Top hanging type two-channel hydrogen exchange station

Abstract

The invention relates to a top hanging type two-channel hydrogen exchange station, which relates to the technical field of hydrogen energy infrastructure, and comprises a central control unit, a laser positioning mechanism, a robot driving control system, a vehicle identification system and a communication interface. The robot driving control system comprises an X-direction driving mechanism, a Y-direction driving mechanism and a hoisting mechanism which respectively adopt a double-servo-motor friction transmission mode, a single-servo-motor friction transmission mode and a single-servo-motor control absolute value mode. The system realizes accurate positioning of the vehicle and the hydrogen storage module through a laser positioning full-closed-loop control technology, and the positioning accuracy is not greater than 5mm. The working process comprises the steps of vehicle pull-in identification, authentication data acquisition, vehicle unlocking, robot hydrogen exchange, hydrogen tank locking, vehicle self-inspection, payment, plate trailer hydrogen tank bin adjustment and the like. High-precision automatic replacement of the hydrogen storage module is achieved, full-process automatic control is achieved, the hydrogen exchange time is remarkably shortened, and the operation efficiency of a hydrogen exchange station is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of hydrogen energy infrastructure, in particular to a top-lifting two-channel hydrogen exchange station. BACKGROUND

[0002] With the adjustment of global energy structure and the development of low-carbon economy, hydrogen energy as a clean energy carrier is increasingly widely used in the field of transportation. Hydrogen fuel cell vehicles gradually become an important alternative to traditional fuel vehicles due to their zero emissions, fast refueling and other advantages. In order to meet the operation needs of hydrogen fuel cell vehicles, hydrogen energy supply infrastructure construction has become a key link in the development of the industry.

[0003] At present, the hydrogen supply of hydrogen fuel cell vehicles is mainly realized by the way of hydrogen refueling station. This way needs a long charging time, and at peak time, vehicles need to queue for a long time, which seriously affects the operation efficiency of vehicles. Especially for commercial vehicle fleets such as buses and logistics, hydrogen refueling time is directly related to the turnover rate and economic benefit of vehicles.

[0004] The existing hydrogen exchange technology on the market attempts to shorten the supply time by replacing the entire hydrogen tank, but most of these hydrogen exchange stations use manual operation and rely on forklifts or cranes to disassemble and install hydrogen tanks. This manual hydrogen exchange method not only has complex operation and requires professional on-site operation, but also has safety hazards and low efficiency, which is difficult to meet the needs of large-scale application.

[0005] At present, there is a lack of mature automatic hydrogen tank replacement equipment, and the automatic and standardized hydrogen exchange technology is still in a blank state. With the increase in the number of hydrogen energy vehicles and the acceleration of hydrogen energy infrastructure construction, the development of efficient, safe and automatic hydrogen exchange station equipment has become an urgent need in the industry, which is also an important technical support for promoting the rapid development of hydrogen energy transportation. SUMMARY

[0006] The purpose of the present application is to provide a top-lifting two-channel hydrogen exchange station to solve the problems of low efficiency, complex operation and lack of automation of existing hydrogen refueling and hydrogen exchange methods.

[0007] In the first aspect, the top-lifting two-channel hydrogen exchange station provided by the present application adopts the following technical solution: comprising: The base is the foundation of the hydrogen exchange station, and the surface of the base is divided into a hydrogen exchange channel and a board car channel, which are used for the entry and exit of hydrogen exchange vehicles and board cars respectively, and the board car channel is divided into a temporary storage area for temporary storage of hydrogen storage modules; The steel frame is installed on the top of the base and serves as the basic frame of the hydrogen exchange station; The X-direction driving mechanism is installed on the top of the steel frame and can slide on the top of the steel frame to provide transportation of the hydrogen storage module in the X-axis direction; A Y-direction driving mechanism is installed in the middle of the X-direction driving mechanism to provide the transportation of the hydrogen storage module in the Y-axis direction; A lifting mechanism cooperates with the Y-direction driving mechanism to realize the lifting of the hydrogen storage module; And two laser positioning mechanisms are installed on the left and right sides of the base respectively for positioning during the assembly of the hydrogen storage module.

[0008] Preferably, the X-direction driving mechanism comprises a guide rail one, the guide rail one is fixedly installed on the top of the steel frame, a moving frame is slidably connected to the top of the guide rail one, a load-bearing beam is fixedly connected to the top of the moving frame, the Y-direction driving mechanism is installed in the middle of the load-bearing beam, a motor one is fixedly connected to the outer side of the moving frame, a walking wheel one is fixedly connected to the output end of the motor one, and the walking wheel one abuts against the guide rail one.

[0009] Preferably, the X-direction driving mechanism further comprises a guide wheel one, the guide wheel one is rotatably connected to the bottom of the moving frame and abuts against the outer side of the guide rail one, a Y-direction positioning laser sensor is fixedly connected to the top of the moving frame, an X-direction positioning sensor is installed on the outer side of the load-bearing beam, a buffer block one is fixedly connected to the end of the moving frame, and a guide rail two is fixedly connected to the inside of the load-bearing beam.

[0010] Preferably, the Y-direction driving mechanism comprises a moving frame, the moving frame is slidably connected to the inside of the X-direction driving mechanism, a motor three is fixedly connected to the outer side of the moving frame, a walking wheel two is fixedly connected to the output end of the motor three through a rotating shaft, the walking wheel two abuts against the top of the guide rail two, a guide wheel two is rotatably connected to the outer side of the moving frame and abuts against the outer side of the guide rail two, a motor two is installed on the top of the moving frame, and a winch is fixedly connected to the output end of the motor two.

[0011] Preferably, the Y-direction driving mechanism further comprises a buffer block two, the buffer block two is installed on the outer side of the moving frame, an origin limiting switch is fixedly connected to the bottom of the moving frame, a guide shaft sleeve is installed on the bottom of the moving frame, and a canopy is installed on the top of the moving frame.

[0012] Preferably, the lifting mechanism comprises a lifting frame, a rope wheel is installed on the top of the lifting frame, a steel wire rope is fixedly connected to the outer side of the rope wheel, the other end of the steel wire rope is wound around the outer periphery of the winch, a motor four is fixedly connected to the inside of the lifting frame, a hook is fixedly connected to the bottom output end of the motor four, a wire spring and a guide pin are installed on the top of the lifting frame, and a guide column is fixedly installed on the bottom of the lifting frame.

[0013] Preferably, the laser positioning mechanism comprises two mounting racks, which are respectively mounted on the left and right sides of the base, and a shell is mounted on the top of the mounting rack, an electric sliding table is mounted in the shell, a laser ranging sensor is slidably connected to the outer side of the electric sliding table, and a sliding groove is formed in the middle of the shell, and the laser ranging sensor is slidably connected to the middle of the sliding groove.

[0014] In a second aspect, the application provides a hydrogen exchange station control system, which adopts the following technical scheme: a central control unit for controlling the overall process of hydrogen exchange operation; a laser positioning mechanism for accurately positioning vehicles and hydrogen storage modules entering the hydrogen exchange channel; a robot drive control system, which comprises an X-direction drive mechanism, a Y-direction drive mechanism and a lifting mechanism, wherein the X-direction drive mechanism is used to control the forward and backward movement, the Y-direction drive mechanism is used to control the left and right movement, and the lifting mechanism is used to control the upward and downward movement and the grabbing and releasing of the hydrogen storage module; a vehicle recognition system for recognizing the information of the vehicle entering the station and transmitting it to the central control unit; a communication interface for data interaction with the cloud system to realize vehicle authentication and operation record.

[0015] Preferably, the robot drive control system comprises: an X-axis control unit adopting a double-servo motor friction transmission mode and single-sided laser ranging feedback to realize full-closed-loop control of laser position, with a positioning accuracy of not greater than 5mm; a Y-axis control unit adopting a single-servo motor friction transmission mode and laser ranging feedback to realize full-closed-loop control of laser position; and a Z-axis control unit adopting a single-servo motor control absolute value mode.

[0016] Preferably, the central control unit is configured to perform the following control process: receive and process vehicle recognition information, and perform vehicle authentication through the cloud; obtain vehicle hydrogen storage module data; control the robot drive control system to transfer the hydrogen storage module on the vehicle to a designated position in the hydrogen exchange station; control the robot drive control system to transfer the full-hydrogen hydrogen storage module in the hydrogen exchange station to the vehicle; update the data after the hydrogen exchange is completed and notify the vehicle to perform self-checking; after the vehicle drives away, control the robot drive control system to adjust the hydrogen storage modules in the station.

[0017] In summary, the application has at least one of the following beneficial technical effects: 1. The application adopts laser positioning full-closed loop control technology, the X direction driving mechanism adopts double servo motor friction transmission mode combined with single side laser ranging feedback, the Y direction driving mechanism adopts single servo motor friction transmission mode combined with laser ranging feedback, and high-precision automatic replacement of the hydrogen storage module is realized through accurate position calculation formula, the system positioning accuracy reaches within 5mm, and the problems of low hydrogen replacement precision and poor efficiency in the prior art are solved.

[0018] 2. The application realizes full-process automatic control from vehicle entering the station to leaving the station, coordinates efficient operation of each subsystem through the central control unit, realizes intelligent management of vehicle identification, data acquisition, hydrogen replacement by the robot, self-checking and payment and other processes, significantly shortens the hydrogen replacement time, improves the operation efficiency of the hydrogen replacement station, and shortens the supply time of the hydrogen fuel cell vehicle from 3-5 minutes of traditional hydrogenation to 1-2 minutes.

[0019] 3. The components of the application all adopt the design meeting the ExdII2CT4Gb explosion-proof level, are provided with perfect safety monitoring and fire extinguishing systems, and ensure the safety and reliability of the hydrogen replacement process through a multi-level safety guarantee mechanism, when the position deviation exceeds the set threshold, the system will automatically pause operation and issue an alarm, effectively preventing safety accidents caused by operation errors, and providing solid technical support for the popularization and application of hydrogen energy in the transportation field. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a perspective view of the application; Figure 2 is a position schematic view of the hydrogen storage module of the application; Figure 3 is a structural schematic view of the X direction driving mechanism of the application; Figure 4 is a schematic view of the installation position of the X direction positioning sensor of the application; Figure 5 is a structural schematic view of the Y direction driving mechanism of the application; Figure 6 is a schematic view of the installation position of the hoist of the application; Figure 7 is a structural schematic view of the hoisting mechanism of the application; Figure 8 is a schematic view of the internal structure of the hanger of the application; Figure 9 is a structural schematic view of the laser positioning mechanism of the application; Figure 10 is a schematic view of the internal structure of the shell of the application; Figure 11 is a whole architecture diagram of the hydrogen replacement station control system of one embodiment of the application; Figure 12A control system communication architecture diagram of an embodiment of the present application; Figure 13 A monitoring system topology diagram of an embodiment of the present application; Figure 14 A fire-fighting system structure diagram of an embodiment of the present application. DETAILED DESCRIPTION

[0021] The following description will be made in conjunction with the accompanying drawings Figure 1 - the accompanying drawings Figure 14 , and the present application will be further described in detail.

[0022] Embodiment 1: Please refer to the accompanying drawings Figure 1 - the accompanying drawings Figure 10 , the embodiment of the present application provides a top-hoist type two-channel hydrogen exchange station, which comprises: The base 1 is the foundation of the hydrogen exchange station, please refer to the accompanying drawings Figure 1 , the surface of the base 1 is divided into two areas of hydrogen exchange channel 6 and board car channel 7, which are respectively used for the entry and exit of hydrogen exchange vehicles and board cars, and the board car channel 7 is divided into a temporary storage area 8 in the middle for temporary storage of hydrogen storage modules 9, the board car is parked in the board car channel 7 area after entering the hydrogen exchange station entrance, and a plurality of groups of hydrogen storage modules 9 are placed on the upper part of the board car for providing hydrogen exchange operation for vehicles, and social vehicles enter along the hydrogen exchange channel 6 after entering the hydrogen exchange station entrance and stop at a specific position for hydrogen exchange treatment. The steel frame 2 is installed on the top of the base 1 and is the basic frame of the hydrogen exchange station; please refer to the accompanying drawings Figure 1 , the upper part of the steel frame 2 is provided with a robot driving mechanism for taking and placing the hydrogen storage modules in the social vehicles and guiding the hydrogen storage modules on the board car.

[0023] The X-direction driving mechanism 3 is installed on the top of the steel frame 2 and can slide on the top of the steel frame 2 to provide transportation of the hydrogen storage modules 9 in the X-axis direction; please refer to the accompanying drawings Figure 1 - the accompanying drawings Figure 4The X-direction driving mechanism 3 comprises a guide rail one 301 fixedly installed on the top of the steel frame 2, a moving frame 302 slidingly connected to the top of the guide rail one 301, a load-bearing beam 306 fixedly connected to the top of the moving frame 302, and a Y-direction driving mechanism 4 installed in the middle of the load-bearing beam 306. The outer side of the moving frame 302 is fixedly connected with a motor one 303, and the output end of the motor one 303 is fixedly connected with a walking wheel one 304 abutting against the guide rail one 301. The walking wheel one 304 is driven to rotate by the working of the motor one 303, and the movement of the X-direction driving mechanism 3 as a whole is realized under the cooperation of the walking wheel one 304 and the guide rail one 301. The X-direction driving mechanism 3 further comprises a guide wheel one 305 rotatably connected to the bottom of the moving frame 302 and abutting against the outer side of the guide rail one 301. The guide wheel one 305 abuts against both sides of the guide rail one 301 and rotates with the movement of the X-direction driving mechanism 3, so as to ensure the stability of the movement of the X-direction driving mechanism 3 without increasing the movement resistance of the X-direction driving mechanism 3. The top of the moving frame 302 is fixedly connected with a Y-direction positioning laser sensor 307 facing the inner side of the load-bearing beam 306, which is used for positioning the position of the Y-direction driving mechanism 4, so as to further realize the lifting and conveying of the hydrogen storage module 9. The outer side of the load-bearing beam 306 is installed with an X-direction positioning sensor 308, which has the same principle as the Y-direction positioning laser sensor 307 and is arranged in the same direction along the guide rail one 301. The purpose is to accurately measure the position of the X-direction driving mechanism 3, so as to ensure the accuracy of the lifting of the hydrogen storage module 9. The end of the moving frame 302 is fixedly connected with a buffer block one 309 for buffering, avoiding the X-direction driving mechanism 3 directly colliding with the inner wall of the steel frame 2 and the Y-direction driving mechanism 4 installed in the middle of the X-direction driving mechanism 3, so as to provide the conveying of the hydrogen storage module 9 in the Y-axis direction. Please refer to the accompanying drawings Figure 1 , the accompanying drawings Figure 2 , the accompanying drawings Figure 5 and the accompanying drawings Figure 6The Y-axis drive mechanism 4 includes a moving frame 401, which is slidably connected to the interior of the X-axis drive mechanism 3. A motor 3 404 is fixedly connected to the exterior of the moving frame 401. The output end of the motor 3 404 is fixedly connected to a running wheel 2 405 via a rotating shaft. The load-bearing beam 306 is fixedly connected to the interior of the guide rail 2 310. The running wheel 2 405 abuts the top of the guide rail 2 310. The motor 3 404 drives the running wheel 2 405 to rotate, and in conjunction with the guide rail 2 310, the entire Y-axis drive mechanism 4 is moved. A guide wheel 2 406 is rotatably connected to the exterior of the moving frame 401. The guide wheel 2 406 abuts the exterior of the guide rail 2 310. The guide wheel 2 406 acts on the guide rail 2 310, thereby limiting the position of the entire Y-axis drive mechanism 4 and ensuring the stability of the Y-axis drive mechanism 4 during movement. A second motor 402 is installed on the top of the moving frame 401, and a winch 403 is fixedly connected to the output end of the second motor 402; the Y-axis drive mechanism 4 also includes a second buffer block 407, which is installed on the outside of the moving frame 401. The second buffer block 407 is used to protect the Y-axis drive mechanism 4 during movement to prevent the Y-axis drive mechanism 4 from directly colliding with the steel frame 2 and the edge of the X-axis drive mechanism 3. An origin limit switch 408 is fixedly connected to the bottom of the moving frame 401, a guide shaft sleeve 410 is installed at the bottom of the moving frame 401, and a canopy 409 is installed on the top of the moving frame 401. The canopy 409 is used to shield the internal structure of the Y-axis drive mechanism 4 to prevent the influence of environmental factors such as rain and sunlight.

[0024] The lifting mechanism 5 cooperates with the Y-direction driving mechanism 4 to realize the lifting of the hydrogen storage module 9; please refer to the attached Figure 1 , Attachment Figure 7 and attached Figure 8The lifting mechanism 5 comprises a lifting frame 501, a rope wheel 502 is installed on the top of the lifting frame 501, a steel wire rope 503 is fixedly connected outside the rope wheel 502, the other end of the steel wire rope 503 is wound around the outer periphery of the winch 403, the winch 403 is driven to rotate by the operation of the second motor 402, so as to realize the up-down movement of the whole lifting mechanism 5, the fourth motor 506 is fixedly connected inside the lifting frame 501, the hook claw 507 is fixedly connected to the bottom output end of the fourth motor 506, when the lifting frame 501 is lowered to be connected with the hydrogen storage module 9, the hook claw 507 is driven to rotate by the operation of the fourth motor 506, when the hook claw 507 rotates to the corresponding gap at the top of the hydrogen storage module 9, the connection with the hydrogen storage module 9 is completed, so as to facilitate the lifting. The top of the lifting frame 501 is provided with a wiring spring 504 and a guide pin 505, the bottom of the lifting frame 501 is fixedly provided with a guide column 508, the wiring spring 504 is in contact with the bottom of the Y-direction driving mechanism 4 during the lifting of the lifting frame 501, so as to realize the shock absorption of the whole lifting mechanism 5, avoid the collision between the lifting mechanism 5 and the Y-direction driving mechanism 4, and guide and position the position of the lifting frame 501 through the guide pin 505, so as to ensure the accurate control of the position of the hydrogen storage module 9. During the lowering of the lifting frame 501, the guide column 508 cooperates with the top frame of the hydrogen storage module 9 to position the relative position of the lifting frame 501 and the hydrogen storage module 9.

[0025] Two laser positioning mechanisms 10 are respectively installed on the left and right sides of the base 1, and are used for positioning during the assembly of the hydrogen storage module 9. Please refer to the accompanying drawings Figure 1 , the accompanying drawings Figure 2 , the accompanying drawings Figure 9 and the accompanying drawings Figure 10 The laser positioning mechanism 10 comprises a mounting frame 1001, two mounting frames 1001 are respectively installed on the left and right sides of the base 1, an outer shell 1002 is installed on the top of the mounting frame 1001, an electric sliding table 1003 is installed inside the outer shell 1002, a laser ranging sensor 1004 is slidingly connected outside the electric sliding table 1003, a sliding groove 1005 is formed in the middle of the outer shell 1002, and the laser ranging sensor 1004 is slidingly connected in the middle of the sliding groove 1005.

[0026] Working principle: the vehicle enters the hydrogen exchange channel 6 from the entrance of the hydrogen exchange station, is positioned by the laser positioning mechanism 10 on one side of the hydrogen exchange channel 6, the information of the vehicle is identified by the license plate recognition camera device, and then reported to the station control host program. The station control host confirms whether the hydrogen exchange can be performed through cloud authentication, collects data through manual operation of the CAN data collector, and reports the data to the station control host. The central control system controls the X-direction driving mechanism 3, the Y-direction driving mechanism 4 and the lifting mechanism 5 to work to transfer the vehicle-end hydrogen storage module to the designated position in the hydrogen exchange station, then transfer the hydrogen storage module in the designated position in the station to the hydrogen exchange vehicle, and lock the hydrogen storage module. After the locking is completed, the vehicle should perform self-checking on the state, and confirm that each state is normal, thereby completing the hydrogen exchange operation.

[0027] Embodiment 2: hydrogen exchange station control system, please refer to the attached Figure 11 -attached Figure 13 The present application provides a hydrogen exchange station control system for realizing automatic hydrogen storage module replacement of hydrogen fuel cell vehicles. The specific embodiments of the present application are described in detail below in combination with the drawings.

[0028] Please refer to the attached Figure 11 , Figure 11 is the overall architecture diagram of the hydrogen exchange station control system according to an embodiment of the present application. As shown in the figure, the hydrogen exchange station control system of the present application includes a central control unit, a laser positioning mechanism 10, a robot driving control system, a vehicle recognition system and a communication interface.

[0029] The central control unit adopts HuiChuan AM522 specification PLC, matched with GL20 blade type terminal, for controlling the whole hydrogen exchange operation process. The control unit is connected with the touch screen through the industrial computer to realize the man-machine interface. The central control unit and each subsystem exchange data through various communication protocols, including Modbus TCP, EtherCAT and RS485, etc.

[0030] The robot driving control system includes X-direction driving mechanism 3, Y-direction driving mechanism 4 and lifting mechanism 5. The X-direction driving mechanism 3 is used to control the movement of the robot in the front-back direction of the vehicle, adopting double servo motor control mode; the Y-direction driving mechanism 4 is used to control the movement of the robot in the left-right direction of the vehicle, adopting single servo motor control mode; the lifting mechanism 5 is used to control the movement of the robot in the up-down direction, responsible for the grabbing and releasing of the hydrogen storage module, adopting single servo motor control absolute value mode. All servo control systems adopt HuiChuan SV660 series, with ExdII2CT4Gb explosion-proof level.

[0031] The laser positioning mechanism 10 is installed on one side of the hydrogen exchange channel 6, and includes a plurality of laser ranging sensors, the working temperature range is-30℃-70℃, the positioning accuracy is not greater than 3mm, the communication mode is RS485, and the explosion-proof level is ExdII2CT4Gb. The mechanism is used for accurately positioning the vehicle and the hydrogen storage module entering the hydrogen exchange channel, and provides accurate position information for the robot operation.

[0032] A set of laser positioning mechanisms 10 are also installed on one side of the plate car channel 7, and are used for realizing the positioning of the hydrogen storage module on the plate car.

[0033] The vehicle identification system includes an entrance gate and a camera, and realizes the authentication management of the vehicle by shooting the license plate information. The system transmits the identification result to the central control unit 1 for processing.

[0034] The communication interface is used for data interaction with the cloud system, realizes vehicle authentication and operation record. The hydrogen consumption and battery pack information carried by the hydrogen exchange controller of the vehicle are uploaded to the cloud through the interface, and are issued by the cloud to the station control system for information interaction.

[0035] Please refer to the accompanying Figure 12 , Figure 12 It is a control system communication architecture diagram according to an embodiment of the application. The control system of the application adopts a multi-process design, and the information exchange between processes is based on the MQTT TCP mode. The monitoring client is located in the Windows system, and information is obtained through the TCP network mode and control instructions are sent to the specified target process. Each service module is connected and communicated through the MQTT TCP mode, and the transmission of information is realized according to the specific situation of the underlying communication protocol.

[0036] The working principle of the X-axis control unit is: a double-servo motor friction transmission mode and a single-sided laser ranging feedback are adopted to realize laser position full-closed loop control. The X-axis position calculation formula is: Px=Px0+ΔPx; Wherein, Px represents the X-axis target position, Px0 represents the X-axis reference position, and ΔPx represents the X-axis deviation measured by the laser. The closed loop control system ensures that the X-axis positioning accuracy is not greater than 5mm.

[0037] The Y-axis control unit adopts a single-servo motor friction transmission mode and a laser ranging feedback to realize laser position full-closed loop control. The Y-axis position calculation formula is: Py=Py0+ΔPy; Wherein, Py represents the Y-axis target position, Py0 represents the Y-axis reference position, and ΔPy represents the Y-axis deviation measured by the laser.

[0038] The Z-axis control unit adopts a single-servo motor control absolute value mode to ensure accurate control of the hydrogen storage module in the vertical direction.

[0039] In the laser positioning process, the system calculates the deviation value of the vehicle hydrogen storage module through the vehicle laser scanning data. The overall deviation calculation formula is: Where, Delta S represents the overall deviation, Delta Px represents the X direction deviation, and Delta Py represents the Y direction deviation. The system applies this deviation value to the compensation amount calculation of the robot X, Y direction hydrogen storage module taking and placing.

[0040] For the hydrogen storage module on the flatbed truck, the system adds a set of tail fixed position laser to assist in calculating the deviation angle of the flatbed truck and the Y direction distance of each hydrogen storage module. The deviation angle calculation formula is: Theta = arctan (Delta Yt / L) ; Where, theta represents the deviation angle, L represents the length of the flatbed truck, and Delta Yt represents the Y direction deviation detected at the tail.

[0041] The work flow of the hydrogen exchange station control system of the application can include the following steps: S100, vehicle enters the station and is identified. The vehicle enters the middle of the hydrogen exchange channel 6 from the hydrogen exchange station entrance, and is positioned by the laser positioning mechanism 10 on one side of the hydrogen exchange channel 6. The vehicle identification system identifies the license plate information through the camera, and reports the identification result to the central control unit.

[0042] S200, vehicle authentication and data collection. The central control unit interacts with the cloud system through the communication interface to confirm whether the vehicle can exchange hydrogen. At the same time, the vehicle hydrogen storage module data is obtained through the CAN data acquisition instrument, and the data is reported to the central control unit for processing.

[0043] S300, vehicle unlocking. After the vehicle is parked, the vehicle is unlocked manually. The station control system announces the progress through voice.

[0044] S400, robot hydrogen exchange operation. After unlocking is completed, the central control unit 1 controls the robot drive control system to work, including the X direction drive mechanism 3, the Y direction drive mechanism 4 and the lifting mechanism 5 to cooperate and move, transfer the vehicle end hydrogen storage module to the designated position in the hydrogen exchange station, and then transfer the hydrogen storage module in the designated position in the hydrogen exchange station to the hydrogen exchange vehicle.

[0045] S500, hydrogen tank locking. After the hydrogen storage module is installed, the vehicle is locked manually. The station control system announces the progress through voice to ensure the safe completion of the operation.

[0046] S600, vehicle self-checking. After the hydrogen storage module is locked, the vehicle checks the status and confirms that all states are normal. After self-checking is completed, the vehicle sends clear information, and the station control system notifies the driver to pay through voice broadcast.

[0047] S700, payment operation. After the cloud payment is completed, the station control system notifies the driver to leave through voice broadcast. This process interacts with the cloud system through the communication interface to ensure that the payment information is accurately recorded.

[0048] S800, vehicle departure. The vehicle recognition system identifies that the vehicle has left and notifies the station control system to handle the event.

[0049] S900, hydrogen tank adjustment. After the vehicle departs, the central control unit 1 controls the robot drive control system 2 to adjust the replaced hydrogen storage module and updates the data to the cloud.

[0050] Please refer to the attached Figure 13 , Figure 13 is a monitoring system topology according to an embodiment of the application. The monitoring system includes an NVR monitoring center, a core switch, multiple cameras and sound equipment. The system monitors the status of each area of the hydrogen exchange station in real time to ensure the safety of the hydrogen exchange operation. The NVR monitoring center is connected with each camera through the core switch to realize full-station monitoring.

[0051] Please refer to the attached Figure 14 , Figure 14 is a fire fighting system structure diagram according to an embodiment of the application. The fire fighting system includes a fire control controller, a detector (flame detector, gas concentration detector), a fire fighting facility (handheld dry powder fire extinguisher, aerosol) and an audible and visual alarm. The system is responsible for monitoring possible fire or gas leakage in the hydrogen exchange station and starting corresponding protection measures in emergency.

[0052] In the control system of the application, the data acquisition frequency of the laser ranging sensor is 100Hz, which ensures real-time acquisition of position information. The system uses a data filtering algorithm to eliminate noise interference and improve positioning accuracy. The filtering algorithm uses a weighted average method, and the calculation formula is: P filtered =α·P current +(1-α)·P previous ; Wherein, P filtered represents the filtered position value, P current represents the current measurement value, P previous represents the filtered value at the last moment, and a represents the weight coefficient (0<α<1).

[0053] For motion control of the robot, the system uses a speed planning algorithm to realize smooth start and stop. The speed planning curve satisfies the following equation: v(t)=vmax·sin 2 (πt / T); Wherein, v(t) represents the speed at t time, vmax represents the maximum speed, T represents the planning period.This planning mode ensures that the acceleration of the robot is continuous during the movement, avoids impact, and improves system stability.

[0054] To ensure the safety of the hydrogen replacement process, the system is provided with a multi-level safety guarantee mechanism.When the laser positioning mechanism 10 detects that the position deviation exceeds the set threshold, the system will automatically suspend the operation and issue an alarm.The safety judgment condition is: |Delta S|>Sthreshold; Wherein, |Delta S| represents the absolute value of the position deviation, Sthreshold represents the safety threshold, which is usually set to 10mm.

[0055] In terms of communication, the data exchange between the modules of the system adopts a standardized data format to ensure the accuracy of information transmission.The data packet structure includes packet header, command code, data length, data content and check code fields, realizing efficient and reliable data transmission.

[0056] The hydrogen replacement station control system of the application significantly improves the supply efficiency of hydrogen fuel cell vehicles through accurate positioning control and efficient work flow, realizes the rapid and safe replacement of hydrogen storage modules, and provides important technical support for the popularization and application of hydrogen energy in the transportation field.

Claims

1. Top-mounted two-channel hydrogen exchange station, characterized by: include: The base (1) is the foundation for the construction of the hydrogen exchange station. The surface of the base (1) is divided into two areas: a hydrogen exchange channel (6) and a cart channel (7), which are used for the entry and exit of hydrogen exchange vehicles and carts respectively. The middle part of the cart channel (7) is divided into a temporary storage area (8) for the temporary storage of the hydrogen storage module (9); A steel frame (2) is installed on top of the base (1) and serves as the basic framework of the hydrogen exchange station; An X-axis driving mechanism (3) is mounted on the top of the steel frame (2) and is slidable on the top of the steel frame (2) to provide transportation of the hydrogen storage module (9) in the X-axis direction; A Y-direction driving mechanism (4) is installed in the middle of the X-direction driving mechanism (3) to provide transportation of the hydrogen storage module (9) in the Y-axis direction; A lifting mechanism (5) cooperates with the Y-direction driving mechanism (4) to achieve the lifting of the hydrogen storage module (9); And two laser positioning mechanisms (10) are respectively installed on the left and right sides of the base (1) and are used for positioning the hydrogen storage module (9) during assembly.

2. The top-mounted two-channel hydrogen exchange station according to claim 1, characterized in that: The X-direction driving mechanism (3) comprises a guide rail 1 (301), the guide rail 1 (301) is fixedly mounted on the top of the steel frame (2), the top of the guide rail 1 (301) is slidably connected to a moving frame (302), the top of the moving frame (302) is fixedly connected to a load-bearing beam (306), the Y-direction driving mechanism (4) is mounted in the middle of the load-bearing beam (306), the outer side of the moving frame (302) is fixedly connected to a motor 1 (303), the output end of the motor 1 (303) is fixedly connected to a walking wheel 1 (304), and the walking wheel 1 (304) is in contact with the guide rail 1 (301).

3. The top-mounted two-channel hydrogen exchange station according to claim 2, characterized in that: The X-direction driving mechanism (3) further comprises a guide wheel 1 (305), wherein the guide wheel 1 (305) is rotatably connected to the bottom of the movable frame (302) and abuts against the outer side of the guide rail 1 (301); a Y-direction positioning laser sensor (307) is fixedly connected to the top of the movable frame (302); an X-direction positioning sensor (308) is installed on the outer side of the load-bearing beam (306); a buffer block 1 (309) is fixedly connected to the end of the movable frame (302); and a guide rail 2 (310) is fixedly connected inside the load-bearing beam (306).

4. The top-mounted two-channel hydrogen exchange station according to claim 3, characterized in that: The Y-direction driving mechanism (4) includes a moving frame (401), the moving frame (401) is slidably connected to the inside of the X-direction driving mechanism (3), the outer side of the moving frame (401) is fixedly connected to a motor three (404), the output end of the motor three (404) is fixedly connected to a walking wheel two (405) through a rotating shaft, the walking wheel two (405) is in contact with the top of the guide rail two (310), the outer side of the moving frame (401) is rotatably connected to a guide wheel two (406), the guide wheel two (406) is in contact with the outer side of the guide rail two (310), the top of the moving frame (401) is installed with a motor two (402), and the output end of the motor two (402) is fixedly connected to a winch (403).

5. The top-mounted two-channel hydrogen exchange station according to claim 4, characterized in that: The Y-axis driving mechanism (4) further includes a second buffer block (407), which is mounted on the outside of the moving frame (401). An origin limit switch (408) is fixedly connected to the bottom of the moving frame (401). A guide shaft sleeve (410) is mounted on the bottom of the moving frame (401), and a canopy (409) is mounted on the top of the moving frame (401).

6. The top-mounted two-channel hydrogen exchange station according to claim 4, characterized in that: The lifting mechanism (5) includes a hanger (501), a sheave (502) is installed on the top of the hanger (501), a steel wire rope (503) is fixedly connected to the outside of the sheave (502), the other end of the steel wire rope (503) is wound around the periphery of the winch (403), a motor four (506) is fixedly connected inside the hanger (501), a hook (507) is fixedly connected to the bottom output end of the motor four (506), a wiring spring (504) and a guide pin (505) are installed on the top of the hanger (501), and a guide column (508) is fixedly installed on the bottom of the hanger (501).

7. The top-mounted two-channel hydrogen exchange station according to claim 1, characterized in that: The laser positioning mechanism (10) includes a mounting frame (1001), two mounting frames (1001) are respectively mounted on the left and right sides of the base (1), a housing (1002) is mounted on the top of the mounting frame (1001), an electric slide (1003) is mounted inside the housing (1002), a laser distance measuring sensor (1004) is slidably connected to the outside of the electric slide (1003), a slide groove (1005) is opened in the middle of the housing (1002), and the laser distance measuring sensor (1004) is slidably connected to the middle of the slide groove (1005).

8. A hydrogen exchange station control system, characterized in that: The top-mounted two-channel hydrogen exchange station according to any one of claims 1 to 7 comprises: Central control unit, used to control the overall process of hydrogen exchange operation; A laser positioning mechanism (10) is used to accurately position the vehicle and the hydrogen storage module entering the hydrogen exchange channel; A robot drive control system includes an X-drive mechanism (3), a Y-drive mechanism (4) and a lifting mechanism (5), wherein the X-drive mechanism (3) is used to control forward and backward movement, the Y-drive mechanism (4) is used to control left and right movement, and the lifting mechanism (5) is used to control upward and downward movement and the grasping and releasing of the hydrogen storage module; Vehicle identification system, used to identify incoming vehicle information and transmit it to the central control unit; Communication interface, used for data exchange with cloud systems to achieve vehicle authentication and operation records.

9. The hydrogen exchange station control system according to claim 8, characterized in that: The robot drive control system includes: The X-axis control unit adopts dual servo motor friction transmission mode and single-side laser ranging feedback to achieve full closed-loop control of laser position, with a positioning accuracy of no more than 5mm; The Y-axis control unit adopts a single servo motor friction transmission mode and laser ranging feedback to achieve full closed-loop control of the laser position; The Z-axis control unit adopts single servo motor control absolute value mode.

10. The hydrogen exchange station control system according to claim 8, characterized in that: The central control unit is configured to execute the following control process: Receive and process vehicle identification information and perform vehicle authentication through the cloud; Obtain vehicle hydrogen storage module data; Control the robot drive control system to transfer the hydrogen storage module on the vehicle to the designated location of the hydrogen exchange station; Control the robot drive control system to transfer the full hydrogen storage module in the hydrogen exchange station to the vehicle; After the hydrogen exchange is completed, the data is updated and the vehicle is notified to perform self-inspection; After the vehicle leaves, the robot drives the control system to adjust the hydrogen storage modules in the station.

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