Control method and device of hydrogenation system and hydrogenation system

Abstract

The present disclosure relates to a control method and device of a hydrogenation system and the hydrogenation system, and relates to the technical field of hydrogenation. The hydrogenation system comprises a first camera and a second camera. The method comprises: positioning a hydrogenation port of a vehicle by the first camera to determine a first hydrogenation port position; correcting the first hydrogenation port position by the second camera to determine a second hydrogenation port position; and controlling the hydrogenation gun to move to the second hydrogenation port position so that the hydrogenation gun is connected to the hydrogenation port. In this way, on the one hand, two steps of positioning the hydrogenation port position and twice positioning and correcting the hydrogenation port position are performed by using two cameras, so that the positioned hydrogenation port position is more accurate. On the other hand, the hydrogenation gun is automatically connected to the hydrogenation port of the vehicle, which avoids accidents caused by manual operation errors and reduces the cost of the hydrogenation process.

Description

Technical Field

[0001] This disclosure relates to the field of hydrogenation technology, and in particular to a control method, apparatus and hydrogenation system for a hydrogenation system. Background Technology

[0002] Currently, the technology for on-board high-pressure hydrogen storage tanks is mature and highly safe. Hydrogen refueling time is comparable to that of gasoline and diesel vehicles, and it generally needs to be done at a hydrogen refueling station.

[0003] In related technologies, hydrogen refueling at hydrogen refueling stations is generally done manually by staff. After the car enters the refueling area, staff first open the outer protective cover of the car's hydrogen refueling port, then check for hydrogen leaks. After confirming there are no leaks, they insert an electrostatic clamp into the vehicle's designated grounding point, then open the dust cover of the refueling port, and precisely align the refueling nozzle with the port for refueling. After refueling, the dust cover is reinstalled, the outer protective cover is closed, and the electrostatic clamp is removed. It is evident that the entire hydrogen refueling process, including moving the refueling nozzle and aligning it with the vehicle's refueling port, requires manual operation, resulting in high costs and susceptibility to operational errors. Summary of the Invention

[0004] To overcome the problems existing in the related technologies, this disclosure provides a control method, apparatus and hydrogenation system for a hydrogenation system.

[0005] According to a first aspect of the present disclosure, a control method for a hydrogen refueling system is provided, the hydrogen refueling system including a first camera and a second camera; the method includes:

[0006] The location of the first hydrogen refueling port is determined by locating the hydrogen refueling port of the vehicle using the first camera.

[0007] The position of the second hydrogen filling port is determined by correcting the position of the first hydrogen filling port using the second camera;

[0008] Control the hydrogen refueling gun to move to the second hydrogen refueling port position, so that the hydrogen refueling gun is connected to the hydrogen refueling port.

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

[0010] Based on the first distance data acquired by the first camera, the tilt angle of the plane where the hydrogen refueling port is located relative to the plane where the hydrogen refueling gun is located is calculated; the first distance data is the distance between the center of the hydrogen refueling gun and the center of the hydrogen refueling port;

[0011] The tilt angle is corrected based on the first image data acquired by the first camera to determine the position of the first hydrogen refueling port.

[0012] Optionally, the step of correcting the position of the first hydrogen filling port using the second camera to determine the position of the second hydrogen filling port includes:

[0013] The position of the first hydrogen refueling port is corrected based on the second image data and the second distance data acquired by the second camera; the second distance data is the distance between the center of the hydrogen refueling gun and the center of the hydrogen refueling port after the movement.

[0014] The correction result that meets the error condition is determined as the position of the second hydrogen filling port; the error condition is that the center angle error and center offset error between the plane where the hydrogen filling port is located and the plane where the hydrogen filling 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 rotation mechanism; the method further includes:

[0016] Once the torque sensor and the displacement sensor confirm that the hydrogen refueling gun has been successfully docked, the hydrogen refueling gun is locked by the rotating mechanism.

[0017] With the hydrogen refueling nozzle locked, open the bypass gas valve of the hydrogen dispenser; control the hydrogen dispenser to open the bypass gas valve;

[0018] When refueling is complete, control the hydrogen refueling gun to move back to its initial position.

[0019] Optionally, the method further includes:

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

[0021] The docking depth is detected by the displacement sensor;

[0022] If the docking depth is equal to a preset depth threshold and the resistance is greater than or equal to a preset resistance threshold, the hydrogen refueling gun is determined to be successfully docked.

[0023] Optionally, the step of locking the hydrogen refueling gun via the rotating mechanism after confirming successful docking through the torque sensor and the displacement sensor includes:

[0024] If the torque sensor and the displacement sensor confirm that the hydrogen refueling gun has been successfully docked, the rotating mechanism is controlled to rotate in the first direction to drive the handle of the hydrogen refueling gun.

[0025] When the angle and torque values ​​of the rotating mechanism meet a preset range threshold, the hydrogen refueling gun is locked.

[0026] Optionally, opening the bypass gas line valve of the hydrogen dispenser when the hydrogen dispensing nozzle is locked includes:

[0027] With the hydrogen refueling nozzle locked, the hydrogen concentration is detected by the hydrogen sensor in response to the refueling command sent by the hydrogen dispenser;

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

[0029] Optionally, the method further includes:

[0030] Upon receiving a signal indicating the end of refueling, the rotating mechanism is controlled to rotate in a second direction; the second direction is the opposite of the first direction.

[0031] Control the hydrogen refueling gun to separate from the hydrogen refueling port and move it to the initial position.

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

[0033] The module determines the location of the hydrogen refueling port of the vehicle by using the first camera;

[0034] The determining module is further configured to correct the position of the first hydrogen filling port using the second camera, and determine the position of the second hydrogen filling port;

[0035] The control module is used to control the hydrogen refueling gun to move to the second hydrogen refueling port position, so that the hydrogen refueling gun is connected to the hydrogen refueling port.

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

[0037] Based on the first distance data acquired by the first camera, the tilt angle of the plane where the hydrogen refueling port is located relative to the plane where the hydrogen refueling gun is located is calculated; the first distance data is the distance between the center of the hydrogen refueling gun and the center of the hydrogen refueling port;

[0038] The tilt angle is corrected based on the first image data acquired by the first camera to determine the position of the first hydrogen refueling port.

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

[0040] The position of the first hydrogen refueling port is corrected based on the second image data and second distance data acquired by the second camera;

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

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

[0043] Once the torque sensor and the displacement sensor confirm that the hydrogen refueling gun has been successfully docked, the hydrogen refueling gun is locked by the rotating mechanism.

[0044] With the hydrogen refueling nozzle locked, the hydrogen dispenser is controlled to open the bypass gas circuit valve; the hydrogen dispenser is communicatively connected to the hydrogen refueling system;

[0045] When refueling is complete, control the hydrogen refueling gun to move back to its initial position.

[0046] Optionally, the control device of the hydrogen refueling system further includes a detection module, which is used to detect the resistance of the hydrogen refueling gun through the torque sensor and the docking depth through the displacement sensor during the docking process of the hydrogen refueling gun.

[0047] The determining module is further configured to determine that the hydrogen refueling gun has 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 configured to:

[0049] If the torque sensor and the displacement sensor confirm that the hydrogen refueling gun has been successfully docked, the rotating mechanism is controlled to rotate in the first direction to drive the handle of the hydrogen refueling gun.

[0050] When the angle and torque values ​​of the rotating mechanism meet a preset range threshold, the hydrogen refueling gun is locked.

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

[0052] With the hydrogen refueling nozzle locked, the hydrogen concentration is detected by the hydrogen sensor in response to the refueling command sent by the hydrogen dispenser;

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

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

[0055] Upon receiving a signal indicating the end of refueling, the rotating mechanism is controlled to rotate in a second direction; the second direction is the opposite of the first direction.

[0056] Control the hydrogen refueling gun to separate from the hydrogen refueling port and move it to the initial position.

[0057] According to a third aspect of the present disclosure, a hydrogen refueling system is provided, the hydrogen refueling system including a controller, a first camera, and a second camera; wherein...

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

[0059] According to a fourth aspect of the present disclosure, a storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of the control method for a hydrogenation system provided in the first aspect of the present disclosure.

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

[0061] A memory on which computer programs are stored;

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

[0063] The above technical solution involves several steps. First, a first camera locates the vehicle's hydrogen refueling port, determining its position. Second, a second camera corrects the position of the first refueling port, determining its position. Finally, the refueling nozzle is moved to the second refueling port position, aligning with it. This approach achieves two key benefits: first, using two cameras to perform both initial location and secondary correction of the refueling port position ensures greater accuracy; second, automatic alignment of the refueling nozzle with the vehicle's refueling port avoids accidents caused by human error and reduces the cost of the refueling process.

[0064] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0065] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0066] Figure 1 This is a flowchart of a control method for a hydrogenation system provided in an exemplary embodiment of this disclosure.

[0067] Figure 2 This is a flowchart of a control method for a hydrogenation system provided in an exemplary embodiment of this disclosure.

[0068] Figure 3 This is a schematic diagram of a process for locating a hydrogen refueling port provided by an exemplary embodiment of this disclosure.

[0069] Figure 4 This is a flowchart of a control method for a hydrogenation system provided in an exemplary embodiment of this disclosure.

[0070] Figure 5 This is a flowchart of a control method for a hydrogenation system provided in an exemplary embodiment of this disclosure.

[0071] Figure 6 This is a block diagram of a control device for a hydrogenation system provided in an exemplary embodiment of this disclosure.

[0072] Figure 7 This is a block diagram of a hydrogenation system provided in an exemplary embodiment of this disclosure. Detailed Implementation

[0073] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0074] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0075] Before detailing the specific embodiments of this disclosure, its application scenarios will first be explained. This disclosure can be applied to hydrogen refueling control scenarios at hydrogen refueling stations. Currently, on-board high-pressure hydrogen storage tank technology is mature, highly safe, and hydrogen refueling time is comparable to that of gasoline and diesel vehicles, generally requiring refueling to be carried out at hydrogen refueling stations.

[0076] The present disclosure will now be described in conjunction with specific embodiments.

[0077] Figure 1 This is a flowchart of a control method for a hydrogen refueling system provided in an exemplary embodiment of the present disclosure. The hydrogen refueling system includes a first camera and a second camera. The method includes:

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

[0079] In this embodiment, the hydrogen refueling port is a component on the vehicle that connects to the hydrogen refueling nozzle of the hydrogen refueling machine during refueling. The hydrogen refueling port integrates functional components such as a hydrogen nozzle, a filter, and a one-way valve. Among them, the hydrogen nozzle is the inlet of hydrogen gas, the filter is used to purify the gas and intercept impurities to prevent them from contaminating the fuel cell stack, and the one-way valve is used to prevent gas leakage in the event of damage to the refueling port.

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

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

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

[0083] In some embodiments, step S102 includes: establishing a three-dimensional hydrogen refueling port model based on the image acquired by the first camera and the image acquired by the second camera, wherein the angle of the image acquired by the second camera is different from that of the image acquired by the first camera; and determining the position of the second hydrogen refueling port based on the three-dimensional hydrogen refueling port model.

[0084] For example, the first camera and the second camera take pictures of the hydrogen refueling port from different angles to obtain information about the three-dimensional model of the hydrogen refueling port from different angles, and establish a three-dimensional hydrogen refueling port model. Based on the three-dimensional hydrogen refueling port model, the position of the second hydrogen refueling port is determined.

[0085] In step S103, the hydrogen refueling gun is moved to the second hydrogen refueling port position so that the hydrogen refueling gun is connected to the hydrogen refueling port.

[0086] In this embodiment, the hydrogen refueling gun is mounted on a movable device, which can be a mobile hydrogen refueling robot. This embodiment does not specifically limit the movable device.

[0087] In some embodiments, step S103 includes: detecting the force on the hydrogen refueling gun using a torque sensor to determine whether the hydrogen refueling gun collides with an obstacle or a hydrogen refueling port during its movement; if the hydrogen refueling gun collides with an obstacle or a hydrogen refueling port, returning to step S201.

[0088] This avoids damage to the hydrogen refueling gun during the docking process, reduces the possibility of accidents, and ensures the safety of docking the hydrogen refueling gun with the hydrogen refueling port.

[0089] By adopting the above technical solution, on the one hand, two cameras are used to perform two steps: locating the hydrogen refueling port and then performing a secondary positioning correction, making the located hydrogen refueling port position more accurate; on the other hand, by automatically connecting the hydrogen refueling gun to the vehicle's hydrogen refueling port, accidents caused by human error are avoided, while also reducing the cost of the hydrogen refueling process.

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

[0091] In step S1011, the tilt angle of the plane where the hydrogen filling port is located relative to the plane where the hydrogen filling gun is located is calculated based on the first distance data acquired by the first camera.

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

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

[0094] It should be noted that the hydrogen refueling port of the vehicle is in a fixed position, while the hydrogen refueling nozzle can be moved and its angle adjusted. For a proper seal between the hydrogen refueling nozzle and the hydrogen refueling port, the centerline of the nozzle tip and the centerline of the refueling port must be parallel and coincident. Therefore, to ensure successful docking, the angle difference between the centerlines of the hydrogen refueling nozzle and the refueling port needs to be calculated. This angle is the tilt angle of the refueling port cross-section relative to the refueling nozzle cross-section, that is, the tilt angle between the plane containing the refueling port and the plane containing the refueling nozzle.

[0095] In one possible implementation, step S1011 includes: determining a first angle between the plane where the hydrogen refueling gun is located and the ground plane using a built-in angle sensor; calculating a second angle between the plane where the hydrogen refueling port is located and the ground plane based on first distance data; and determining the tilt angle between the plane where the hydrogen refueling port is located and the plane where the hydrogen refueling gun is located based on the first angle and the second angle.

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

[0097] In one possible implementation, obtaining the first image data includes: performing target detection on the image acquired by the first camera to obtain the first image data.

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

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

[0100] Adjust the hydrogen refueling nozzle to the tilt angle; move the hydrogen refueling nozzle to the first designated position, which is a first preset distance from the first hydrogen refueling port.

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

[0102] For example, Figure 3 This is a schematic diagram of a process for locating a hydrogen refueling port provided by an exemplary embodiment of this disclosure, in conjunction with... Figure 3 As shown, during the positioning of the first hydrogen filling port, the hydrogen filling gun is located at a greater distance and over a wider area relative to the hydrogen filling port. Therefore, the tilt angle β between the plane containing the hydrogen filling port and the plane containing the hydrogen filling gun is first calculated. Next, based on this tilt angle β, the angle α that the hydrogen filling gun needs to be adjusted is determined. Finally, the hydrogen filling gun is adjusted so that the plane containing the hydrogen filling port is parallel to the plane containing the hydrogen filling gun.

[0103] By using the above method, the hydrogen refueling gun can be adjusted to a suitable angle by calculating the tilt angle of the plane where the hydrogen refueling port is located relative to the plane where the hydrogen refueling gun is located. This helps to avoid damage to the hydrogen refueling gun during the subsequent docking process between the hydrogen refueling gun and the hydrogen refueling port.

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

[0105] In step S1021, the position of the first hydrogen refueling port is corrected based on the second image data and the second distance data acquired by the second camera.

[0106] The second distance data is the distance between the center of the hydrogen refueling gun and the center of the hydrogen refueling port after the hydrogen refueling gun is moved.

[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 again here.

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

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

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

[0111] In practical applications, this error threshold is related to the model and specifications of the hydrogen refueling gun, and technicians can set it themselves as needed.

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

[0113] The hydrogen refueling gun is moved to a second designated position, which is a second preset distance from the second hydrogen refueling port, and this second preset distance is less than the first preset distance.

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

[0115] For example, in combination Figure 3 As shown, after step S1022, the hydrogen refueling gun is moved so that it is in a position that is close to and small in range relative to the hydrogen refueling port. The position of the first hydrogen refueling port is corrected by 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 threshold, the hydrogen refueling gun is controlled to move closer to the hydrogen refueling port to facilitate subsequent docking.

[0116] Using the above method, after two-stage regional positioning, the hydrogen refueling gun and the hydrogen refueling port are accurately brought close together. The center angle error and center offset error of the cross sections of the hydrogen refueling gun and the hydrogen refueling port both meet the requirements, and the position of the hydrogen refueling port with high accuracy is determined, which prepares for the subsequent docking of the hydrogen refueling gun and the hydrogen refueling port.

[0117] Figure 5 This is a flowchart illustrating a control method for a hydrogen refueling system according to an exemplary embodiment, wherein the hydrogen refueling 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 the first camera to determine the position of the first hydrogen refueling port.

[0119] Accordingly, the implementation of step S501 can refer to the embodiment of step S101, and will not be repeated here.

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

[0121] Accordingly, the implementation of step S502 can refer to the embodiment of step S102, and will not be repeated here.

[0122] In step S503, the hydrogen refueling gun is moved to the second hydrogen refueling port position so that the hydrogen refueling gun is connected to the hydrogen refueling port.

[0123] Accordingly, the implementation of step S503 can refer to the embodiment of step S103, and will not be repeated here.

[0124] In step S504, after confirming successful docking of the hydrogen refueling gun via the torque sensor and displacement sensor, the hydrogen refueling gun is locked by the rotation mechanism.

[0125] In this embodiment, the torque sensor can be a strain gauge type, magnetoelectric type, fiber optic type, or photoelectric type sensor, etc., and the displacement sensor can be a potentiometer type displacement sensor, an inductive displacement sensor, a synchro, a capacitive displacement sensor, an eddy current type displacement sensor, a Hall effect type displacement sensor, etc. This embodiment does not limit the type of displacement sensor.

[0126] In this embodiment, the rotating mechanism can be a rotating turntable or a transmission device with pulleys; this embodiment does not limit the specific type of rotating mechanism.

[0127] In some embodiments, step S504 includes:

[0128] Once the torque sensor and displacement sensor confirm that the hydrogen refueling gun has been successfully docked, the rotating mechanism is controlled to rotate in the first direction to drive the handle of the hydrogen refueling gun.

[0129] When the angle and torque values ​​of the rotating mechanism meet the preset range threshold, the hydrogen refueling gun is locked.

[0130] In this embodiment, when the rotating mechanism is a rotating turntable, the first direction is clockwise; when the rotating mechanism is a transmission device with a pulley, the first direction is to the right.

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

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

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

[0134] If the docking depth is equal to the preset depth threshold and the resistance is greater than or equal to the preset resistance threshold, the hydrogen refueling gun docking is confirmed to be successful.

[0135] In this embodiment, the hydrogen refueling gun and the hydrogen refueling port are connected by fitting them together to a certain depth, with the hydrogen refueling gun on the outside and the hydrogen refueling port on the inside.

[0136] For example, in combination Figure 3 As shown, the hydrogen refueling gun and the hydrogen refueling port are at a very close distance when they are connected. The depth value of the hydrogen refueling gun is adjusted to complete the connection between the two.

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

[0138] If the hydrogen refueling nozzle is successfully docked, rotate the operating handle of the hydrogen refueling nozzle. If the operating handle can be rotated, the docking is in place, and step S505 is executed; if the operating handle cannot be rotated, the docking is not in place, and the process returns to step S501. Optionally, if the operating handle of the hydrogen refueling nozzle cannot be rotated, the automatic operation is stopped, and an alarm message is sent.

[0139] In step S505, with the hydrogen refueling gun locked, the bypass gas valve of the hydrogen refueling machine is opened; the hydrogen refueling machine is connected to the hydrogen refueling system.

[0140] In some embodiments, step S505 includes:

[0141] With the hydrogen refueling nozzle locked, the hydrogen concentration is detected by the hydrogen sensor in response to the refueling command sent by the hydrogen refueling machine;

[0142] If the detected hydrogen concentration is less than the preset leakage threshold, a confirmation command is sent to the hydrogen dispenser; the confirmation command is used to instruct the hydrogen dispenser to open the bypass gas circuit valve.

[0143] For example, the refueling instruction sent by the hydrogen refueling machine can be a "refueling preparation pending confirmation" signal, and the confirmation instruction can be a "refueling preparation confirmed" signal.

[0144] In one possible implementation, in step S505, when the hydrogen refueling nozzle is locked, in response to the refueling command sent by the hydrogen dispenser, after detecting the hydrogen concentration by the hydrogen sensor, the method may further include: if the detected hydrogen concentration is greater than or equal to a preset leakage threshold, controlling the hydrogen refueling nozzle to stop operating; and sending an alarm signal to the hydrogen dispenser.

[0145] In this way, by detecting the hydrogen concentration through a gas sensor, the hydrogen refueling system can perform self-checks, reducing the safety hazards caused by hydrogen leaks and ensuring the safety and reliability of the subsequent hydrogen refueling process.

[0146] In one possible implementation, after sending a confirmation command to the hydrogen refueling machine in step S505 when the detected hydrogen concentration is less than a preset leakage threshold, the method may further include: sending a "refueling start" signal and estimated refueling duration data to the hydrogen refueling machine to start refueling the vehicle with hydrogen; periodically sending a heartbeat signal to the hydrogen refueling machine to determine whether the hydrogen refueling machine is working properly; and closing the bypass gas circuit valve when no heartbeat signal is received to stop the hydrogen refueling machine from refueling with hydrogen.

[0147] In this way, the operation of the hydrogen dispenser is monitored during the hydrogen refueling process. If no gas is received within the specified time during refueling, the bypass gas valve is closed to stop refueling, thus avoiding accidents caused by hydrogen dispenser malfunctions and making the hydrogen refueling process safer.

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

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

[0150] In some embodiments, in step S506, if the refueling is completed, the above method further includes:

[0151] Upon receiving a signal indicating the end of refueling, the rotating mechanism is controlled to rotate in a second direction, which is the opposite of the first direction.

[0152] Control the hydrogen refueling gun to separate from the hydrogen refueling port and move it to the initial position.

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

[0154] In one possible implementation, prior to step S506, the method further includes:

[0155] After the refueling stop condition is met, a "refueling request end" signal is sent to the hydrogen refueling machine control system. The refueling stop condition is that the expected refueling time has been exceeded. If the "refueling end" signal is received, the hydrogen refueling gun connection is disconnected. If the "refueling end" signal is not received, an alarm message is issued.

[0156] Optionally, upon receiving a signal indicating the end of refueling, the above method further includes: after refueling is completed, venting the residual hydrogen in the refueling gun.

[0157] In this way, the operation of venting residual hydrogen after hydrogen refueling can be performed without manual venting, effectively avoiding safety hazards caused by residual hydrogen and improving the safety and reliability of the hydrogen refueling machine.

[0158] Using the above method, the hydrogen refueling nozzle and the hydrogen refueling port can be accurately and without collision first, then the hydrogen refueling nozzle can be locked, and then the refueling process can be safely completed by communicating with the hydrogen refueling machine. This reduces the hardware cost of the automatic refueling system, achieves safe automatic refueling, and reduces the operating cost of the hydrogen refueling station.

[0159] Figure 6 This is a block diagram of a control device for a hydrogenation system according to an exemplary embodiment. (Refer to...) Figure 6 The device includes a determination module 601 and a control module 602.

[0160] The module 601 determines the location of the hydrogen refueling port of the vehicle by using the first camera;

[0161] The determining module 601 is also used to correct the position of the first hydrogen filling port through the second camera and determine the position of the second hydrogen filling port;

[0162] The control module 602 is used to control the hydrogen refueling gun to move to the second hydrogen refueling port position, so that the hydrogen refueling gun is connected to the hydrogen refueling port.

[0163] Optionally, the determining module 601 is also used for:

[0164] Based on the first distance data acquired by the first camera, the tilt angle of the plane where the hydrogen filling port is located relative to the plane where the hydrogen filling gun is located is calculated; the first distance data is the distance between the center of the hydrogen filling gun and the center of the hydrogen filling port.

[0165] The tilt angle is corrected based on the first image data acquired by the first camera to determine the position of the first hydrogen refueling port.

[0166] Optionally, the determining module 601 is also used for:

[0167] The position of the first hydrogen refueling port is corrected based on the second image data and second distance data acquired by the second camera;

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

[0169] Optionally, the control module 602 is also used for:

[0170] Once the torque sensor and displacement sensor confirm that the hydrogen refueling gun has been successfully docked, the hydrogen refueling gun is locked in place by a rotating mechanism.

[0171] With the hydrogen refueling nozzle locked, the control unit opens the bypass gas circuit valve; the hydrogen refueling unit communicates with the hydrogen refueling system.

[0172] Once refueling is complete, control the hydrogen refueling nozzle to move back to its initial position.

[0173] Optionally, the control device of the hydrogen refueling system also includes a detection module, which is used to detect the resistance of the hydrogen refueling gun by means of a torque sensor and to detect the docking depth by means of a displacement sensor during the docking process of the hydrogen refueling gun.

[0174] The determination module 601 is also used to determine that the hydrogen refueling gun docking is successful 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 also used for:

[0176] Once the torque sensor and displacement sensor confirm that the hydrogen refueling gun has been successfully docked, the rotating mechanism is controlled to rotate in the first direction to drive the handle of the hydrogen refueling gun.

[0177] When the angle and torque values ​​of the rotating mechanism meet the preset range threshold, the hydrogen refueling gun is locked.

[0178] Optionally, the control module 602 is also used for:

[0179] With the hydrogen refueling nozzle locked, the hydrogen concentration is detected by the hydrogen sensor in response to the refueling command sent by the hydrogen refueling machine;

[0180] If the detected hydrogen concentration is less than the preset leakage threshold, a confirmation command is sent to the hydrogen dispenser; the confirmation command is used to instruct the hydrogen dispenser to open the bypass gas circuit valve.

[0181] Optionally, the control module 602 is also used for:

[0182] Upon receiving a signal indicating the end of refueling, the rotating mechanism is controlled to rotate in a second direction, which is the opposite of the first direction.

[0183] Control the hydrogen refueling gun to separate from the hydrogen refueling port and move it to the initial position.

[0184] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0185] Figure 7 This is a block diagram illustrating 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 controls the overall operation of the electronic device 700 to complete all or part of the steps in the control method of the hydrogen refueling system described above. The memory 702 stores various types of data to support the operation of the electronic device 700. This data may include, for example, instructions for any application or method operating 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 (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touchscreen, 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 signals may be further stored in memory 702 or transmitted via communication component 705. The audio component also includes at least one speaker for outputting audio signals. I / O interface 704 provides an interface between processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. 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 technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0187] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the control method of the hydrogen refueling system described above.

[0188] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the control method for the hydrogen refueling system described above. For example, the computer-readable storage medium may be the memory 702 including program instructions described above, which may be executed by the processor 701 of the electronic device 700 to complete the control method for the hydrogen refueling system described above.

[0189] In another exemplary embodiment, a computer program product is also provided, comprising a computer program executable by a programmable device, the computer program having a code portion for performing the control method of the hydrogenation system described above when executed by the programmable device.

[0190] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

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

[0192] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A control method for a hydrogenation system, characterized in that, The hydrogen refueling system includes a first camera and a second camera; the method includes: The location of the first hydrogen refueling port is determined by locating the hydrogen refueling port of the vehicle using the first camera. The position of the second hydrogen filling port is determined by correcting the position of the first hydrogen filling port using the second camera; Control the hydrogen refueling gun to move to the second hydrogen refueling port position, so that the hydrogen refueling gun is connected to the hydrogen refueling port; The step of locating the hydrogen refueling port of the vehicle using the first camera and determining the location of the first hydrogen refueling port includes: Based on the first distance data acquired by the first camera, the tilt angle of the plane where the hydrogen refueling port is located relative to the plane where the hydrogen refueling gun is located is calculated; the first distance data is the distance between the center of the hydrogen refueling gun and the center of the hydrogen refueling port; The tilt angle is corrected based on the first image data acquired by the first camera to determine the position of the first hydrogen refueling port; The step of correcting the position of the first hydrogen filling port using the second camera to determine the position of the second hydrogen filling port includes: The position of the first hydrogen refueling port is corrected based on the second image data and the second distance data acquired by the second camera; the second distance data is the distance between the center of the hydrogen refueling gun and the center of the hydrogen refueling port after the movement. The correction result that meets the error condition is determined as the position of the second hydrogen filling port; the error condition is that the center angle error and center offset error between the plane where the hydrogen filling port is located and the plane where the hydrogen filling gun is located are both less than the error threshold; The hydrogenation system further includes a torque sensor, a displacement sensor, and a rotation mechanism; the method further includes: Once the torque sensor and the displacement sensor confirm that the hydrogen refueling gun has been successfully docked, the hydrogen refueling gun is locked by the rotating mechanism. With the hydrogen refueling nozzle locked, the hydrogen dispenser is controlled to open the bypass gas circuit valve; the hydrogen dispenser is communicatively connected to the hydrogen refueling system; Upon completion of refueling, the hydrogen refueling gun is moved back to its initial position. The step of locking the hydrogen refueling gun via the rotating mechanism after confirming successful docking through the torque sensor and the displacement sensor includes: If the torque sensor and the displacement sensor confirm that the hydrogen refueling gun has been successfully docked, the rotating mechanism is controlled to rotate in the first direction to drive the handle of the hydrogen refueling gun. When the angle and torque values ​​of the rotating mechanism meet a preset range threshold, the hydrogen refueling gun is locked.

2. The control method for the hydrogenation system according to claim 1, characterized in that, The method further includes: During the docking process of the hydrogen refueling gun, the resistance of the hydrogen refueling gun is detected by the torque sensor; The docking depth is detected by the displacement sensor; If the docking depth is equal to a preset depth threshold and the resistance is greater than or equal to a preset resistance threshold, the hydrogen refueling gun is determined to be successfully docked.

3. The control method for the hydrogenation system according to claim 1, characterized in that, The hydrogen refueling system also includes a hydrogen sensor, and the step of controlling the hydrogen dispenser to open the bypass gas valve when the hydrogen refueling nozzle is locked includes: With the hydrogen refueling nozzle locked, the hydrogen concentration is detected by the hydrogen sensor in response to the refueling command sent by the hydrogen dispenser; If the detected hydrogen concentration is less than a preset leakage threshold, a confirmation command is sent to the hydrogen dispenser; wherein, the confirmation command is used to instruct the hydrogen dispenser to open the bypass gas circuit valve.

4. The control method for the hydrogenation system according to claim 3, characterized in that, The method further includes: Upon receiving a signal indicating the end of refueling, the rotating mechanism is controlled to rotate in a second direction, which is the opposite of the first direction. Control the hydrogen refueling gun to separate from the hydrogen refueling port and move it to the initial position.

5. A control device for a hydrogenation system, characterized in that, The control device is used to execute the control method of the hydrogenation system as described in any one of claims 1-4, including: The module determines the location of the hydrogen refueling port of the vehicle by using the first camera; The determining module is further configured to correct the position of the first hydrogen filling port using the second camera, and determine the position of the second hydrogen filling port; The control module is used to control the hydrogen refueling gun to move to the second hydrogen refueling port position, so that the hydrogen refueling gun is connected to the hydrogen refueling port.

6. A hydrogenation system, characterized in that, The hydrogen refueling 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 4.

Images