Refueling nozzle and automatic refueling system using the same

Abstract

 The invention relates to a vehicle refueling system. The vehicle refueling system has a refueling nozzle (1), a refueling station (5), a robot (7) and a computer system (9). The refueling nozzle (1) is arranged for refueling a vehicle fuel-tank, and has a nozzle valve for controlling a fuel flow and a sensing assembly arranged for automatically closing the nozzle valve upon or after detection of a full fuel tank. The refueling station (5) is arranged for providing a fuel supply to the refueling nozzle (1). The robot (7) is provided with a robot arm (11) that is arranged for carrying the refueling nozzle (1) and moving it in accordance with movement instructions. The computer system (9) is arranged to provide the movement instructions to the robot (11). Finally, the vehicle refueling system further comprises a further sensing unit (17') arranged for automatic closing of the nozzle valve.

Description

Field of the invention

[0001] The present invention relates to a refueling nozzle and a vehicle refueling system using such a refueling nozzle. Additionally, the present invention relates to a method of terminating refueling of a vehicle fuel-tank by means of such a vehicle refueling system.

Prior art

[0002] A method and apparatus arranged for automatic fuelling of vehicles like cars are known in the art, e.g. from American patents US5671786 and US6269848. In the automatic refueling apparatus described in these patents, a refueling robot is used for fueling of vehicles, like cars. A robot head that carries a fuel filler tube is movable to enable it provide fuel to a vehicle fuel-tank pipe. The robot head carries an opening device for opening a fuel-tank cover plate. The positioning of the robot head can be effected in different ways.

[0003] In these systems, conventional refueling nozzles are used, i.e. refueling nozzles that are also used in non-automatic refueling stations. In the automatic refueling station and method as described in aforementioned patents, after refueling the fuel-tank to a certain level or, if prescribed by the driver of the vehicle, after providing a predetermined amount of fuel to the fuel-tank, refueling is stopped and the refueling nozzle is removed. In case a predetermined amount of fuel is provided, the automatic refueling station stops the fuel flow based on a signal provided by a computer system which is in communication thereto. In case refueling is stopped because the fuel-tank of the vehicle is full, i.e. the fuel level in the fuel-tank has reached a certain level, the automatic refueling station stops pumping because the fuel flow is blocked within the refueling nozzle. However, it takes some time to realize that the fuel flow has stopped.

Summary of the invention

[0004] It is desirable to provide a refueling nozzle, and a vehicle refueling system which enables a refueling service that may be performed in less time than previous systems.

[0005] To that end, in an embodiment, the invention provides a vehicle refueling system comprising:

• a refueling nozzle for refueling a vehicle fuel-tank, the refueling nozzle comprising a nozzle valve for controlling a fuel flow and a sensing assembly comprising a first sensing unit, the sensing assembly being arranged for automatically closing the nozzle valve upon or after detection of a full fuel tank by the first sensing unit;
• a refueling station provided with fuel, the refueling station being arranged for providing a fuel supply to the refueling nozzle;
• a robot provided with a robot arm that is moveable in at least three directions, the robot being arranged for carrying the refueling nozzle and moving the refueling nozzle in accordance with movement instructions; and
• a computer system arranged to provide the movement instructions to the robot;

wherein the vehicle refueling system further comprises a second sensing unit arranged for detecting the automatic closing of the nozzle valve.

[0006] In an embodiment thereof, the second sensing unit of the vehicle refueling system is communicationally connected to the computer system and arranged to send a fuel supply blocking signal towards the computer system upon detection of the automatic closing of the nozzle valve. Furthermore, the computer system is further arranged to block the fuel supply upon receipt of the fuel supply blocking signal.

[0007] In an embodiment, the invention provides a method of terminating refueling of a vehicle fuel-tank by means of aforementioned embodiment of a vehicle refueling system, the method comprising:

• detecting closing of the nozzle valve by means of the second sensing unit;
• generating a fuel supply blocking signal by the second sensing unit;
• sending the fuel supply blocking signal by the second sensing unit towards the computer system;
• arranging, upon reception of the fuel supply blocking signal, a blocking of the fuel supply to the refueling nozzle by the computer system.

[0008] In an embodiment, the invention provides a computer readable medium comprising computer executable code, which, when loaded on a computer system, enables the computer system to control aforementioned method of terminating refueling of a vehicle fuel-tank.

[0009] Finally, in an embodiment, the invention provides a refueling nozzle for unattended filling of a vehicle fuel-tank comprising:

• a spout having an end arranged for insertion into the vehicle fuel-tank;
• an insert connectable to a pressurized fuel supply;
• a tube having a cross-sectional area, the tube connecting the insert with the spout;
• a nozzle valve arranged for controlling the cross-sectional area of the tube;
• a sensing assembly comprising a first sensing unit in communication with an open end of the spout, the sensing assembly being arranged for automatically closing the nozzle valve upon or after detection of fuel adjacent to the open end of the spout by the first sensing unit;

wherein the refueling nozzle further comprises a second sensing unit arranged for detecting the automatic closing of the nozzle valve.

Brief description of the drawings

[0010] Embodiments of the invention will now be described, by way of example only, with reference to the accompanying schematic drawings in which corresponding reference symbols indicate corresponding parts, and in which:

• Figure 1 schematically depicts a vehicle refueling system according to first embodiment of the present invention;
• Figure 2 schematically depicts a vehicle refueling system according to a second embodiment of the present invention;
• Figure 3 schematically depicts a refueling nozzle suitable for use in the vehicle refueling system of Figure 1;
• Figure 4 schematically depicts a refueling nozzle carried by a robot arm for use in a vehicle refueling system according to an embodiment of the present invention;
• Figure 5a schematically depicts a side view of an embodiment of a nozzle triggering device comprising a force sensor that may be used as a second sensing unit in embodiments of a vehicle refueling system according to the invention;
• Figure 5b schematically depicts a top view of the nozzle triggering device of Figure 5a;
• Figure 6 schematically depicts a flow chart of a method of terminating refueling of a vehicle fuel-tank according to an embodiment of the invention;
• Figure 7 shows an embodiment of a computer system that may be used in the vehicle refueling systems of Figures 1 and 2.

Detailed description

[0011] Figures 1 and 2 schematically depict a vehicle refueling system according to a first embodiment and a second embodiment respectively. As most elements in the respective embodiments are similar, Figures 1 and 2 will be discussed together.

[0012] The vehicle refueling systems depicted in Figures 1 and 2 comprise a refueling nozzle 1, a refueling station 5, a robot 7 and a computer system 9. The refueling station 5 is arranged for providing a fuel supply to the refueling nozzle 1, e.g. via a hose 3. The robot 7 is provided with a robot arm 11 that is moveable in at least three directions. The robot 11 is arranged for carrying the refueling nozzle 1 and moving the refueling nozzle 1 in accordance with movement instructions. The computer system 9 is arranged to provide the movement instructions to the robot 7.

[0013] The robot arm 11 is capable of accommodating a number of devices 13, e.g. a refueling nozzle fetching and carrying device, a fuel-tank flap opening device, a filler-cap handling device, an optical detector, etc. Operation of aforementioned devices 13 will be discussed hereinafter in more detail.

[0014] The computer system 9 comprises at least a processor 101 and a memory 105. Further details with respect to embodiments of the at least one processor 101 and memory 105, as well as other components that may be present in the computer system 9, will be described with reference to Figure 4.

[0015] The vehicle refueling systems depicted in Figures 1 and 2, may operate as follows. First, a vehicle is positioned within an area 15 that can be covered by the robot arm 11 of the robot 7. An optical detector, e.g. a camera, may be arranged to detect the position of the vehicle within the area 15. The optical detector may be communicationally connected with the computer system 9. When the position of the vehicle is determined by means of the optical detector, position information is sent to the computer system 9.

[0016] The vehicle may be provided with a transponder. The transponder is arranged to transmit a signal provided with transponder information. The transponder information may comprise information corresponding to the vehicle or, alternatively, to a driver of the vehicle. In these cases, the robot 7 is provided with a receiver arranged to receive the signal transmitted by the transponder. The receiver is communicationally connected to the computer system 9. The transponder information provided in the received signal is then used by the computer system 9 to obtain data related to the vehicle positioned within the area 15, especially information related to the type of car and parameters related thereto like the type of fuel-flap, the type of filler cap, their position with respect to each other, the plane of the bodywork in which the fuel-tank flap is embedded with respect to a horizontal plane and the position of the fuel-tank flap on the vehicle.

[0017] The computer system 9 may use the position information in combination with the transponder information to determine a position of the fuel-tank flap. If necessary, instructions may be given to the driver of the vehicle to position the fuel-tank flap within closer range of the robot 7. In such a case, new position information needs to be determined by means of optical detection with the optical detector.

[0018] In case the vehicle is positioned sufficiently close with respect to the robot 7, the robot 7 is instructed by the computer system 9 to fetch the correct refueling nozzle 1, e.g. with the refueling nozzle fetching and carrying device provided on the robot arm 11. In case there are more refueling nozzles available, each refueling nozzle being arranged for fuelling a different type of fuel, the robot 7 may know which refueling nozzle to take from aforementioned transponder information.

[0019] Based on for example the transponder information, the robot 7 may now position the optical detector in a plane perpendicular to the plane of the fuel-tank flap. The distance between the robot 7 and the fuel-tank flap may now be determined by means of the optical detector. The optical detector may be a camera or a laser distance measuring device.

[0020] The computer system 9 is arranged to calculate route information which takes transponder information with respect to the type of fuel-tank flap into account. The route information as calculated by the computer system 9, when sent from the computer system 9 towards the robot 7, enables the robot arm 11 to perform movements required for opening the fuel flap.

[0021] The computer system 9 may further be arranged to calculate an attachment position for the fuel-tank flap opening device based on the determined position and plane of the fuel-tank flap at hand. The robot arm 11 may be provided with a fuel-tank flap opening device arranged to open the fuel-tank flap based on the route information and the attachment position calculated by the computer system 9. In an embodiment, the fuel-tank flap opening device is mounted on a load-cell.

[0022] After opening the fuel-tank flap, the fuel tank opening of the vehicle may still be covered by a filler-cap. The position of the filler-cap with respect to the fuel-tank flap may be present in the transponder information. That is, the information in the signal provided by the transponder and received by a suitable receiver. It comprises information regarding the vehicle in general and regarding filler cap characteristics in particular. Alternatively, its position may be determined by means of the optical detector, When the position of the filler-cap is known, the filler-cap may be removed by means of the filler-cap handling device.

[0023] The robot 7 may now use data from the computer system, e.g. additional route information, to position the fetched refueling nozzle in the vehicle fuel-tank opening in such a way that refueling may start. The refueling nozzle fetching and carrying device provided on the robot arm 11 is arranged to control the nozzle valve of the refueling nozzle, i.e. the refueling nozzle fetching and carrying device may be arranged to pull the trigger of the refueling nozzle to start refueling.

[0024] When the fuel-tank of the vehicle is full, the robot 7 is instructed to remove the refueling nozzle 1 from the vehicle tank opening by means of the refueling nozzle fetching and carrying device provided on the robot arm 11. Subsequently, the robot 7 may be instructed to place the refueling nozzle 1 back in its original position within the vehicle refueling system.

[0025] Subsequently, or at the same time, the filler-cap, if available, may be put back on the tank opening by means of the filler-cap handling device. Then, the tank-flap may be closed by means of the fuel-tank flap opening device.

[0026] Finally, the driver of the vehicle may be informed that automatic fuelling was successfully completed, and that he may continue his/her journey. Payment may be performed in any way as known in the art.

[0027] In order to be able to determine that the fuel tank of the vehicle is filled, the refueling nozzle 1 is provided with a sensing assembly comprising a first sensing unit (not shown in Figure 1, but shown in Figure 3). When the first sensing unit detects fuel, a nozzle valve (not shown in Figure 1, but shown in Figure 3) within the refueling nozzle 1 is automatically closed. The nozzle valve can be operated by means of a trigger. Further details with respect to the operation and position of the first sensing unit and the nozzle valve will be described with reference to Figure 3.

[0028] In embodiments of the present invention, the vehicle refueling system further comprises a second sensing unit 17, 17'. The second sensing unit 17, 17' is arranged for detecting, either directly or indirectly, the automatic closing of the nozzle valve within nozzle 1. The second sensing unit 17, 17' is communicationally connected to the computer system 9. Upon or after detection of the automatic closing of the nozzle valve of the fueling nozzle 1, the second sensing unit 17, 17' may be arranged for sending a fuel supply blocking signal towards the computer system 9. The computer system 9 is then arranged to enable, in response to receipt of the fuel supply blocking signal, blocking of the fuel supply from the refueling station 5 towards the refueling nozzle 1. For aforementioned purpose, second sensing unit 17, 17' may comprise a transmitter, the transmitter being arranged for transmitting the fuel supply block signal that is generated by the second sensing unit 17, 17'. Similarly, the computer system 9 in this case may comprise a receiver arranged for receiving the fuel supply block signal, transmitted by the second sensing unit 17, 17'.

[0029] In the vehicle refueling system depicted in Figure 1, the second sensing unit 17 is provided on the refueling nozzle 1. Note that, in this case, if a number of refueling nozzles is used, e.g. in case each refueling nozzle 1 is arranged for providing a different type of fuel, each refueling nozzle 1 may be provided with a second sensing unit 17.

[0030] In the vehicle refueling system depicted in Figure 2, the second sensing unit 17' is provided on the robot arm 11. More particularly, the second sensing unit 17' may be provided on a device 13, i.e. the refueling nozzle fetching and carrying device.

[0031] The second sensing unit 17, 17' may be a force sensor, i.e. a sensor arranged for detecting a change of force. In an embodiment, the force sensor comprises at least one strain gauge. A more detailed discussion regarding the use of one or more strain gauges as a second sensing unit 17' will be presented with reference to Figures 5a and 5b.

[0032] Of course, also other types of sensors may be used as second sensing unit 17, 17', e.g. a light sensor, a movement sensor, a capacitive sensor, etc. These sensors may be activated by the action of opening the nozzle valve within nozzle 1 to start a fuel flow between the fuel station and the fuel-tank of a vehicle.

[0033] Figure 3 schematically depicts a conventional refueling nozzle 21 suitable for use in the vehicle refueling system of Figure 2. The refueling nozzle 21 comprises a spout 23 having an end 25 arranged for insertion into the fuel tank of a vehicle, an insert 27 connectable to a pressurized fuel supply, e.g. a fuel station, and a tube 29 connecting the insert 27 with the spout 23. A fuel flow through the tube 29 may be controlled by a manually operational nozzle valve 31.

[0034] "Manually operational" is not limited to use by a living person, but also includes operation by means of a robot arm, e.g. robot arm 11 by means of a refueling nozzle fetching and carrying device.

[0035] The refueling nozzle 21 further includes a sensing assembly comprising a first sensing unit 33. The first sensing unit 33 is in communication with an open end of the spout 25. In a way known to a person skilled in the art within this field of technology, the first sensing unit 33 is arranged for automatically closing the nozzle valve 31 upon detection of fuel adjacent to the open end 25 of the spout 23. The term "closing the nozzle valve", as will be understood by persons skilled in the art, means that the cross-sectional area of the tube 29 suitable for fuel flow between the insert 27 and the spout 23 is reduced to such an extent that the fuel flow there through is completely blocked.

[0036] Typically, as is also schematically depicted in the refueling nozzle 21 of Figure 3, a manually operation refueling nozzle is provided with a trigger 37, e.g. a lever which can be pressed by one or more "fingers" to release or activate a mechanism. "Finger" in this context also relates to a robotic device with a similar functionality. In the case of a refueling nozzle, pulling the trigger, i.e. pressing the lever, results in the action of opening the nozzle valve 31. When the refueling nozzle 21 is not used, i.e. it is stored in its rest position, the trigger 37 is located at a first position. During pressing, the trigger 37 is in a second position. Upon fuel detection by the first sensing unit 33, a closing mechanism within the sensing assembly is activated and the nozzle valve 31 is automatically closed. Simultaneously, the trigger 37 is forced back from its second position towards its first position, e.g. due to a release of force.

[0037] As already described with reference to Figure 1, in embodiments of the invention, the refueling nozzle 21 may further be provided with a second sensing unit (in Figure 1 denoted as reference number 17). The second sensing unit 17 is arranged to detect movement of the trigger 37 from its second position towards its first position. For this purpose, the second sensing unit 17 may comprise some kind of sensor, e.g. a force sensor, a light sensor, a movement sensor, an induction sensor or a capacitative sensor. Upon or after detection of aforementioned trigger movement, which corresponds to a closure of the nozzle valve 31, and thus of a blocking of the fuel flow in the tube 29 of the refueling nozzle 21, the second sensing unit 17 may be arranged to send a fuel supply blocking signal towards a computer system, e.g. computer system 9 in Figure 1. The computer system may then control blocking of the fuel supply from a refueling station, e.g. refueling station 5 in Figure 1.

[0038] Figure 4 schematically depicts a refueling nozzle, e.g. a refueling nozzle 21 as depicted in Figure 3, carried by a robot arm 41 for use in a vehicle refueling system according to an embodiment of the present invention. The robot arm 41, e.g. robot arm 11 in Figure 2, comprises a nozzle triggering device comprising a "finger" 43 mounted on a moveable structure, in Figure 4 a pneumatic cylinder 45. The nozzle triggering device is moveable in such a way that the finger 43 can be positioned to enable trigger handling. Upon movement of the pneumatic cylinder 43, the trigger, e.g. trigger 37, may be pulled, which results in the action of opening the nozzle valve (not shown) of the refueling nozzle 21. As a result, fuel may flow through the refueling nozzle 21.

[0039] As already described with reference to Figure 2, in embodiments of the invention the robot arm may further be provided with a second sensing unit (in Figure 2 denoted as reference number 17'). Again, the second sensing unit 17' is arranged to detect movement of the trigger 37 from its second position towards its first position. For this purpose, the second sensing unit 17' may comprise some kind of sensor, e.g. a force sensor, a light sensor, a movement sensor or a capacitative sensor. Upon or after detection of aforementioned trigger movement, which corresponds to a closure of the nozzle valve 31, and thus of a blocking of the fuel flow in the tube 29 of the refueling nozzle 21, the second sensing unit 17' may be arranged to send a fuel supply blocking signal towards a computer system, e.g. computer system 9 in Figure 1. The computer system may then control blocking of the fuel supply from a refueling station, e.g. refueling station 5 in Figure 1.

[0040] Figure 5a schematically depicts a side view of an embodiment of a nozzle triggering device 51 comprising a force sensor 53 that may be used as second sensing unit 17' in embodiments of a vehicle refueling system according to the invention. The force sensor 53 in Figure 5a is placed on the finger 43 of the nozzle triggering device 51, which function is already described with reference to Figure 4. It must be understood that a force sensor similar to force sensor 53 in Figure 5a, may be mounted on a refueling nozzle, e.g. refueling nozzle 21 of Figure 3, as a second sensing unit. The force sensor 53 is provided with at least one strain gauge 55 connected to a processing unit (not shown) by means of electrical wiring 57. The electrical resistance of the strain gauge 55 is dependent on its amount of bending, and therefore on the amount of bending of the finger 43.

[0041] Figure 5b schematically depicts a top view of the nozzle triggering device 51 of Figure 5a. The nozzle triggering device 51 is arranged to pull the trigger by movement of the finger 43 by using the pneumatic cylinder 45, such that the trigger moves from its first position towards its second position. While being in the second position the trigger exerts a force on the finger 43, thus also on the at least one strain gauge 55 provided thereon. As a result, the electrical resistance will have a certain value, which can be detected via the wiring 57 and processed in the processor of the force sensor.

[0042] Upon or after detection of a full fuel tank by the first sensing unit, the trigger is forced to move from its second position towards its first position in a direction represented by arrow 59. Due to this movement, the force on the finger 43 rapidly increases. Consequently, bending of the finger 43 increases, and as a result the electrical resistance of the at least one strain gauge 55 in the force sensor changes. This change in electrical resistance can be detected via the wiring 57. Upon detection of the change in electrical resistance, the force sensor may be arranged to send a fuel supply blocking signal towards a computer system, e.g. computer system 9 in Figure 2. The computer system may then control blocking of the fuel supply from a refueling station, e.g. refueling station 5 in Figure 2.

[0043] Figure 6 schematically depicts a flow chart of a method of terminating refueling of a vehicle fuel-tank according to an embodiment of the invention. In this method, a vehicle refueling system as schematically depicted in Figures 1 and 2 may be used. That is, a vehicle refueling system in which a sensing unit arranged for detecting closure of a nozzle valve in a refueling nozzle, e.g. second sensing unit 17 or 17' in Figures 1 and 2 respectively, is communicationally connected to a computer system, e.g. computer system 9 in Figures 1, 2. The computer system is among others arranged for controlling fuel supply towards the refueling nozzle.

[0044] First, in step 61, closing of a nozzle valve in a refueling nozzle is detected by means of a sensing unit.

[0045] Subsequently, in step 63, a fuel supply blocking signal is generated by the sensing unit.

[0046] Then, in step 65, the fuel supply blocking signal is sent towards the computer system.

[0047] Finally, in step 67, upon reception of the fuel supply blocking signal by the computer system, a blocking of the fuel supply to the refueling nozzle is arranged.

[0048] In an embodiment, the method further includes removing of the refueling nozzle from the vehicle fuel-tank by means of a robot, e.g. robot 7 schematically depicted in Figures 1, 2.

[0049] Figure 7 shows an embodiment of a computer system 100 that may be used in a vehicle refueling system as schematically depicted in Figures 1 and 2, e.g. in a way as computer system 9. The computer system 100 comprises a processor 101 and a memory 105. The computer system 100 may be arranged for loading a computer readable medium comprising computer executable code. This may enable the computer system 100 to execute, when the computer readable medium is loaded, embodiments of aforementioned method of terminating refueling of a vehicle fuel-tank.

[0050] The memory 105, which is connected to the processor 101, may comprise a number of memory components like a hard disk 111, Read Only Memory (ROM) 112, Electrically Erasable Programmable Read Only Memory (EEPROM) 113 en Random Access Memory (RAM) 114. Not all aforementioned memory components need to be present. Furthermore, it is not essential that aforementioned memory components are physically in close proximity to the processor 101 or to each other. They may be located at a distance away

[0051] The processor 101 may also be connected to some kind of user interface, for instance a keyboard 115 or a mouse 116. A touch screen, track ball, speech converter or other interfaces that are known to persons skilled in the art may also be used.

[0052] The processor 101 may be connected to a reading unit 117, which is arranged to read data from and under some circumstances store data on a data carrier, like a floppy disc 118 or a CDROM 119. Also DVD's or other data carriers known to persons skilled in the art may be used.

[0053] The processor 101 may also be connected to a printer 120 to print out output data on paper as well as to a display 121, for instance a monitor or LCD (Liquid Crystal Display), of any other type of display known to a person skilled in the art.

[0054] The processor 101 may be connected to a communications network 122, for instance a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN) etc. by means of transmitters/receivers 123 responsible for input/output (I/O). The processor 101 may be arranged to communicate with other communication systems via the communications network 122. In an embodiment of the invention external computers (not shown), for instance personal computers of operators, can log into the processor 101 via the communications network 122.

[0055] The processor 101 may be implemented as an independent system or as a number of processing units that operate in parallel, wherein each processing unit is arranged to execute sub-tasks of a larger program. The processing units may also be divided in one or more main processing units with several subprocessing units. Some processing units of the processor 101 may even be located a distance away of the other processing units and communicate via communications network 122.

[0056] While specific embodiments of the invention have been described above, it will be appreciated that the invention may be practiced otherwise than as described.

[0057] The descriptions above are intended to be illustrative, not limiting. Thus, it will be apparent to one skilled in the art that modifications may be made to the invention as described without departing from the scope of the claims set out below.

Claims

1. A vehicle refueling system comprising:

- a refueling nozzle (1; 21) for refueling a vehicle fuel-tank, said refueling nozzle (1; 21) comprising a nozzle valve (31) for controlling a fuel flow and a sensing assembly comprising a first sensing unit (33), the sensing assembly being arranged for automatically closing said nozzle valve (31) upon or after detection of a full fuel tank by said first sensing unit (33);

- a refueling station (5) provided with fuel, said refueling station (5) being arranged for providing a fuel supply to said refueling nozzle (1; 21);

- a robot (7) provided with a robot arm (11) that is moveable in at least three directions, said robot (7) being arranged for carrying said refueling nozzle (1; 21) and moving said refueling nozzle (1; 21) in accordance with movement instructions; and

- a computer system (9) arranged to provide said movement instructions to said robot (7);
wherein said vehicle refueling system further comprises a second sensing unit (17; 17'; 53) arranged for detecting said automatic closing of said nozzle valve (31).

2. A vehicle refueling system according to claim 1, wherein said nozzle valve (31) comprises a trigger (37), and said second sensing unit (17; 17'; 53) is arranged for detecting a predetermined movement of said trigger (37).

3. A vehicle refueling system according to claim 1 or 2, wherein said second sensing unit (17) is provided on said refueling nozzle (1).

4. A vehicle refueling system according to claim 2, wherein said robot arm (11) is provided with a nozzle triggering device (51) comprising a finger (43) arranged for pulling said trigger (37), and said second sensing unit (17'; 53) is provided on said finger (43).

5. A vehicle refueling system according to any one of the preceding claims, wherein said second sensing unit (17; 17'; 53) comprises a force sensor (53) arranged for detecting a change of force.

6. A vehicle refueling system according to claim 5, wherein said force sensor (53) comprises at least one strain gauge (55).

7. A vehicle refueling system according to any one of claims 1-6, wherein said second sensing unit (17; 17'; 53) is communicationally connected to said computer system (9) and arranged to send a fuel supply blocking signal towards said computer system (9) upon detection of said automatic closing of said nozzle valve (31), and said computer system (9) is further arranged to block said fuel supply upon receipt of said fuel supply blocking signal.

8. A vehicle refueling system according to claim 7, wherein said second sensing unit (17; 17'; 53) comprises a transmitter arranged to send said fuel supply blocking signal and said computer system (9) comprises a receiver arranged to receive said fuel supply blocking signal.

9. A method of terminating refueling of a vehicle fuel-tank by means of a vehicle refueling system according to claim 7 or 8, said method comprising:

- detecting closing of the nozzle valve (31) by means of the second sensing unit (17; 17'; 53);

- generating a fuel supply blocking signal by said second sensing unit (17; 17'; 53);

- sending said fuel supply blocking signal by said second sensing unit (17; 17'; 53) towards said computer system (9);

- arranging, upon reception of said fuel supply blocking signal, a blocking of said fuel supply to said refueling nozzle (1; 21) by said computer system (9).

10. A method of terminating refueling of a vehicle fuel-tank according to claim 9, wherein the method further comprises removing of the refueling nozzle (1; 21) from the vehicle fuel-tank by means of the robot (7).

11. Computer readable medium comprising computer executable code, which, when loaded on a computer system (9; 100), enables the computer system (9; 100) to control the method of terminating refueling of a vehicle fuel-tank according to any one of claims 9-10.

12. A refueling nozzle (1; 21) for unattended filling of a vehicle fuel-tank comprising:

- a spout (23) having an end (25) arranged for insertion into said vehicle fuel-tank;

- an insert (27) connectable to a pressurized fuel supply;

- a tube (29) having a cross-sectional area, said tube (29) connecting said insert (27) with said spout (23);

- a nozzle valve (31) arranged for controlling said cross-sectional area of said tube (29);

- a sensing assembly comprising a first sensing unit (33) in communication with an open end (25) of said spout (23), said sensing assembly being arranged for automatically closing said nozzle valve (31) upon or after detection of fuel adjacent to said open end (25) of said spout (23) by said first sensing unit (33);
wherein said refueling nozzle (1; 21) further comprises a second sensing unit (17) arranged for detecting said automatic closing of said nozzle valve (31).

13. A refueling nozzle according to claim 12, wherein said nozzle valve (31) comprises a trigger (37), and said second sensing unit (17) is arranged for detecting a predetermined movement of said trigger (37).

14. A refueling nozzle according to claim 12 or 13, wherein said second sensing unit (17) comprises a force sensor arranged for detecting a change of force.

15. A refueling nozzle according to claim 14, wherein said force sensor comprises at least one strain gauge.

16. A refueling nozzle according to any one of claims 12-15, wherein said second sensing unit (17) is further arranged to generate a fuel supply blocking signal.

17. A refueling nozzle according to claim 16, wherein said second sensing unit (17) comprises a transmitter, said transmitter being arranged for transmitting said fuel supply block signal as generated.

Drawing