Hydrogen exchange method and control system

Abstract

The invention relates to a hydrogen exchange method and a control system, and belongs to the technical field of hydrogen exchange. Coordinate information of a to-be-replaced hydrogen tank bag of the replaceable vehicle is obtained, and automatic hydrogen replacement is controlled to be completed in the X, Y and Z three-dimensional directions; outputting completion information, generating hydrogen exchange order information and settling the total cost; wherein the coordinate information of the to-be-exchanged hydrogen tank bag is calculated by the following steps of: calibrating a reference coordinate position of a standard hydrogen tank bag; the scanning device is driven to the middle position of the standard hydrogen tank bag, and the distance between the scanning device and the standard hydrogen tank bag and the distance from the initial position to the middle position of the scanning device are obtained; scanning the two ends of the to-be-exchanged hydrogen tank bag by using scanning equipment to obtain a second distance and a third distance from the scanning equipment to the to-be-exchanged hydrogen tank bag, and obtaining two moving positions of the scanning equipment; when the position of the to-be-replaced hydrogen tank bag is inconsistent with the position of the standard hydrogen tank bag, the deviation and the inclination angle of the to-be-replaced hydrogen tank bag in the X-axis direction and the Y-axis direction are calculated, and actual coordinates are obtained. According to the invention, the hydrogen supplementing time is shortened, and the convenience and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of hydrogen exchange technology, and in particular to a hydrogen exchange method and a control system. Background Art

[0002] The development of hydrogen-powered heavy-duty trucks not only affects the optimization and upgrading of the energy structure, but also promotes the green transformation of the transportation industry. Among them, the problem of fast hydrogen filling of hydrogen-powered heavy-duty trucks has attracted widespread attention. The traditional method of hydrogen filling relies on hydrogen filling devices for electrical energy replenishment. Although it is the mainstream means of energy replenishment for new energy heavy-duty trucks, it often has problems such as high hydrogen filling frequency, slow hydrogen filling speed and potential risk of hydrogen leakage. In contrast, the hydrogen exchange mode avoids such problems. This mode relies on hydrogen exchange stations and realizes the rapid replacement of hydrogen tanks through the operation of efficient hydrogen exchange robots. Hydrogen-powered heavy-duty trucks only need to drive into the designated area, and the robot quickly identifies and grabs the hydrogen tank on the hydrogen storage vehicle for replacement according to the hydrogen tank package positioning system. The whole process is intelligent and efficient.

[0003] However, the popularization of the current hydrogen exchange model still faces challenges, mainly manifested in the long hydrogen refueling time and low overall operational efficiency. In addition, the limited number and uneven distribution of hydrogen exchange stations also directly restrict the convenience of hydrogen energy vehicles in actual applications. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the problems in the prior art that the hydrogen filling process is time-consuming, the overall operating efficiency is low, and the energy replenishment is inconvenient, and to provide a hydrogen exchange method and control system that can effectively solve the problems of long hydrogen filling time and low efficiency and improve the convenience of energy replenishment.

[0005] In a first aspect, in order to solve the above technical problems, the present invention provides a hydrogen exchange method, comprising:

[0006] Obtain coordinate information of the hydrogen tank package to be replaced of the replaceable vehicle;

[0007] According to the coordinate information of the hydrogen tank package to be replaced, the automatic hydrogen replacement is completed in the three-dimensional directions of X, Y, and Z and the completion information is output;

[0008] Generate hydrogen exchange order information according to the completion information;

[0009] According to the hydrogen exchange order information, the total cost of hydrogen exchange is calculated;

[0010] The coordinate information of the hydrogen tank package to be replaced is calculated as follows:

[0011] Calibrate the reference coordinate position of the standard hydrogen tank package;

[0012] Driving the scanning device to the middle position of the standard hydrogen tank package, obtaining a first distance between the scanning device and the standard hydrogen tank package and a running distance of the scanning device from an initial position to the middle position;

[0013] Scanning two ends of the to-be-replaced hydrogen tank package using the scanning device to obtain a second distance and a third distance from the scanning device to the to-be-replaced hydrogen tank package, and obtaining a first moving position and a second moving position of the scanning device;

[0014] When the positions of the hydrogen tank package to be replaced are inconsistent with the standard hydrogen tank package, the X-axis deviation is calculated using the formula: Ex = [(E + F) / 2] - A; the Y-axis deviation is calculated using the formula: Ey = [(H + G) / 2] - C; the inclination angle of the hydrogen tank package to be replaced is calculated using the formula: E sita =arctan(|HG| / |EF|); wherein A is the value of the reference coordinate position in the X-axis direction, C is the first distance, D is the running distance, E is the first moving position, F is the second moving position, H is the second distance, and G is the third distance; the actual coordinate calculation formula of the hydrogen tank package to be replaced is: A1=A+Ex, B1=B+Ey; wherein B is the value of the reference coordinate position in the Y-axis direction;

[0015] When the positions of the hydrogen tank package to be replaced are consistent with those of the standard hydrogen tank package, the coordinate position of the standard hydrogen tank package is the actual coordinate position of the hydrogen tank package to be replaced.

[0016] In one embodiment of the present invention, the automatic hydrogen replacement step includes: placing the hydrogen tank package of the replaceable vehicle into a cache position; grabbing a full hydrogen tank package onto the replaceable vehicle; and placing the hydrogen tank package of the replaceable vehicle into an initial position of the full hydrogen tank package.

[0017] In one embodiment of the present invention, the step of obtaining the coordinate information of the hydrogen tank package of the exchangeable vehicle includes obtaining the identity information of the vehicle, and judging whether the vehicle is an exchangeable vehicle according to the identity information. If it is the exchangeable vehicle, the vehicle is allowed to enter the hydrogen exchange, otherwise it is not allowed to enter.

[0018] In one embodiment of the present invention, the judgment method is to identify whether the vehicle is a registered exchangeable vehicle by means of a whitelist query, and when the vehicle is in the whitelist, it is determined to be the exchangeable vehicle.

[0019] In a second aspect, in order to solve the above technical problems, the present invention provides a hydrogen exchange control system, comprising:

[0020] A hydrogen tank package positioning module is used to obtain coordinate information of the hydrogen tank package to be replaced of the replaceable vehicle;

[0021] An automatic hydrogen replacement module is used to control the X, Y, and Z three-dimensional directions to complete automatic hydrogen replacement and output completion information according to the coordinate information of the hydrogen tank to be replaced;

[0022] An order generation module, used to generate hydrogen exchange order information according to the completion information;

[0023] A cost settlement module, used to settle the total cost of hydrogen exchange according to the hydrogen exchange order information;

[0024] The coordinate information of the hydrogen tank package to be replaced is calculated as follows:

[0025] Calibrate the reference coordinate position of the standard hydrogen tank package;

[0026] Driving the scanning device to the middle position of the standard hydrogen tank package, obtaining a first distance between the scanning device and the standard hydrogen tank package and a running distance of the scanning device from an initial position to the middle position;

[0027] Scanning two ends of the to-be-replaced hydrogen tank package using the scanning device to obtain a second distance and a third distance from the scanning device to the to-be-replaced hydrogen tank package, and obtaining a first moving position and a second moving position of the scanning device;

[0028] When the positions of the hydrogen tank package to be replaced are inconsistent with the standard hydrogen tank package, the X-axis deviation is calculated using the formula: Ex = [(E + F) / 2] - A; the Y-axis deviation is calculated using the formula: Ey = [(H + G) / 2] - C; the inclination angle of the hydrogen tank package to be replaced is calculated using the formula: E sita =arctan(|HG| / |EF|); wherein A is the value of the reference coordinate position in the X-axis direction, C is the first distance, D is the running distance, E is the first moving position, F is the second moving position, H is the second distance, and G is the third distance; the actual coordinate calculation formula of the hydrogen tank package to be replaced is: A1=A+Ex, B1=B+Ey; wherein B is the value of the reference coordinate position in the Y-axis direction;

[0029] When the positions of the hydrogen tank package to be replaced are consistent with those of the standard hydrogen tank package, the coordinate position of the standard hydrogen tank package is the actual coordinate position of the hydrogen tank package to be replaced.

[0030] In one embodiment of the present invention, the scanning device includes a servo motor and a laser emitter, and the servo motor drives the laser emitter to scan the hydrogen tank package and calculate the position information of the hydrogen tank package, wherein the output information of the laser emitter includes digital quantity and analog quantity.

[0031] In one embodiment of the present invention, the automatic hydrogen exchange module includes three dimensions, X, Y, and Z, and grabs hydrogen tank packages at different positions by coordinate positioning.

[0032] In a third aspect, in order to solve the above technical problems, the present invention provides a hydrogen exchange station, comprising:

[0033] A hydrogen exchange robot, a gate system, a hydrogen exchange vehicle, a hydrogen storage vehicle, a hydrogen tank positioning system, a voice system, a station-level monitoring system, a cloud platform management system and a hydrogen exchange control system as described in the second aspect, wherein the station-level monitoring system sends the hydrogen tank package numbering information on the hydrogen storage vehicle to the cloud platform management system, and the cloud platform management system manages the hydrogen tank package numbering information and dispatches the hydrogen storage vehicle.

[0034] In one embodiment of the present invention, the station-level monitoring system broadcasts the hydrogen exchange process in real time by controlling the voice broadcast system.

[0035] In one embodiment of the present invention, the gate system automatically lifts the gate according to the successful settlement instruction of the hydrogen exchange fee of the station-level monitoring system.

[0036] The above technical solution of the present invention has the following beneficial effects compared with the prior art:

[0037] The hydrogen exchange method and control system described in the present invention realizes automatic hydrogen exchange operation in the three-dimensional directions of X, Y, and Z according to the coordinate information of the hydrogen tank package to be exchanged. This design ensures that the hydrogen tank package to be exchanged can be accurately grasped at any position or angle, improves the convenience of hydrogen exchange operation, and effectively reduces the hydrogen exchange time. At the same time, the coordinate information calculation method adopted enables the positioning accuracy to be controlled within 3mm, further accelerating the hydrogen exchange process and improving the efficiency of hydrogen exchange.

[0038] In addition, scheduling hydrogen storage vehicles through the cloud platform management system can minimize waiting time in queues and improve operational efficiency and convenience; the station-level monitoring system broadcasts the hydrogen exchange process in real time by controlling the voice broadcast system, which not only improves the user experience, but also makes the hydrogen exchange station more intelligent. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

[0040] Figure 1 This is a flow chart of a hydrogen exchange method in a preferred embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the coordinate position of the hydrogen tank package in a preferred embodiment of the present invention;

[0042] Figure 3 This is a structural diagram of a hydrogen exchange station in a preferred embodiment of the present invention;

[0043] Figure 4 This is a hydrogen exchange flow chart of a hydrogen exchange station in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0045] Embodiment 1

[0046] Reference Figure 1 As shown, an embodiment of the present invention provides a hydrogen exchange method, including but not limited to the following steps:

[0047] Obtain coordinate information of the hydrogen tank package to be replaced of the replaceable vehicle;

[0048] According to the coordinate information of the hydrogen tank to be replaced, the X, Y, and Z three-dimensional directions are controlled to complete the automatic hydrogen replacement and output the completion information;

[0049] Generate hydrogen exchange order information based on the completion information;

[0050] According to the hydrogen exchange order information, the total cost of hydrogen exchange is settled;

[0051] Among them, refer to Figure 2 , the coordinate information of the hydrogen tank package to be replaced is calculated as follows:

[0052] Calibrate the reference coordinate position of the standard hydrogen tank package;

[0053] The scanning device is driven to the middle position of the standard hydrogen tank package, and a first distance between the scanning device and the standard hydrogen tank package and a running distance of the scanning device from the initial position to the middle position are obtained;

[0054] Scanning two ends of the to-be-replaced hydrogen tank package using a scanning device to obtain a second distance and a third distance from the scanning device to the to-be-replaced hydrogen tank package, and obtaining a first moving position and a second moving position of the scanning device;

[0055] When the position of the hydrogen tank package to be replaced is inconsistent with that of the standard hydrogen tank package, the deviation in the X-axis direction is calculated using the formula: Ex = [(E+F) / 2]-A; the deviation in the Y-axis direction is calculated using the formula: Ey = [(H+G) / 2]-C; the inclination angle of the hydrogen tank package to be replaced is calculated using the formula: Esita = arctan (|HG| / |EF|); wherein A is the value of the reference coordinate position in the X-axis direction, C is the first distance, D is the running distance, E is the first moving position, F is the second moving position, H is the second distance, and G is the third distance; the actual coordinate calculation formula of the hydrogen tank package to be replaced is: A1 = A+Ex, B1 = B+Ey; wherein B is the value of the reference coordinate position in the Y-axis direction;

[0056] When the positions of the hydrogen tank package to be replaced are consistent with those of the standard hydrogen tank package, the coordinate position of the standard hydrogen tank package is the actual coordinate position of the hydrogen tank package to be replaced.

[0057] The present embodiment provides a hydrogen replacement method, which controls the X, Y, and Z three-dimensional directions to complete automatic hydrogen replacement based on the coordinate information of the hydrogen tank package to be replaced, ensuring that the hydrogen tank package to be replaced can be accurately grasped at any position or angle, thereby improving the convenience of hydrogen replacement for replaceable vehicles and reducing the time for hydrogen replacement. At the same time, during this process, dynamic adjustments will be made based on the size, weight, and position of the hydrogen tank package to ensure the smoothness and accuracy of the hydrogen replacement action. In addition, the calculation method of the coordinate information enables the positioning accuracy to be controlled within 3mm, thereby improving the efficiency of hydrogen replacement.

[0058] Before obtaining the coordinate information of the hydrogen tank package to be replaced of the replaceable vehicle, it may include obtaining the identity information of the vehicle, and judging whether the vehicle is a replaceable vehicle based on the identity information of the vehicle. If it is judged to be a replaceable vehicle, the vehicle is allowed to enter and replace hydrogen, otherwise it is not allowed to enter. The judgment method may preferably identify whether the current vehicle is a registered replaceable vehicle by a whitelist query. Specifically, the identity information of the current vehicle is first obtained, and the identity information may be the license plate number of the vehicle; secondly, the whitelist is queried, if it is in the whitelist, it is a replaceable vehicle, the vehicle is released and allowed to enter, if it is not in the whitelist, it is judged to be a non-replaceable vehicle and is not allowed to enter.

[0059] Furthermore, when the replaceable vehicle enters the hydrogen exchange area, the coordinate information of the hydrogen tank package to be replaced of the replaceable vehicle is first obtained, and the hydrogen tank package fixing device of the vehicle is automatically unlocked according to the coordinate information. At the same time, the hydrogen tank package to be replaced is removed from the vehicle and placed in a pre-prepared cache position to ensure that it is stable and does not shake. Secondly, the state and matching degree of the full hydrogen tank package are determined, and it is grabbed. The full hydrogen tank package is smoothly transported to the replaceable vehicle, aligned with its installation position, and the fixing device is started to lock it. Finally, the hydrogen tank package to be replaced in the cache position is smoothly grabbed and placed in the initial position of the full hydrogen tank package to complete the automatic hydrogen exchange.

[0060] Embodiment 2

[0061] Based on the same inventive concept, this embodiment provides a hydrogen exchange control system, and its principle of solving the problem is similar to that of a hydrogen exchange method provided in the first embodiment, and the repeated parts will not be repeated.

[0062] An embodiment of the present invention provides a hydrogen exchange control system, comprising:

[0063] A hydrogen tank package positioning module is used to obtain coordinate information of the hydrogen tank package to be replaced of the replaceable vehicle;

[0064] Automatic hydrogen replacement module, used to control the X, Y, and Z three-dimensional directions to complete automatic hydrogen replacement and output completion information according to the coordinate information of the hydrogen tank to be replaced;

[0065] An order generation module, used to generate hydrogen exchange order information according to the completion information;

[0066] The cost settlement module is used to settle the total cost of hydrogen exchange according to the hydrogen exchange order information;

[0067] Among them, the coordinate information of the hydrogen tank package to be replaced is calculated as follows:

[0068] Calibrate the reference coordinate position of the standard hydrogen tank package;

[0069] The scanning device is driven to the middle position of the standard hydrogen tank package, and a first distance between the scanning device and the standard hydrogen tank package and a running distance of the scanning device from the initial position to the middle position are obtained;

[0070] Scanning two ends of the to-be-replaced hydrogen tank package using a scanning device to obtain a second distance and a third distance from the scanning device to the to-be-replaced hydrogen tank package, and obtaining a first moving position and a second moving position of the scanning device;

[0071] When the position of the hydrogen tank package to be replaced is inconsistent with that of the standard hydrogen tank package, the X-axis deviation is calculated using the formula: Ex = [(E+F) / 2]-A; the Y-axis deviation is calculated using the formula: Ey = [(H+G) / 2]-C; the inclination angle of the hydrogen tank package to be replaced is calculated using the formula: E sita =arctan(|HG| / |EF|); where A is the value of the reference coordinate position in the X-axis direction, C is the first distance, D is the running distance, E is the first moving position, F is the second moving position, H is the second distance, and G is the third distance; the actual coordinate calculation formula of the hydrogen tank package to be replaced is: A1=A+Ex, B1=B+Ey; where B is the value of the reference coordinate position in the Y-axis direction;

[0072] When the positions of the hydrogen tank package to be replaced are consistent with those of the standard hydrogen tank package, the coordinate position of the standard hydrogen tank package is the actual coordinate position of the hydrogen tank package to be replaced.

[0073] The scanning device includes at least one servo motor and at least one laser emitter, and the output information of the laser emitter includes digital quantity and analog quantity. The servo motor drives the laser emitter to accurately scan the hydrogen tank package, and then accurately calculate the position information of the hydrogen tank package.

[0074] The automatic hydrogen exchange module includes three dimensions of X, Y, and Z, and grabs hydrogen tank packages at different positions by coordinate positioning, thereby improving the flexibility and convenience of the hydrogen exchange control system.

[0075] Embodiment 3

[0076] Reference Figure 3 This embodiment provides a hydrogen exchange station, including a hydrogen exchange control system, a hydrogen exchange robot, a gate system, a hydrogen exchange vehicle, a hydrogen storage vehicle, a hydrogen tank positioning system, a voice system, a station-level monitoring system and a cloud platform management system provided in Embodiment 2. The station-level monitoring system sends the hydrogen tank package number information on the hydrogen storage vehicle to the cloud platform management system, and the cloud platform management system manages the hydrogen tank package number information and dispatches the hydrogen storage vehicle.

[0077] Specifically, refer to Figure 4 Before a vehicle enters the station, the barrier system obtains the license plate number information of the current vehicle through camera visual recognition. After receiving the information, the barrier system compares the license plate information with the vehicle information registered in the whitelist. If the vehicle information exists, it is a registered exchangeable vehicle. The barrier system controls the lifting of the barrier and the vehicle enters the station.

[0078] The gate system identifies the license plate information and sends it to the station-level monitoring system, which then sends a request for hydrogen storage vehicle-related information to the cloud platform management system based on the license plate number. At the same time, the hydrogen tank package positioning system calculates the coordinates of each hydrogen tank package and stores them in the memory address in the form of a two-dimensional array.

[0079] Specifically, the hydrogen tank package positioning system includes at least one servo motor and at least one laser transmitter, and the output information of the laser transmitter includes digital quantity and analog quantity. The servo motor drives the laser transmitter to accurately scan the hydrogen tank package, and then accurately calculate the coordinate position of the hydrogen tank package. Figure 2 , the method for calculating the coordinate position of the hydrogen tank package is: calibrate the reference coordinate position of the hydrogen tank package as (A, B); move the laser emitter to the middle position of the hydrogen tank package, obtain the first distance between the laser emitter and the hydrogen tank package and the running distance of the servo motor, wherein the servo motor drives the laser emitter to move in the X-axis direction. When the position of the hydrogen exchange vehicle is inconsistent with the calibrated position, calculate the deviation of the X-axis and Y-axis directions of the hydrogen tank package on the hydrogen exchange vehicle, as well as the tilt angle, and obtain the actual coordinates of the hydrogen tank package on the hydrogen exchange vehicle.

[0080] Specifically, after the hydrogen tank package positioning system calculates the coordinate information of the current vehicle through laser scanning and stores it in the memory address, the hydrogen exchange robot automatically selects the hydrogen tank package to be replaced on the hydrogen storage vehicle according to the obtained coordinate information and the control system program. The hydrogen exchange robot controls the X, Y, and Z axis movements and coordinate positioning to complete the automatic hydrogen exchange process, and generates completion information after the hydrogen exchange is completed and sends it to the station-level monitoring system. After receiving the completion information, the station-level monitoring system generates the current hydrogen exchange order information and reports it to the cloud platform management system. At the same time, the station-level monitoring system controls the voice system to prompt that the hydrogen exchange is completed. Of course, the station-level monitoring system can also control the voice system to broadcast the hydrogen exchange process in real time. The cloud platform management system will calculate the total cost of hydrogen exchange based on the hydrogen exchange order information received and transmit it to the terminal device. The driver can settle the fee through the small program of the terminal device such as a smart phone. After the settlement is successful, the cloud platform management system sends a payment success message to the upper computer, and the station-level monitoring system controls the gate system to lift the bar, and the vehicle drives out of the hydrogen exchange station. Before the settlement is successful, the gate system will wait for the lifting command issued by the station-level monitoring system.

[0081] Among them, if all 10 hydrogen tank packs loaded on the hydrogen storage vehicle are replaced, the station-level monitoring system will report the hydrogen tank pack number information or other information on the current hydrogen storage vehicle to the cloud platform management system, and inform the cloud platform management system that the vehicle's hydrogen tank packs have all been replaced. After receiving the information, the cloud platform management system will notify the hydrogen storage vehicle to recharge hydrogen at the designated location, and dispatch the next full hydrogen storage vehicle to arrive at the hydrogen exchange station to supply hydrogen.

[0082] In this embodiment, the station-level monitoring system, as the core hub of the operation and management of the hydrogen exchange station, not only deeply integrates the real-time monitoring function to ensure that the operation and maintenance personnel can instantly grasp the overall operation status of the hydrogen exchange station, including the statistics of the number of hydrogen exchanges, the tracing of the historical records of hydrogen exchanges, and the instant alarm information of any potential risks, such as abnormal hydrogen pressure, equipment failure warning, etc., which provides a solid guarantee for the safe and efficient operation of the station. At the same time, the system also plays a key role as a data interaction hub, seamlessly connecting to the lower-level PLC (programmable logic controller) to achieve rapid data collection and command issuance of on-site equipment, and at the same time establish a stable data channel with the cloud platform management system to achieve remote transmission, storage and analysis of data, providing strong support for management decisions. In addition, the station-level monitoring system can also broadcast relevant information in the hydrogen exchange process in real time by controlling the voice broadcast system, which improves the user experience and makes the hydrogen exchange equipment more intelligent.

[0083] The cloud platform management system integrates big data, cloud computing and Internet of Things technologies, and realizes the comprehensive integration and refined management of vehicle information and hydrogen exchange station status across the entire network. In terms of real-time monitoring, the cloud platform management system can capture and display the operating status, hydrogen inventory, equipment health, and key information such as the location, power or hydrogen volume of each vehicle of each hydrogen exchange station in real time, providing managers with intuitive and comprehensive data support. This not only helps to discover and solve potential problems in a timely manner, but also provides a scientific basis for subsequent decision-making. In the field of intelligent scheduling, the cloud platform management system comprehensively considers factors such as vehicle location, hydrogen exchange demand, hydrogen exchange station queue situation and distance, automatically plans the best hydrogen exchange route for users, and guides them to the most suitable hydrogen exchange station for hydrogen refueling. This function greatly shortens the waiting time of vehicles in queues and improves the efficiency of hydrogen exchange, thereby promoting the improvement of overall operational efficiency. In addition, the cloud platform management system also has a fee settlement function, which realizes the automatic billing and settlement of hydrogen exchange services. Through seamless connection with the payment system, users can complete fee payment conveniently and quickly, reducing the tediousness and errors of manual operations and improving the service experience.

[0084] A hydrogen exchange station provided in this embodiment dispatches hydrogen storage vehicles through a cloud platform management system, which can shorten the waiting time to the maximum extent, improve operational efficiency, and realize vehicle-station-cloud integration.

[0085] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0086] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0087] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0088] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0089] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A hydrogen exchange method, characterized in that: include: Obtain coordinate information of the hydrogen tank package to be replaced of the replaceable vehicle; According to the coordinate information of the hydrogen tank package to be replaced, the automatic hydrogen replacement is completed in the three-dimensional directions of X, Y, and Z and the completion information is output; Generate hydrogen exchange order information according to the completion information; According to the hydrogen exchange order information, the total cost of hydrogen exchange is calculated; The coordinate information of the hydrogen tank package to be replaced is calculated as follows: Calibrate the reference coordinate position of the standard hydrogen tank package; Driving the scanning device to the middle position of the standard hydrogen tank package, obtaining a first distance between the scanning device and the standard hydrogen tank package and a running distance of the scanning device from an initial position to the middle position; Scanning two ends of the to-be-replaced hydrogen tank package using the scanning device to obtain a second distance and a third distance from the scanning device to the to-be-replaced hydrogen tank package, and obtaining a first moving position and a second moving position of the scanning device; When the positions of the hydrogen tank package to be replaced are inconsistent with the standard hydrogen tank package, the X-axis deviation is calculated using the formula: Ex = [(E + F) / 2] - A; the Y-axis deviation is calculated using the formula: Ey = [(H + G) / 2] - C; the inclination angle of the hydrogen tank package to be replaced is calculated using the formula: E sita =arctan(|HG| / |EF|); wherein A is the value of the reference coordinate position in the X-axis direction, C is the first distance, D is the running distance, E is the first moving position, F is the second moving position, H is the second distance, and G is the third distance; the actual coordinate calculation formula of the hydrogen tank package to be replaced is: A1=A+Ex, B1=B+Ey; wherein B is the value of the reference coordinate position in the Y-axis direction; When the positions of the hydrogen tank package to be replaced are consistent with those of the standard hydrogen tank package, the coordinate position of the standard hydrogen tank package is the actual coordinate position of the hydrogen tank package to be replaced.

2. A hydrogen exchange method according to claim 1, characterized in that: The automatic hydrogen replacement step includes: placing the hydrogen tank package of the replaceable vehicle into a cache position; grabbing a full hydrogen tank package onto the replaceable vehicle; and placing the hydrogen tank package of the replaceable vehicle into an initial position of the full hydrogen tank package.

3. A hydrogen exchange method according to claim 1, characterized in that: The method of obtaining the coordinate information of the hydrogen tank package of the replaceable vehicle includes obtaining the identity information of the vehicle, and judging whether the vehicle is a replaceable vehicle according to the identity information. If it is the replaceable vehicle, the vehicle is allowed to enter and replace hydrogen, otherwise, the vehicle is not allowed to enter.

4. A hydrogen exchange method according to claim 3, characterized in that: The determination method is to identify whether the vehicle is a registered exchangeable vehicle by querying a white list, and when the vehicle is in the white list, it is determined to be the exchangeable vehicle.

5. A hydrogen exchange control system, characterized in that: include, A hydrogen tank package positioning module is used to obtain coordinate information of the hydrogen tank package to be replaced of the replaceable vehicle; An automatic hydrogen replacement module is used to control the X, Y, and Z three-dimensional directions to complete automatic hydrogen replacement and output completion information according to the coordinate information of the hydrogen tank to be replaced; An order generation module, used to generate hydrogen exchange order information according to the completion information; A cost settlement module, used to settle the total cost of hydrogen exchange according to the hydrogen exchange order information; The coordinate information of the hydrogen tank package to be replaced is calculated as follows: Calibrate the reference coordinate position of the standard hydrogen tank package; Driving the scanning device to the middle position of the standard hydrogen tank package, obtaining a first distance between the scanning device and the standard hydrogen tank package and a running distance of the scanning device from an initial position to the middle position; Scanning two ends of the to-be-replaced hydrogen tank package using the scanning device to obtain a second distance and a third distance from the scanning device to the to-be-replaced hydrogen tank package, and obtaining a first moving position and a second moving position of the scanning device; When the positions of the hydrogen tank package to be replaced are inconsistent with the standard hydrogen tank package, the X-axis deviation is calculated using the formula: Ex = [(E + F) / 2] - A; the Y-axis deviation is calculated using the formula: Ey = [(H + G) / 2] - C; the inclination angle of the hydrogen tank package to be replaced is calculated using the formula: E sita =arctan(|HG| / |EF|); wherein A is the value of the reference coordinate position in the X-axis direction, C is the first distance, D is the running distance, E is the first moving position, F is the second moving position, H is the second distance, and G is the third distance; the actual coordinate calculation formula of the hydrogen tank package to be replaced is: A1=A+Ex, B1=B+Ey; wherein B is the value of the reference coordinate position in the Y-axis direction; When the positions of the hydrogen tank package to be replaced are consistent with those of the standard hydrogen tank package, the coordinate position of the standard hydrogen tank package is the actual coordinate position of the hydrogen tank package to be replaced.

6. A hydrogen exchange control system according to claim 5, characterized in that: The scanning device includes a servo motor and a laser emitter. The servo motor drives the laser emitter to scan the hydrogen tank package and calculates the position information of the hydrogen tank package. The output information of the laser emitter includes digital quantity and analog quantity.

7. A hydrogen exchange control system according to claim 5, characterized in that: The automatic hydrogen exchange module includes three dimensions: X, Y, and Z, and grabs hydrogen tank packages at different positions through coordinate positioning.

8. A hydrogen exchange station, characterized in that: include: A hydrogen exchange robot, a gate system, a hydrogen exchange vehicle, a hydrogen storage vehicle, a hydrogen tank positioning system, a voice system, a station-level monitoring system, a cloud platform management system and a hydrogen exchange control system as described in claim 6 or 7, wherein the station-level monitoring system sends the hydrogen tank package numbering information on the hydrogen storage vehicle to the cloud platform management system, and the cloud platform management system manages the hydrogen tank package numbering information and dispatches the hydrogen storage vehicle.

9. A hydrogen exchange station according to claim 8, characterized in that: The station-level monitoring system broadcasts the hydrogen exchange process in real time by controlling the voice broadcast system.

10. A hydrogen exchange station according to claim 8, characterized in that: The gate system automatically lifts the gate according to the successful settlement instruction of the hydrogen exchange fee of the station-level monitoring system.

Images