Wire encoder 103e
Analog output 103f
2 channel ADC-DAQ module (Analog-to-Digital Converter - Data Acquisition) 103g
Wired or wireless infrastructure 104
User electronic device 105
Universal serial bus 106
Vision system 107
, Claims:Claims
We Claim:
1. A system for autonomous fuel loading in bottom loading trucks, the system (100) comprises:
a. an arm control system (101) comprising:
i. at least one structural beam and column (101a) to provide mechanical support for the system (101);
ii. a rack and pinion gear drive assembly (101b) to facilitate the movement of the loading arm (101c);
iii. at least one loading arm (101c) attached to the structural beam (101a) on one end and to a fuel truck loading coupler (101d) on the other end, wherein one or more type of fuel is dispensed into various compartments of the bottom loading truck.
b. a relay board (102) to control a pneumatic system comprising the rack and pinion assembly (101b) and loading arm (101c), wherein the relay board (102) controls the movement of the loading arm (101c) in different directions;
c. a feedback system (103) comprising:
i. clamping and clipping mechanism (103a) to initiate the engagement and disengagement of the fuel truck loading coupler (101d) with the truck valve;
ii. a proximity sensor (103b) for signal transmission from the arm control system (101) enabling engagement and disengagement of the fuel truck loading coupler (101d) with the truck valve;
iii. an actuator (103d) to facilitate the movement of the loading arm (101c) in X-axis, Y-axis and Z axis;
iv. a wire encoder (103e) to facilitate the motion feedback and motion control of the loading arm (101c) in X-axis, Y-axis and Z axis;
v. the Analog-to-Digital Converters - Data Acquisition module (ADC-DAQ) (103g) to convert the analog output (103f) to digital output and transmit the signal to the user electronic device (105) through the communication protocol (103c);
d. a wired or wireless infrastructure (104) to establish connection between a user electronic device (105) and the relay board (102), wherein the relay board (102) controls the movement of the loading arm (101c) along different axis in order to attach the fuel truck loading coupler (101d) to the truck valve;
e. a user electronic device (105) to signal the arm control system (101) to initiate the fuel loading process;
f. Universal serial bus (106) to transmit data from the vision system (107) to the user electronic device (105); and
g. a vision system (107) for identification and detection of the truck valve.
2. The system (100) as claimed in claim 1 wherein, the arm control system (101) comprises the structural beams and columns (101a) that are connected to the rack and pinion gear drive assembly (101b), wherein the rack and pinion assembly (101b) facilitates the linear movement of the loading arm (101c).
3. The system (100) as claimed in claim 1 wherein, the loading arm (101c) is used to dispense one or more type of fuel into various compartments of the bottom loading trucks.
4. The system (100) as claimed in claim 1, wherein the fuel truck loading coupler (101d) is automatically attached to the truck valve and operated using a rotary pneumatic actuator (103d) located in the feedback system (103).
5. The system (100) as claimed in claim 1, wherein the relay board (102), feedback system (103) and communication protocol (103c) are enclosed in a single or multiple flameproof enclosures.
6. The system (100) as claimed in claim 1 wherein, the feedback system (103) is a closed loop system that comprises feedback sensors to transmit the signals from the arm control system (101) to the user electronic device (105) enabling attachment and detachment of the fuel truck loading coupler (101d) with the truck valve of the fuel truck.

7. The method involved in autonomous fuel loading in the bottom loading truck using the arm control system (100), the method (200) comprising the steps of:
i. detecting and identifying the truck valves of the bottom loading truck through the vision system (107);
ii. relaying the truck valve related information from the vision system (107) to the user electronic device (105) to determine the position of each truck valve with respect to the fuel truck loading coupler (101d) of the arm control system (101) in cartesian coordinates;
iii. establishing communication between the user electronic device (105) and the relay board (102) via the wired or wireless infrastructure (104);
iv. initiating the movement of the loading arms (101c) in different directions, wherein the relay board (102) controls the movement of the loading arm (101c) along the X-axis and Y-axis in order to align the truck valve on the truck side and along the Z-axis in order to attach the fuel truck loading coupler (101d) to the truck valve;
v. transmitting a signal by the feedback system (103) to the user electronic device (105) for confirming the completion of the fuel truck loading coupler (101d) and truck valve latching;
vi. transmitting the data from the user electronic device (105) to the user’s server, wherein the user’s server sends a digital signal to the arm control system (101) to initiate the fuel loading process;
vii. loading the fuel into a fuel compartment of the bottom loading truck;
viii. transmitting a digital signal from the user’s server to the arm control system (101) to cease the fuel loading process; and

ix. initiation of the detachment of the fuel truck loading coupler (101d) from the truck valve by engaging the clamping and clipping mechanism (103a) in the feedback system (103).