In the petroleum, chemical and military industries, there is a need to load large quantities of liquid hazardous chemicals into vehicles, and there can be safety risks from manual refilling, as well as damage to the human body from the volatilisation of hazardous chemicals. By introducing a 3D vision system, the filling port is scanned and positioned to guide the crane pipe and other actuators for refilling. The whole process is unmanned, highly automated, odourless and environmentally friendly.