Control method and device of hydrogenation system and hydrogenation system

Abstract

The invention relates to a hydrogenation system control method and device and a hydrogenation system, and relates to the technical field of hydrogenation. The hydrogenation system comprises a first camera and a second camera; the method comprises the following steps: positioning a hydrogen filling port of a vehicle through a first camera, and determining the position of a first hydrogen filling port; the position of the first hydrogenation port is corrected through the second camera, and the position of a second hydrogenation port is determined; and the hydrogenation gun is controlled to move to the position of the second hydrogenation port, so that the hydrogenation gun is in butt joint with the hydrogenation port. Therefore, on one hand, the two cameras are adopted to execute the two steps of positioning the position of the hydrogen filling port and secondarily positioning and correcting the position of the hydrogen filling port, so that the positioned position of the hydrogen filling port is more accurate; on the other hand, by automatically connecting the hydrogenation gun with the hydrogenation port of the vehicle, accidents caused by manual misoperation are avoided, and meanwhile the cost of the hydrogenation process is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of hydrogenation, and in particular to a control method and device of a hydrogenation system and a hydrogenation system. Background Art

[0002] At present, the technology of on-board hydrogen high-pressure gas storage tanks has matured and is highly safe. The hydrogen fuel refueling time is comparable to that of gasoline and diesel vehicles, and generally needs to be carried out at a hydrogen refueling station.

[0003] In the related art, when a vehicle is refueled at a hydrogen refueling station, hydrogen is generally refueled manually by staff. After the car enters the hydrogen refueling area of ​​the hydrogen refueling station, the staff first opens the outer protective cover outside the hydrogen refueling port of the car, and then checks whether the vehicle has a hydrogen leakage problem. After ensuring that there is no hydrogen leakage, the electrostatic clamp is inserted into the designated grounding position of the vehicle, and then the dust cover of the hydrogen refueling port is opened, and the hydrogen refueling gun is strictly aimed at the hydrogen refueling port for hydrogenation. After the hydrogenation is completed, the dust cover of the hydrogen refueling port is installed in turn, the outer protective cover is closed, and the electrostatic clamp is removed. It can be seen that the steps of moving the hydrogen refueling gun and docking the hydrogen refueling gun with the hydrogen refueling port of the vehicle during the entire hydrogen refueling process need to be completed manually, which has problems such as high cost and easy operational errors. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a control method and device of a hydrogenation system and a hydrogenation system.

[0005] According to a first aspect of an embodiment of the present disclosure, a control method of a hydrogenation system is provided, wherein the hydrogenation system includes a first camera and a second camera; the method includes:

[0006] Locating the hydrogen refueling port of the vehicle by using the first camera to determine the position of the first hydrogen refueling port;

[0007] Correcting the position of the first hydrogenation port by using the second camera to determine the position of the second hydrogenation port;

[0008] The hydrogenation gun is controlled to move to the second hydrogenation port position so that the hydrogenation gun is docked with the hydrogenation port.

[0009] Optionally, locating the hydrogen refueling port of the vehicle by using the first camera to determine the position of the first hydrogen refueling port includes:

[0010] Calculating the inclination angle of the plane where the hydrogenation port is located relative to the plane where the hydrogenation gun is located according to the first distance data acquired by the first camera; the first distance data is the distance between the center of the hydrogenation gun and the center of the hydrogenation port;

[0011] The tilt angle is corrected according to the first image data acquired by the first camera to determine the position of the first hydrogenation port.

[0012] Optionally, the correcting the position of the first hydrogenation port by using the second camera to determine the position of the second hydrogenation port includes:

[0013] Correcting the position of the first hydrogenation port according to the second image data and the second distance data acquired by the second camera; the second distance data is the distance data between the center of the hydrogenation gun after the movement and the center of the hydrogenation port;

[0014] The correction result satisfying the error condition is determined as the second hydrogenation port position; the error condition is that the center angle error and the center offset error between the plane where the hydrogenation port is located and the plane where the hydrogenation gun is located are both less than the error threshold.

[0015] Optionally, the hydrogenation system further includes a torque sensor, a displacement sensor and a rotating mechanism; the method further includes:

[0016] When it is determined by the torque sensor and the displacement sensor that the hydrogenation gun is successfully docked, locking the hydrogenation gun by the rotating mechanism;

[0017] When the hydrogenation gun is locked, the bypass gas valve of the hydrogenation machine is opened; the hydrogenation machine is controlled to open the bypass gas valve;

[0018] When the filling is completed, the hydrogen filling gun is controlled to move to the initial position.

[0019] Optionally, the method further comprises:

[0020] During the docking process of the hydrogenation gun, the resistance of the hydrogenation gun is detected by the torque sensor;

[0021] Detecting the docking depth by means of the displacement sensor;

[0022] When the docking depth is equal to a preset depth threshold and the resistance is greater than or equal to a preset resistance threshold, it is determined that the hydrogenation gun is successfully docked.

[0023] Optionally, when it is determined by the torque sensor and the displacement sensor that the hydrogenation gun is successfully docked, locking the hydrogenation gun by the rotating mechanism comprises:

[0024] When it is determined by the torque sensor and the displacement sensor that the hydrogenation gun is successfully docked, controlling the rotating mechanism to rotate in a first direction to drive the handle of the hydrogenation gun;

[0025] When the angle value and the torque value of the rotating mechanism meet the preset range threshold, the hydrogenation gun is locked.

[0026] Optionally, when the hydrogenation gun is locked, opening the bypass gas path valve of the hydrogenation machine comprises:

[0027] When the hydrogen filling gun is locked, in response to a filling instruction sent by the hydrogen filling machine, the hydrogen concentration is detected by the hydrogen sensor;

[0028] When the detected hydrogen concentration is less than a preset leakage threshold, a confirmation instruction is sent to the hydrogenator; wherein the confirmation instruction is used to instruct the hydrogenator to open the bypass gas circuit valve.

[0029] Optionally, the method further comprises:

[0030] When receiving a filling end signal, controlling the rotating mechanism to rotate in a second direction; the second direction is the opposite direction of the first direction;

[0031] The hydrogenation gun is controlled to separate from the hydrogenation port and move to an initial position.

[0032] According to a second aspect of an embodiment of the present disclosure, a control device for a hydrogenation system is provided, the device comprising:

[0033] a determination module, locating the hydrogen refueling port of the vehicle by using the first camera to determine the position of the first hydrogen refueling port;

[0034] The determination module is further configured to correct the position of the first hydrogenation port by using the second camera to determine the position of the second hydrogenation port;

[0035] The control module is used to control the hydrogenation gun to move to the second hydrogenation port position so that the hydrogenation gun is docked with the hydrogenation port.

[0036] Optionally, the determining module is further used to:

[0037] Calculating the inclination angle of the plane where the hydrogenation port is located relative to the plane where the hydrogenation gun is located according to the first distance data acquired by the first camera; the first distance data is the distance between the center of the hydrogenation gun and the center of the hydrogenation port;

[0038] The tilt angle is corrected according to the first image data acquired by the first camera to determine the position of the first hydrogenation port.

[0039] Optionally, the determining module is further used to:

[0040] Correcting the position of the first hydrogenation port according to the second image data and the second distance data acquired by the second camera;

[0041] The correction result satisfying the error condition is determined as the second hydrogenation port position; the error condition is that the center angle error and the center offset error between the plane where the hydrogenation port is located and the plane where the hydrogenation gun is located are both less than the error threshold.

[0042] Optionally, the control module is further used to:

[0043] When it is determined by the torque sensor and the displacement sensor that the hydrogenation gun is successfully docked, locking the hydrogenation gun by the rotating mechanism;

[0044] When the hydrogenation gun is locked, the hydrogenation machine is controlled to open the bypass gas valve; the hydrogenation machine is connected to the hydrogenation system for communication;

[0045] When the filling is completed, the hydrogen filling gun is controlled to move to the initial position.

[0046] Optionally, the control device of the hydrogenation system further comprises a detection module, wherein the detection module is used to detect the resistance of the hydrogenation gun through the torque sensor during the docking process of the hydrogenation gun; and detect the docking depth through the displacement sensor;

[0047] The determination module is further configured to determine that the hydrogenation gun is successfully docked when the docking depth is equal to a preset depth threshold and the resistance is greater than or equal to a preset resistance threshold.

[0048] Optionally, the control module is further used to:

[0049] When it is determined by the torque sensor and the displacement sensor that the hydrogenation gun is successfully docked, controlling the rotating mechanism to rotate in a first direction to drive the handle of the hydrogenation gun;

[0050] When the angle value and the torque value of the rotating mechanism meet the preset range threshold, the hydrogenation gun is locked.

[0051] Optionally, the control module is further used to:

[0052] When the hydrogen filling gun is locked, in response to a filling instruction sent by the hydrogen filling machine, the hydrogen concentration is detected by the hydrogen sensor;

[0053] When the detected hydrogen concentration is less than a preset leakage threshold, a confirmation instruction is sent to the hydrogenator; wherein the confirmation instruction is used to instruct the hydrogenator to open the bypass gas circuit valve.

[0054] Optionally, the control module is further used to:

[0055] When receiving a filling end signal, controlling the rotating mechanism to rotate in a second direction; the second direction is the opposite direction of the first direction;

[0056] The hydrogenation gun is controlled to separate from the hydrogenation port and move to an initial position.

[0057] According to a third aspect of an embodiment of the present disclosure, a hydrogenation system is provided, the hydrogenation system comprising a controller, a first camera and a second camera; wherein,

[0058] The controller is used to execute the steps of the control method of the hydrogenation system provided in the first aspect of the embodiment of the present disclosure.

[0059] According to a fourth aspect of an embodiment of the present disclosure, a storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the control method of the hydrogenation system provided by the first aspect of the embodiment of the present disclosure are implemented.

[0060] According to a fifth aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0061] a memory having a computer program stored thereon;

[0062] A processor is used to execute the computer program in the memory to implement the steps of the control method of the hydrogenation system provided in the first aspect of the embodiment of the present disclosure.

[0063] Through the above technical solution, firstly, the first camera is used to locate the hydrogen filling port of the vehicle to determine the position of the first hydrogen filling port; secondly, the second camera is used to correct the position of the first hydrogen filling port to determine the position of the second hydrogen filling port; finally, the hydrogen filling gun is controlled to move to the second hydrogen filling port position so that the hydrogen filling gun and the hydrogen filling port are docked. In this way, on the one hand, two cameras are used to perform the two steps of locating the hydrogen filling port position and secondary positioning and correcting the hydrogen filling port position, so that the located hydrogen filling port position is more accurate; on the other hand, by automatically docking the hydrogen filling gun with the vehicle's hydrogen filling port, accidents caused by manual operation errors are avoided, while reducing the cost of the hydrogenation process.

[0064] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0066] Figure 1 It is a flow chart of a control method of a hydrogenation system provided by an exemplary embodiment of the present disclosure.

[0067] Figure 2 It is a flow chart of a control method of a hydrogenation system provided by an exemplary embodiment of the present disclosure.

[0068] Figure 3 It is a schematic diagram of a flow chart of positioning a hydrogenation port provided by an exemplary embodiment of the present disclosure.

[0069] Figure 4 It is a flow chart of a control method of a hydrogenation system provided by an exemplary embodiment of the present disclosure.

[0070] Figure 5 It is a flow chart of a control method of a hydrogenation system provided by an exemplary embodiment of the present disclosure.

[0071] Figure 6 It is a block diagram of a control device of a hydrogenation system provided by an exemplary embodiment of the present disclosure.

[0072] Figure 7 is a block diagram of a hydrogenation system provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0073] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0074] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0075] Before introducing the specific implementation methods of the present disclosure in detail, the application scenarios of the present disclosure are first described. The present disclosure can be applied to the hydrogenation control scenario of a hydrogenation station. At present, the technology of on-board hydrogen high-pressure gas storage tanks is mature and safe. The hydrogen fuel filling time is comparable to that of gasoline and diesel vehicles, and generally needs to be carried out in a hydrogenation station.

[0076] The present disclosure is described below in conjunction with specific embodiments.

[0077] Figure 1 : is a flow chart of a control method of a hydrogenation system provided by an exemplary embodiment of the present disclosure, the hydrogenation system includes a first camera and a second camera, and the method includes:

[0078] In step S101, a hydrogen refueling port of a vehicle is located by using a first camera to determine the position of the first hydrogen refueling port.

[0079] In this embodiment, the hydrogen filling port is a component on the vehicle that is connected to the hydrogen filling gun of the hydrogen filling machine during refueling. The hydrogen filling port integrates functional components such as a hydrogen filling nozzle, a filter, and a one-way valve. Among them, the hydrogen filling nozzle is the entrance of hydrogen, the filter is used to purify the gas and intercept impurities so that they do not pollute the fuel cell stack; the one-way valve is used to prevent gas from leaking out when the filling port is damaged.

[0080] In some embodiments, step S101 includes: extracting features from an image acquired by a first camera; and comparing the extracted features with hydrogenation port features stored in a preset database to determine the position of the first hydrogenation port.

[0081] The preset database may be a third-party device such as a cloud platform, and this embodiment does not specifically limit the preset database. For example, the hydrogenation system is provided with a Bluetooth module or other wireless communication module to achieve communication connection with a mobile device, and this embodiment does not limit the specific connection method.

[0082] In step S102, the position of the first hydrogenation port is corrected by a second camera to determine the position of the second hydrogenation port.

[0083] In some embodiments, step S102 includes: establishing a three-dimensional hydrogenation port model based on images acquired by the first camera and images acquired by the second camera, wherein the angles of the images acquired by the second camera and the first camera are different; and determining the position of the second hydrogenation port based on the three-dimensional hydrogenation port model.

[0084] Exemplarily, the first camera and the second camera photograph the hydrogenation port from different angles to obtain information of different angles of the three-dimensional model of the hydrogenation port, and establish a three-dimensional hydrogenation port model. According to the three-dimensional hydrogenation port model, the position of the second hydrogenation port is determined.

[0085] In step S103, the hydrogenation gun is controlled to move to the second hydrogenation port position so that the hydrogenation gun is docked with the hydrogenation port.

[0086] In this embodiment, the hydrogenation gun is disposed on a movable device, and the movable device may be a mobile hydrogenation robot. This embodiment does not specifically limit the movable device.

[0087] In some embodiments, step S103 includes: detecting the force condition of the hydrogenation gun by a torque sensor to determine whether the hydrogenation gun collides with an obstacle or a hydrogenation port during movement; if the hydrogenation gun collides with an obstacle or a hydrogenation port, returning to execute step S201.

[0088] In this way, damage to the hydrogenation gun during the docking process can be avoided, the possibility of accidents is reduced, and the safety of the docking between the hydrogenation gun and the hydrogenation port is guaranteed.

[0089] By adopting the above technical solution, on the one hand, two cameras are used to perform the two steps of locating the position of the hydrogen refueling port and secondary positioning and correction of the position of the hydrogen refueling port, so that the located position of the hydrogen refueling port is more accurate; on the other hand, by automatically connecting the hydrogen refueling gun with the hydrogen refueling port of the vehicle, accidents caused by human operating errors are avoided, and the cost of the hydrogen refueling process is reduced.

[0090] In some embodiments, Figure 2 As shown, the above step S101 includes the following steps.

[0091] In step S1011, the inclination angle of the plane where the hydrogenation port is located relative to the plane where the hydrogenation gun is located is calculated according to the first distance data acquired by the first camera.

[0092] The first distance data is the distance between the center of the hydrogenation gun and the center of the hydrogenation port.

[0093] In a possible implementation, obtaining the first distance data includes: establishing a spatial rectangular coordinate system with the center point of the hydrogenation gun as the origin; and determining the first distance data according to the three-dimensional distance data corresponding to the coordinates of the point where the hydrogenation port is located. For example, the first distance data may also be three distance data in the three directions of x, y, and z.

[0094] It should be noted that the hydrogen filling port of the vehicle is fixed in position, while the hydrogen filling gun can be moved and its angle can be adjusted. The premise for the normal sealing connection between the hydrogen filling gun and the hydrogen filling port is that the axis of the gun head of the hydrogen filling gun is parallel to and coincides with the axis of the hydrogen filling port. Therefore, in order to successfully connect the hydrogen filling gun and the hydrogen filling port, it is necessary to first calculate the angle difference between the axis of the hydrogen filling gun and the axis of the hydrogen filling port. This angle is the inclination angle of the cross section of the hydrogen filling port relative to the cross section of the hydrogen filling gun, that is, the inclination angle between the plane where the hydrogen filling port is located and the plane where the hydrogen filling gun is located.

[0095] In one possible implementation, step S1011 includes: using a built-in angle sensor to determine a first angle of the plane where the hydrogenation gun is located relative to the ground plane; calculating a second angle of the plane where the hydrogenation port is located relative to the ground plane based on the first distance data; and determining an inclination angle of the plane where the hydrogenation port is located relative to the plane where the hydrogenation gun is located based on the first angle and the second angle.

[0096] In step S1012, the tilt angle is corrected according to the first image data acquired by the first camera to determine the position of the first hydrogenation port.

[0097] In a possible implementation manner, acquiring the first image data includes: performing target detection on an image acquired by a first camera to obtain the first image data.

[0098] In one possible implementation, step S1012 includes: determining a target area image based on the first image data, the target area image being an image of the area where the hydrogenation port is located; determining a mapping relationship between any pixel point in the target area image and a corresponding object point, and determining a pixel equivalent of the any pixel point; correcting the tilt angle based on the mapping relationship and the pixel equivalent, and determining the position of the first hydrogenation port.

[0099] In some embodiments, after step S1012, the method further includes:

[0100] The hydrogenation gun is controlled to be adjusted to an inclined angle; the hydrogenation gun is controlled to move to a first designated position, where the first designated position is a first preset distance from the first hydrogenation port position.

[0101] In practical applications, the first preset distance can be set by technicians according to actual needs.

[0102] For example, Figure 3 is a schematic diagram of a flow chart of a positioning hydrogenation port provided by an exemplary embodiment of the present disclosure, combined with Figure 3 As shown, in the process of locating the first hydrogenation port, the hydrogenation gun is located at a long distance and wide range relative to the hydrogenation port, therefore, the inclination angle β between the plane where the hydrogenation port is located and the plane where the hydrogenation gun is located is calculated first. Then, the angle α that the hydrogenation gun needs to be adjusted is determined based on the inclination angle β, and finally the hydrogenation gun is adjusted so that the plane where the hydrogenation port is located is parallel to the plane where the hydrogenation gun is located.

[0103] By adopting the above method, the hydrogenation gun can be adjusted to a suitable angle by calculating the inclination angle of the plane where the hydrogenation port is located relative to the plane where the hydrogenation gun is located, which is beneficial to avoid damage to the hydrogenation gun during the subsequent docking process between the hydrogenation gun and the hydrogenation port.

[0104] In some embodiments, Figure 4 As shown, the above step S102 includes the following steps.

[0105] In step S1021, the position of the first hydrogenation port is corrected according to the second image data and the second distance data acquired by the second camera.

[0106] The second distance data is the distance data between the center of the hydrogenation gun and the center of the hydrogenation port after the hydrogenation gun is controlled to move.

[0107] In this embodiment, the method of acquiring the second image data and the second distance data is similar to the method of acquiring the first image data and the first distance data, and will not be described in detail herein.

[0108] In step S1022, the correction result satisfying the error condition is determined as the second hydrogenation port position.

[0109] The error condition is that the center angle error and the center offset error between the plane where the hydrogenation port is located and the plane where the hydrogenation gun is located are both less than the error threshold.

[0110] In one possible implementation, step S1022 includes: obtaining an error threshold; determining whether a center angle error between a plane where the hydrogen filling port is located and a plane where the hydrogen filling gun is located is less than an error threshold; determining whether a center offset error between a plane where the hydrogen filling port is located and a plane where the hydrogen filling gun is located is less than an error threshold; and when both the center angle error and the center offset error are less than the error threshold, determining the correction result as the second hydrogen filling port position.

[0111] In actual applications, the error threshold is related to the model and specifications of the hydrogenation gun, and technicians can set it according to their needs.

[0112] In some embodiments, after step S1022, the method further includes:

[0113] The hydrogenation gun is controlled to move to a second designated position, where the second designated position is at a second preset distance from the second hydrogenation port, and the second preset distance is smaller than the first preset distance.

[0114] In practical applications, the second preset distance can be set by technicians according to actual needs.

[0115] Exemplary, combined Figure 3 As shown, after step S1022, the hydrogenation gun is moved so that the hydrogenation gun is at a position close to the hydrogenation port and at a small range. The position of the first hydrogenation port is corrected by using three or one distance data and the image data of the second camera. When the center angle error and the center offset error both meet the required error thresholds, the hydrogenation gun is controlled to be close to the hydrogenation port to facilitate subsequent docking.

[0116] By adopting the above method, the hydrogenation gun and the hydrogenation port are accurately approached after two-stage regional positioning. The center angle error and center offset error of the cross-sections of the hydrogenation gun and the hydrogenation port meet the requirements, and the position of the hydrogenation port is determined with high precision, preparing for the subsequent docking of the hydrogenation gun and the hydrogenation port.

[0117] Figure 5 is a flow chart of a control method of a hydrogenation system according to an exemplary embodiment, wherein the hydrogenation system further includes a torque sensor, a displacement sensor and a rotating mechanism, such as Figure 5 As shown, the method may include the following steps:

[0118] In step S501, the hydrogen refueling port of the vehicle is located by using a first camera to determine the position of the first hydrogen refueling port.

[0119] Accordingly, the implementation of step S501 may refer to the embodiment of step S101, which will not be described in detail here.

[0120] In step S502, the position of the first hydrogenation port is corrected by a second camera to determine the position of the second hydrogenation port.

[0121] Accordingly, the implementation of step S502 may refer to the embodiment of step S102, which will not be described in detail here.

[0122] In step S503, the hydrogenation gun is moved to the second hydrogenation port position so that the hydrogenation gun is docked with the hydrogenation port.

[0123] Accordingly, the implementation of step S503 may refer to the embodiment of step S103, which will not be described in detail here.

[0124] In step S504, when it is determined by the torque sensor and the displacement sensor that the hydrogenation gun is successfully docked, the hydrogenation gun is locked by the rotating mechanism.

[0125] In this embodiment, the torque sensor can be a strain type, magnetoelectric, optical fiber and photoelectric sensor, etc., and the displacement sensor can be a potentiometer displacement sensor, an inductive displacement sensor, a synchro, a capacitive displacement sensor, an eddy current displacement sensor, a Hall displacement sensor, etc., which is not limited in this embodiment.

[0126] In this embodiment, the rotating mechanism may be a rotating turntable, or a transmission device having a pulley, which is not limited in this embodiment.

[0127] In some embodiments, step S504 includes:

[0128] When the hydrogenation gun is successfully docked, the rotating mechanism is controlled to rotate in a first direction to drive the handle of the hydrogenation gun;

[0129] When the angle value and torque value of the rotating mechanism meet the preset range threshold, the hydrogenation gun is locked.

[0130] In this embodiment, when the rotating mechanism is a rotating turntable, the first direction is a clockwise direction, and when the rotating mechanism is a transmission device having a pulley, the first direction is a rightward direction.

[0131] In some embodiments, before step S504, the method further includes:

[0132] During the docking process of the hydrogenation gun, the resistance of the hydrogenation gun is detected by a torque sensor;

[0133] The docking depth is detected by a displacement sensor;

[0134] When the docking depth is equal to the preset depth threshold and the resistance is greater than or equal to the preset resistance threshold, it is determined that the hydrogenation gun is successfully docked.

[0135] In this embodiment, the hydrogenation gun and the hydrogenation port are connected by sleeve connection to a certain depth, with the hydrogenation gun outside and the hydrogenation port inside.

[0136] Exemplary, combined Figure 3 As shown, the hydrogenation gun and the hydrogenation port are at a very close distance when docking, and the depth value of the hydrogenation gun is adjusted to complete the docking of the two.

[0137] In some embodiments, after step S504, the method further includes:

[0138] If the hydrogenation gun is successfully docked, the operating handle of the hydrogenation gun is rotated. If the operating handle of the hydrogenation gun can be rotated, the docking is in place, and step S505 is executed; if the operating handle of the hydrogenation gun cannot be rotated, it means that the docking is not in place, and the process returns to step S501. Optionally, if the operating handle of the hydrogenation gun cannot be rotated, the automatic operation is terminated and an alarm message is sent.

[0139] In step S505, when the hydrogenation gun is locked, the bypass gas valve of the hydrogenation machine is opened; the hydrogenation machine is communicatively connected with the hydrogenation system.

[0140] In some embodiments, step S505 includes:

[0141] When the hydrogen filling gun is locked, the hydrogen concentration is detected by the hydrogen sensor in response to the filling instruction sent by the hydrogen filling machine;

[0142] When the detected hydrogen concentration is less than a preset leakage threshold, a confirmation instruction is sent to the hydrogenator; wherein the confirmation instruction is used to instruct the hydrogenator to open the bypass gas circuit valve.

[0143] Exemplarily, the filling instruction sent by the hydrogen filling machine may be a "filling preparation to be confirmed" signal, and the confirmation instruction may be a "filling preparation confirmed" signal.

[0144] In one possible implementation, in step S505, when the hydrogen filling gun is locked, in response to the filling instruction sent by the hydrogen filling machine, after detecting the hydrogen concentration by the hydrogen sensor, the above method may also include: when the detected hydrogen concentration is greater than or equal to a preset leakage threshold, controlling the hydrogen filling gun to stop operating; and sending an alarm signal to the hydrogen filling machine.

[0145] In this way, the hydrogen concentration is detected by the gas sensor, which enables the self-inspection of the hydrogenation system, reduces the safety hazards caused by hydrogen leakage, and ensures the safety and reliability of the subsequent hydrogenation process.

[0146] In one possible implementation, in step S505, when the detected hydrogen concentration is less than a preset leakage threshold, after sending a confirmation instruction to the hydrogen filling machine, the above method may also include: sending a "filling start" signal and estimated filling time data to the hydrogen filling machine, so that the hydrogen filling machine starts to fill the vehicle with hydrogen; periodically sending a heartbeat signal to the hydrogen filling machine, the heartbeat signal is used to determine whether the hydrogen filling machine is working normally; if no heartbeat signal is received, closing the bypass gas circuit valve, so that the hydrogen filling machine stops filling hydrogen.

[0147] In this way, the operation status of the hydrogen filling machine is detected during the hydrogen filling process. If no signal is received within the time limit during the filling process, the bypass gas line valve is closed to stop the filling, thereby avoiding accidents caused by hydrogen filling machine failure and making the hydrogen filling process safer.

[0148] In step S506, when the filling is completed, the hydrogen filling gun is controlled to move to the initial position.

[0149] In some embodiments, step S506 includes: controlling the hydrogenation gun to separate from the hydrogenation port; and controlling the hydrogenation gun to move to an initial position.

[0150] In some embodiments, in step S506, when the filling is completed, the method further includes:

[0151] When receiving the filling end signal, the rotating mechanism is controlled to rotate in a second direction; the second direction is the opposite direction of the first direction;

[0152] The hydrogenation gun is controlled to separate from the hydrogenation port and move to the initial position.

[0153] In this embodiment, when the rotating mechanism is a rotating turntable, the second direction is a counterclockwise direction, and when the rotating mechanism is a transmission device with a pulley, the first direction is a left direction.

[0154] In a possible implementation, before step S506, the method further includes:

[0155] After the filling stop condition is reached, a "filling request end" signal is sent to the hydrogen filling machine control system. The filling stop condition is that the expected filling time is exceeded. When the "filling end" signal is received, the operation of disconnecting the hydrogen filling gun is executed; when the "filling end" signal is not received, an alarm message is issued.

[0156] Optionally, in the case of receiving a filling completion signal, the method further comprises: after the hydrogenation is completed, venting the residual hydrogen in the hydrogenation gun.

[0157] In this way, the residual hydrogen can be vented after the hydrogenation is completed without the need for manual exhaust, which effectively avoids the safety hazards caused by residual hydrogen and improves the safety and reliability of the hydrogenation machine.

[0158] By adopting the above method, the hydrogen filling gun can be accurately and collision-freely connected to the hydrogen filling port, and then the hydrogen filling gun can be locked. After that, the filling process can be safely completed by communicating with the hydrogen filling machine. On the premise of reducing the hardware cost of the automatic filling system, safe automatic filling can be achieved, thereby reducing the operating cost of the hydrogen filling station.

[0159] Figure 6 FIG. 1 is a block diagram of a control device of a hydrogenation system according to an exemplary embodiment. Figure 6 , the device includes a determination module 601 and a control module 602.

[0160] A determination module 601 locates the hydrogen refueling port of the vehicle by using a first camera to determine the position of the first hydrogen refueling port;

[0161] The determination module 601 is further used to correct the position of the first hydrogenation port through a second camera to determine the position of the second hydrogenation port;

[0162] The control module 602 is used to control the hydrogenation gun to move to the second hydrogenation port position so that the hydrogenation gun is docked with the hydrogenation port.

[0163] Optionally, the determination module 601 is further configured to:

[0164] Calculate the inclination angle of the plane where the hydrogenation port is located relative to the plane where the hydrogenation gun is located according to the first distance data acquired by the first camera; the first distance data is the distance between the center of the hydrogenation gun and the center of the hydrogenation port;

[0165] The tilt angle is corrected according to the first image data acquired by the first camera to determine the position of the first hydrogenation port.

[0166] Optionally, the determination module 601 is further configured to:

[0167] Correcting the position of the first hydrogenation port according to the second image data and the second distance data acquired by the second camera;

[0168] The correction result that meets the error condition is determined as the second hydrogenation port position; the error condition is that the center angle error and the center offset error between the plane where the hydrogenation port is located and the plane where the hydrogenation gun is located are both less than the error threshold.

[0169] Optionally, the control module 602 is further configured to:

[0170] When the hydrogenation gun is successfully docked through the torque sensor and the displacement sensor, the hydrogenation gun is locked through the rotating mechanism;

[0171] When the hydrogenation gun is locked, the hydrogenation machine is controlled to open the bypass gas valve; the hydrogenation machine is connected to the hydrogenation system by communication;

[0172] When the filling is completed, the hydrogen filling gun is controlled to move to the initial position.

[0173] Optionally, the control device of the hydrogenation system further comprises a detection module, the detection module being used to detect the resistance of the hydrogenation gun through a torque sensor during the docking process of the hydrogenation gun; and to detect the docking depth through a displacement sensor;

[0174] The determination module 601 is further used to determine that the hydrogenation gun is successfully docked when the docking depth is equal to a preset depth threshold and the resistance is greater than or equal to a preset resistance threshold.

[0175] Optionally, the control module 602 is further configured to:

[0176] When it is determined through the torque sensor and the displacement sensor that the hydrogenation gun is successfully docked, the rotating mechanism is controlled to rotate in a first direction to drive the handle of the hydrogenation gun;

[0177] When the angle value and torque value of the rotating mechanism meet the preset range threshold, the hydrogenation gun is locked.

[0178] Optionally, the control module 602 is further configured to:

[0179] When the hydrogen filling gun is locked, the hydrogen concentration is detected by the hydrogen sensor in response to the filling instruction sent by the hydrogen filling machine;

[0180] When the detected hydrogen concentration is less than a preset leakage threshold, a confirmation instruction is sent to the hydrogenator; wherein the confirmation instruction is used to instruct the hydrogenator to open the bypass gas circuit valve.

[0181] Optionally, the control module 602 is further configured to:

[0182] When receiving the filling end signal, the rotating mechanism is controlled to rotate in a second direction; the second direction is the opposite direction of the first direction;

[0183] The hydrogenation gun is controlled to separate from the hydrogenation port and move to the initial position.

[0184] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0185] Figure 7 FIG. 7 is a block diagram of an electronic device 700 according to an exemplary embodiment. Figure 7As shown, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0186] The processor 701 is used to control the overall operation of the electronic device 700 to complete all or part of the steps in the control method of the hydrogenation system. The memory 702 is used to store various types of data to support the operation of the electronic device 700. For example, these data may include instructions for any application or method used to operate on the electronic device 700, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 702 or sent through the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, and the other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module, etc.

[0187] In an exemplary embodiment, the electronic device 700 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned control method of the hydrogenation system.

[0188] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned control method of the hydrogenation system are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the electronic device 700 to complete the above-mentioned control method of the hydrogenation system.

[0189] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned control method of the hydrogenation system when executed by the programmable device.

[0190] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0191] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0192] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A control method for a hydrogenation system, characterized in that: The hydrogenation system includes a first camera and a second camera; the method includes: Locating the hydrogen refueling port of the vehicle by using the first camera to determine the position of the first hydrogen refueling port; Correcting the position of the first hydrogenation port by using the second camera to determine the position of the second hydrogenation port; The hydrogenation gun is controlled to move to the second hydrogenation port position so that the hydrogenation gun is docked with the hydrogenation port.

2. The control method of the hydrogenation system according to claim 1, characterized in that: The method of positioning the hydrogen refueling port of the vehicle by using the first camera to determine the position of the first hydrogen refueling port includes: Calculating the inclination angle of the plane where the hydrogenation port is located relative to the plane where the hydrogenation gun is located according to the first distance data acquired by the first camera; the first distance data is the distance between the center of the hydrogenation gun and the center of the hydrogenation port; The tilt angle is corrected according to the first image data acquired by the first camera to determine the position of the first hydrogenation port.

3. The control method of the hydrogenation system according to claim 1, characterized in that: The method of correcting the position of the first hydrogenation port by using the second camera to determine the position of the second hydrogenation port includes: Correcting the position of the first hydrogenation port according to the second image data and the second distance data acquired by the second camera; the second distance data is the distance data between the center of the hydrogenation gun after the movement and the center of the hydrogenation port; The correction result satisfying the error condition is determined as the second hydrogenation port position; the error condition is that the center angle error and the center offset error between the plane where the hydrogenation port is located and the plane where the hydrogenation gun is located are both less than the error threshold.

4. The control method of the hydrogenation system according to any one of claims 1 to 3, characterized in that: The hydrogenation system further includes a torque sensor, a displacement sensor and a rotating mechanism; the method further includes: When it is determined by the torque sensor and the displacement sensor that the hydrogenation gun is successfully docked, locking the hydrogenation gun by the rotating mechanism; When the hydrogenation gun is locked, the hydrogenation machine is controlled to open the bypass gas valve; the hydrogenation machine is connected to the hydrogenation system for communication; When the filling is completed, the hydrogen filling gun is controlled to move to the initial position.

5. The control method of the hydrogenation system according to claim 4, characterized in that: The method further comprises: During the docking process of the hydrogenation gun, the resistance of the hydrogenation gun is detected by the torque sensor; Detecting the docking depth by means of the displacement sensor; When the docking depth is equal to a preset depth threshold and the resistance is greater than or equal to a preset resistance threshold, it is determined that the hydrogenation gun is successfully docked.

6. The control method of the hydrogenation system according to claim 4, characterized in that: When it is determined by the torque sensor and the displacement sensor that the hydrogenation gun is successfully docked, locking the hydrogenation gun by the rotating mechanism comprises: When it is determined by the torque sensor and the displacement sensor that the hydrogenation gun is successfully docked, controlling the rotating mechanism to rotate in a first direction to drive the handle of the hydrogenation gun; When the angle value and the torque value of the rotating mechanism meet the preset range threshold, the hydrogenation gun is locked.

7. The control method of the hydrogenation system according to claim 4, characterized in that: The hydrogenation system further includes a hydrogen sensor, which controls the hydrogenation machine to open a bypass gas valve when the hydrogenation gun is locked, including: When the hydrogen filling gun is locked, in response to a filling instruction sent by the hydrogen filling machine, the hydrogen concentration is detected by the hydrogen sensor; When the detected hydrogen concentration is less than a preset leakage threshold, a confirmation instruction is sent to the hydrogenator; wherein the confirmation instruction is used to instruct the hydrogenator to open the bypass gas circuit valve.

8. The control method of the hydrogenation system according to claim 7, characterized in that: The method further comprises: When receiving a filling end signal, the rotating mechanism is controlled to rotate in a second direction; the second direction is the opposite direction of the first direction; The hydrogenation gun is controlled to separate from the hydrogenation port and move to an initial position.

9. A control device for a hydrogenation system, characterized in that: include: a determination module, locating the hydrogen refueling port of the vehicle by using the first camera to determine the position of the first hydrogen refueling port; The determination module is further configured to correct the position of the first hydrogenation port by using the second camera to determine the position of the second hydrogenation port; The control module is used to control the hydrogenation gun to move to the second hydrogenation port position so that the hydrogenation gun is docked with the hydrogenation port.

10. A hydrogenation system, characterized in that: The hydrogenation system includes a controller, a first camera and a second camera; wherein, The controller is used to execute the control method of the hydrogenation system according to any one of claims 1 to 8.

Images