Operation method and system based on solid hydrogen exchange station

Abstract

The invention provides an operation method and system based on a solid-state hydrogen exchange station, and belongs to the technical field of development and application of hydrogen energy, and the hydrogen exchange mode of the solid-state hydrogen exchange station is completed by a solid-state hydrogen fuel cell lifting forklift. The forklift comprises a 2-ton-weight forklift body, a 300-g solid hydrogen storage device, an air-cooled fuel cell system, a 100-AH driving cell and a control unit. According to the forklift, a solid hydrogen storage technology hydrogenation fuel cell power system is adopted, a vehicle lifting and operating motor is matched, the work of rapid hydrogen changing and intelligent hydrogen filling is completed, and meanwhile, an intelligent navigation system and an intelligent obstacle avoidance system are matched, so that unmanned automatic digitization of the forklift is achieved.

Description

Technical Field

[0001] The present invention proposes an operation method and system based on a solid-state hydrogen exchange station, belonging to the technical field of development and application of hydrogen energy. Background Art

[0002] Green has become the theme of the world, green power has become the driving force of the times, and green energy is the leading force in the future new energy industry. Hydrogen energy is providing green power system solutions for transportation, sightseeing and leisure, logistics and express delivery, warehousing and handling, etc. Forklifts are frequently used production equipment in factories, warehouses and other places. Large-scale production enterprises have a large number of forklifts, and there are also many operators. The labor cost is also very expensive. Moreover, forklifts are dangerous. Personal injury accidents caused by improper forklift operation also occur from time to time every year. The safety production management task of enterprises is also very heavy. Fuel and pure electric forklifts are restricted by the environment and scenes. Therefore, it is a good choice to propose green, intelligent and unmanned forklifts for handling and loading and unloading. Summary of the invention

[0003] The present invention provides an operating method and system based on a solid-state hydrogen exchange station, which are used to solve the problems of traditional forklifts such as emission pollution, high labor costs and possible harm to personnel.

[0004] Preferably, the solid-state hydrogen exchange station system includes a solid-state hydrogen fuel cell lifting vehicle including an upper sensing area, a middle operating area and a lower moving area, the upper sensing area and the middle operating area are connected by several pillars, and the lower moving area is located below the middle operating area. In order to distinguish the front and the back, it is stipulated that the forward direction of the forklift is the front, and the reverse direction is the back.

[0005] Preferably, the upper sensing area of ​​the solid-state hydrogen fuel cell lifting vehicle includes indicator lights, a signal input and output system, a radar and a fan; the indicator lights include position lights 4, a turn signal strip 12 and a three-color light 17; the signal input and output system includes a No. 1 antenna 1, a speaker 2 and a touch screen 20; the radar includes a first radar 3 and a second radar 11; the fan includes a cooling fan 18; the position lights 4 of the upper sensing area of ​​the solid-state hydrogen fuel cell lifting vehicle are located on one side of the lower surface of the sensing area; the turn signal strip 12 is located on the back of the sensing area; the three-color light 17 is located on both sides of the sensing area; the No. 1 antenna 1 is located on both sides of the upper surface of the sensing area; the speaker 2 is located on both sides behind the sensing area; the touch screen 20 is located on one side of the lower surface of the sensing area; the first radar 3 is located on one side of the lower surface of the sensing area, and the second radar 11 is located in the middle of the upper surface of the sensing area; the cooling fan 18 is located on the left and right sides of the sensing area.

[0006] Preferably, the central operating area of ​​the solid-state hydrogen fuel cell lifting vehicle includes an operating table and a pillar; the operating table includes an operating handle 5, an emergency stop switch 6 and a main power switch 7; there is a manual-automatic switching button 21 on the pillar; the operating handle 5 is located on the middle operating table of the solid-state hydrogen fuel cell lifting vehicle; the emergency stop switch 6 and the main power switch 7 are located on the upper surface of the operating table.

[0007] Preferably, the lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle includes an obstacle avoidance system, a lifting system, a radar, a charging port and a foot pedal; the obstacle avoidance system includes an in-place detection switch 9, a fork-tip obstacle avoidance camera 10 and an anti-collision strip 22; the lifting system includes a lifting system 8; the radar includes a third radar 15; the charging port includes an automatic charging brush plate 14; and the foot pedal includes a foot pedal 16. The in-place detection switch 9 of the lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle is located in front of the operating area; the fork-tip obstacle avoidance camera 10 is located at the tip of the fork arm of the solid-state hydrogen fuel cell lifting vehicle; the anti-collision strip 22 is located at the bottom of the solid-state hydrogen fuel cell lifting vehicle; the lifting system 8 of the lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle is located behind the moving area; the third radar 15 is located in front of the moving area; and the foot pedal 16 is located on one side of the moving area.

[0008] Preferably, the ground requirements of the solid-state hydrogen fuel cell lifting vehicle include ground slope ≤3°; ground gap ≤3cm, height difference on both sides of the ground gap ≤1cm; step ≤1cm; single channel width of forklift ≥1.6m; minimum channel width for forklift bidirectional straight operation ≥3.2m, vehicle driving route spacing ≥1.6m, cargo on pallet does not exceed the pallet range; the pallet is placed according to the specified size requirements.

[0009] Preferably, the lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle includes a fuel cell system; the fuel cell system includes a fuel cell stack, a fuel supply system and a cooling system; the bipolar poles of the fuel cell stack of the fuel cell system are located on both sides of the fuel cell; the fuel supply system is located on one side of the battery; and the cooling system is located on the outer surface of the battery.

[0010] Preferably, the bipolar electrode of the fuel cell system in the lower mobile area of ​​the solid hydrogen fuel cell lifting vehicle is made of graphite / metal material; the fuel cell system uses hydrogen as fuel, the hydrogen purity is ≥99.99%, and the hydrogen pressure is 0.6-0.8 bar.

[0011] Preferably, the lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle includes a hydrogen storage unit.

[0012] Preferably, the turning method of the solid-state hydrogen fuel cell lifting vehicle includes:

[0013] Step 1: When the solid-state hydrogen fuel cell lifting vehicle is in a "U"-shaped space and needs to drive out, the first radar 3 of the solid-state hydrogen fuel cell lifting vehicle detects the distance between the two sides of the vehicle body and the wall, and determines whether the solid-state hydrogen fuel cell lifting vehicle needs to turn around according to the minimum value of the distance between the left and right sides of the vehicle body and the corresponding wall;

[0014] Step 2: When the fork tip obstacle avoidance camera 10 of the solid-state hydrogen fuel cell lifting vehicle senses that the distance of the obstacle in front is within the reference value, the solid-state hydrogen fuel cell lifting vehicle starts to turn around;

[0015] Step 3: The solid-state hydrogen fuel cell lifting vehicle continuously adjusts the inner steering angle according to the distance between the fork tip obstacle avoidance camera 10 and the obstacle in front and the distance between the vehicle body and the wall on the turning side to complete the turning. The formula is as follows:

[0016]

[0017] Among them, L represents the front and rear wheel track of the solid-state hydrogen fuel cell lifting vehicle; w represents the left and right wheel track of the solid-state hydrogen fuel cell lifting vehicle; R represents the turning radius of the axle of the solid-state hydrogen fuel cell lifting vehicle; β represents the external steering angle of the solid-state hydrogen fuel cell lifting vehicle.

[0018] Step 4: The front end of the solid-state hydrogen fuel cell lifting vehicle is adjusted and drives out of the "U"-shaped area.

[0019] Preferably, the control method of the solid-state hydrogen exchange station includes:

[0020] Step 1: The solid-state hydrogen fuel cell lifting vehicle receives the forklift instruction and moves from the standby point to the waiting point;

[0021] Step 2: The solid-state hydrogen fuel cell lifting vehicle detects whether there is material at the fork point;

[0022] Step 3: When there is material at the waiting point, the solid-state hydrogen fuel cell lifting vehicle starts to fork the goods and moves from the waiting point to the target point; when there is no material at the waiting point, the solid-state hydrogen fuel cell lifting vehicle returns to the waiting point;

[0023] Step 4: The solid-state hydrogen fuel cell lifting vehicle completes its mission and returns to the standby point.

[0024] Beneficial effects of the invention: The present invention proposes an operating method and system based on a solid-state hydrogen exchange station. The solid-state hydrogen fuel cell lifting vehicle is equipped with a hydrogen solid-state hydrogen fuel cell system, which has the advantages of no pollution, zero emissions, high energy conversion efficiency, constant power output, strong power, short hydrogen refueling time, and strong endurance. It is equipped with a standard intelligent management system with multiple functions such as vehicle management, data reporting, remote maintenance reminders, and fault testing to help customers achieve digital and visual management of the fleet. The vehicle is small and flexible, with a compact design, beautiful appearance, and more streamlined. It has a small turning radius and can operate in narrow passages. A variety of speed modes are available to adapt to different working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is the front view of the solid-state hydrogen fuel cell lifting vehicle;

[0026] Figure 2 This is the back view of the solid-state hydrogen fuel cell lift truck.

[0027] In the figure: 1, antenna No. 1; 2, speaker; 3, first radar; 4, clearance light; 5, operating handle; 6, emergency stop switch; 7, main power switch; 8, lifting system; 9, in-place detection switch; 10, fork tip obstacle avoidance camera; 11, second radar; 12, turn signal strip; 13, electric control box cover switch; 14, automatic charging brush; 15, third radar; 16, foot pedal; 17, three-color light; 18, cooling fan; 19 power button; 20, touch screen; 21, manual-automatic switching button; 22, anti-collision strip. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. The embodiments described are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0031] The present invention provides an operation method and system based on a solid-state hydrogen exchange station. The solid-state hydrogen exchange station system includes a solid-state hydrogen fuel cell lifting vehicle and a solid-state hydrogen storage and hydrogenation device.

[0032] The working principle and effect of the above technical solution are as follows: the solid-state hydrogen fuel cell lifting vehicle uses industrial-grade multi-line laser radar, hybrid solid-state laser radar, inertial navigation system, single-line laser radar, collision detection and other sensors with Muyi's professional intelligent forklift software to achieve autonomous positioning navigation, automatic identification and insertion, human-machine collaboration, support touch screen interaction, server multi-machine scheduling, and support docking with WMS (warehouse management system), WCS (warehouse control system), MES (manufacturing execution system) and other upper-level business systems. It has the advantages of no pollution, zero emissions, high energy conversion efficiency, constant power output, strong power, short hydrogen refueling time and strong endurance. It comes standard with an intelligent management system with multiple functions such as vehicle management, data reporting, remote maintenance reminders and fault detection to help customers achieve digital and visual management of their fleets.

[0033] In one embodiment of the present invention, the solid-state hydrogen exchange station system includes a solid-state hydrogen fuel cell lifting vehicle; the solid-state hydrogen fuel cell lifting vehicle includes an upper sensing area, a middle operating area and a lower moving area, the upper sensing area and the middle operating area are connected by several pillars, and the lower moving area is located below the middle operating area.

[0034] The working principle and effect of the above technical solution are as follows: the above solid-state hydrogen fuel cell lifting vehicle adopts a small wheelbase design, and coupled with the overall light weight of the vehicle body, it can work flexibly in narrow spaces; a variety of speed mode options can adapt to different work scenarios; higher navigation accuracy can accurately reach the target work location.

[0035] In one embodiment of the present invention, the upper sensing area of ​​the solid hydrogen fuel cell lifting vehicle includes an indicator light, a signal input and output system, a radar, and a fan. The indicator light includes a clearance light 4, a turn signal strip 12, and a tricolor light 17; the signal input and output system includes a No. 1 antenna 1, a speaker 2, and a touch screen 20; the radar includes a first radar 3 and a second radar 11; the fan includes a cooling fan 18; the clearance light 4 of the upper sensing area of ​​the solid hydrogen fuel cell lifting vehicle is located on one side of the lower surface of the sensing area; the turn signal strip 12 is located on the back of the sensing area; the tricolor light 17 is located on both sides of the sensing area; the No. 1 antenna 1 is located on both sides of the upper surface of the sensing area; the speaker 2 is located on both sides behind the sensing area; the touch screen 20 is located on one side of the lower surface of the sensing area; the first radar 3 is located on one side of the lower surface of the sensing area, and the second radar 11 is located in the middle of the upper surface of the sensing area; the cooling fan 18 is located on the left and right sides of the sensing area. The first radar 3 is a MID360 radar, the second radar 11 is a multi-line laser radar; the No. 1 antenna 1 is a cylindrical rod antenna.

[0036] The working principle and effect of the above technical solution are as follows: the solid-state hydrogen fuel cell lifting vehicle starts to move after receiving a signal through the No. 1 antenna, and at the same time detects whether there are obstacles around the vehicle body through the first radar. The lights on the vehicle body have a warning function, and the solid-state hydrogen fuel cell lifting vehicle can maintain long-term high-intensity operation through the cooling fan. At the same time, instructions can also be manually input through the touch screen 20; the standard intelligent management system has multiple functions such as vehicle management, data reports, remote maintenance reminders, and fault detection, helping customers to achieve digital and visual management of the fleet.

[0037] In one embodiment of the present invention, the central operating area of ​​the solid-state hydrogen fuel cell lifting vehicle includes an operating table and a support column. The operating table includes an operating handle 5, an emergency stop switch 6 and a main power switch 7; a manual-automatic switching button 21 is provided on the support column; the operating handle 5 is located on the middle operating table of the solid-state hydrogen fuel cell lifting vehicle; the emergency stop switch 6 and the main power switch 7 are located on the upper surface of the operating table.

[0038] The working principle and effect of the above technical solution are as follows: the above solid hydrogen fuel cell lifting vehicle can be divided into two operation modes: automatic and manual; when the solid hydrogen fuel cell lifting vehicle is automatically operated, the No. 1 antenna 1 receives the command, the vehicle starts to move, and during the operation, the fork tip obstacle avoidance camera 10 detects obstacles to prompt the vehicle to avoid obstacles. After reaching the position, the in-position detection switch 9 determines whether the vehicle has reached the target position; the above operations can be completed manually through the operating handle 5. Automatic driving not only saves labor costs, but also greatly reduces the injuries caused to the staff due to improper driving of the forklift.

[0039] In one embodiment of the present invention, the ground requirements of the solid-state hydrogen fuel cell lifting vehicle include ground slope ≤3°; ground gap ≤3cm, height difference on both sides of the ground gap ≤1cm; step ≤1cm; single channel width of forklift ≥1.6m; minimum channel width of forklift bidirectional straight operation ≥3.2m, vehicle driving route spacing ≥1.6m, cargo on pallet does not exceed the pallet range; the pallet is placed according to the specified size requirements.

[0040] The working principle and effect of the above technical solution are as follows: In order to allow the solid-state hydrogen fuel cell lifting vehicle to run smoothly, the ground link must meet the above requirements; at the same time, the total weight of the pallet and the goods must be ≤2 tons, and the goods cannot be stacked on the pallet; the pallet is a parallelogram structure with a length of 1200mm and a width of 1000mm. There are 3 support brackets at the bottom of the pallet, and the length of the support bracket is 1300mm. One end of the support bracket is flush with the wide side of the pallet, and the other end is 100mm longer than the wide side of the pallet. The 3 support brackets ensure the stability of the pallet, and the flat epoxy floor can also make the solid-state hydrogen fuel cell lifting vehicle run smoothly.

[0041] According to one embodiment of the present invention, the lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle includes a fuel cell system; the fuel cell system includes a fuel cell stack, a fuel supply system and a cooling system; the bipolar electrodes of the fuel cell stack of the fuel cell system are located on both sides of the fuel cell; the fuel supply system is located on one side of the battery; the cooling system is located on the outer surface of the battery; the fuel cell system has an overall dimension of 550*200*400mm and a mass of 10kg; the output voltage of the fuel cell system is 25.6V DC; the working environment temperature of the fuel cell system is -10-60°C, and the ambient humidity is 10-95%.

[0042] The working principle and effect of the above technical solution are as follows: the fuel cell system uses hydrogen as fuel, hydrogen is injected into a fuel flow channel from a fuel inlet, and then flows through each single cell of the hydrogen fuel cell to participate in the oxidation reaction, and finally the unreacted hydrogen and the water generated by the reaction are discharged from a fuel outlet on one side of the fuel flow channel. The fuel cell system has the advantages of no pollution, zero emission, high energy conversion efficiency, constant power output, strong power, short hydrogen refueling time, and strong endurance.

[0043] In one embodiment of the present invention, the bipolar electrode of the fuel cell system in the lower mobile area of ​​the solid hydrogen fuel cell lifting vehicle is made of graphite / metal; the fuel cell system uses hydrogen as fuel, the hydrogen purity is ≥99.99%, and the hydrogen pressure is 0.6-0.8 bar. The size of the battery stack is 350*161*263mm, and the mass is 7kg; the cooling system is air-cooled.

[0044] The working principle and effect of the above technical solution are as follows: the fuel cell system uses hydrogen as fuel, hydrogen is injected into a fuel flow channel from a fuel inlet, and then flows through each single cell of the hydrogen fuel cell to participate in the oxidation reaction, and finally the unreacted hydrogen and the water generated by the reaction are discharged from a fuel outlet on one side of the fuel flow channel; the air-cooled cooling system can quickly reduce the system temperature to ensure the high-intensity operation of the fuel cell.

[0045] In one embodiment of the present invention, the lower mobile area of ​​the solid-state hydrogen fuel cell lifting vehicle includes a hydrogen storage unit. The characteristics of the hydrogen storage unit include hydrogen storage performance, external dimensions, hydrogen charging performance parameters, and hydrogen discharge performance parameters; the hydrogen storage performance includes a rated hydrogen storage capacity of 300g; the external dimensions include a device height of 380mm, a device width of 120mm, and a device length of 400mm; the hydrogen charging performance parameters include a rated hydrogen charging pressure of 3MPA, a safety discharge pressure of 6MPA, and a rated hydrogen charging flow rate of 0.2kgH 2 / h; the dehydrogenation performance parameters include a rated dehydrogenation pressure of 0.1-3MPA, a cycle life of 5000 times, and a hydrogen interface of 1 / 8 inch.

[0046] The working principle and effect of the above technical solution are as follows: the hydrogen storage unit is installed on the solid-state hydrogen fuel cell lifting vehicle. Since the solid-state hydrogen fuel cell lifting vehicle uses hydrogen as fuel, the hydrogen storage unit can be used as the energy storage unit and functional unit of the solid-state hydrogen fuel cell lifting vehicle. The hydrogen storage unit infuses hydrogen into the fuel cell system, and then the fuel cell system converts hydrogen into energy for the solid-state hydrogen fuel cell lifting vehicle. Because the fuel is hydrogen, combustion will not cause any pollution at all. At the same time, the hydrogen storage unit can achieve rapid hydrogen exchange in 5 minutes, is not affected by environmental factors, and can withstand low temperatures of -30 degrees to 50 degrees, and work for 16 hours, effectively solving the endurance problem of new energy forklift products; at the same time, through the alloy absorption and release characteristics of hydrogen, hydrogen and hydrogen storage alloys are combined into metal hydride forms during hydrogen storage to achieve low-pressure safe hydrogen storage. When hydrogen is released, it can rely on a small amount of pressure in the bottle or heating to achieve hydrogen release; and thanks to the low pressure characteristics of the solid-state hydrogen storage bottle, rapid hydrogen exchange can be achieved.

[0047] In one embodiment of the present invention, the control method of the solid-state hydrogen exchange station includes:

[0048] Step 1: The solid-state hydrogen fuel cell lifting vehicle receives the forklift instruction and moves from the standby point to the waiting point;

[0049] Step 2: The solid-state hydrogen fuel cell lifting vehicle detects whether there is material at the fork point;

[0050] Step 3: When there is material at the waiting point, the solid-state hydrogen fuel cell lifting vehicle starts to fork the goods and moves from the waiting point to the target point; when there is no material at the waiting point, the solid-state hydrogen fuel cell lifting vehicle returns to the waiting point;

[0051] Step 4: The solid-state hydrogen fuel cell lifting vehicle completes its mission and returns to the standby point.

[0052] The working principle and effect of the above technical solution are as follows: the solid-state hydrogen fuel cell lifting vehicle can issue task instructions through the large-scale cluster scheduling system in the background, use SLAM navigation to perceive distance, accuracy and space, generate environmental semantic maps, learn about fork-picked targets and obstacles, and observe the pick-and-place space. It can judge the object status in real time and provide data reference for adaptive operations and autonomous obstacle avoidance. Based on 3D+SLAM laser navigation technology, the unmanned forklift can optimize its movements in real time and realize smooth multi-axis combined movement, ensuring accurate and efficient execution of fork end operations such as picking, placing, and stacking.

[0053] In one embodiment of the present invention, the control method of the solid-state hydrogen exchange station includes:

[0054] Step 1: When the solid-state hydrogen fuel cell lifting vehicle is in a "U"-shaped space and needs to drive out, the first radar 3 of the solid-state hydrogen fuel cell lifting vehicle detects the distance between the two sides of the vehicle body and the wall, and determines whether the solid-state hydrogen fuel cell lifting vehicle needs to turn around according to the minimum value of the distance between the left and right sides of the vehicle body and the corresponding wall;

[0055] Step 2: When the fork tip obstacle avoidance camera 10 of the solid-state hydrogen fuel cell lifting vehicle senses that the distance of the obstacle in front is within the reference value, the solid-state hydrogen fuel cell lifting vehicle starts to turn around;

[0056] Step 3: The solid-state hydrogen fuel cell lifting vehicle continuously adjusts the inner steering angle according to the distance between the fork tip obstacle avoidance camera 10 and the obstacle in front and the distance between the vehicle body and the wall on the turning side to complete the turning. The formula is as follows:

[0057]

[0058] Among them, L represents the front and rear wheel track of the solid-state hydrogen fuel cell lifting vehicle; W represents the left and right wheel track of the solid-state hydrogen fuel cell lifting vehicle; R represents the minimum turning radius of the front axle of the solid-state hydrogen fuel cell lifting vehicle; β represents the outer steering angle of the solid-state hydrogen fuel cell lifting vehicle.

[0059] Step 4: The front end of the solid-state hydrogen fuel cell lifting vehicle is adjusted and drives out of the "U"-shaped area.

[0060] The working principle and effect of the above technical solution are: when the solid-state hydrogen fuel cell lifting forklift determines that it needs to turn around, the wheelbase data of the current solid-state hydrogen fuel cell lifting forklift is retrieved, and the minimum turning radius, minimum turning width and maximum steering angle of the solid-state hydrogen fuel cell lifting forklift are obtained according to the wheelbase data; wherein the physical quantities are obtained by the following formula:

[0061]

[0062] Wherein, ψ represents the maximum steering angle; the wheelbase of the solid hydrogen fuel cell lifting vehicle is L = 1290 mm, so R = 1007 mm can be calculated;

[0063] When the solid-state hydrogen fuel cell lift truck determines that it needs to turn around, it will take the following actions based on the distance between the vehicle body and the walls on both sides:

[0064] (1) The fork tip obstacle avoidance camera 10 retrieves the distance between the front of the vehicle and the obstacle in front, and at the same time retrieves the steering angle of the solid hydrogen fuel cell lifting vehicle;

[0065] (2) The distance between the front of the vehicle and the obstacle in front is retrieved by the fork tip obstacle avoidance camera 10 and the steering angle of the solid hydrogen fuel cell lifting vehicle, and the distance between the tire on one side of the solid hydrogen fuel cell lifting vehicle and the corresponding wall is obtained. The formula is as follows:

[0066] H=U / tanω

[0067] Among them, H represents the distance between the wheels of the solid-state hydrogen fuel cell lift truck and the wall in the turning direction, U represents the distance between the front obstacle and the front of the truck, ω represents the steering angle inside the solid-state hydrogen fuel cell lift truck, and the value range of ω is 30°-40°;

[0068] (3) When ω reaches its maximum value, there is a corresponding minimum value H1 of H, where H1 represents the maximum distance at which the solid-state hydrogen fuel cell lifting vehicle can turn around. The sensing distance of the fork tip obstacle avoidance camera is 100 mm, so H1 = 120 mm; when H < H1, the solid-state hydrogen fuel cell lifting vehicle determines that it cannot turn around, so it drives out by reversing;

[0069] The solid-state hydrogen fuel cell lifting vehicle benefits from a small turning radius, which not only greatly improves maneuverability and obstacle avoidance capabilities, but also enables U-turns in narrow spaces. The solid-state hydrogen fuel cell lifting vehicle has a wider range of application scenarios.

[0070] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A solid-state hydrogen exchange station operating system, characterized in that: The solid-state hydrogen exchange station system includes a solid-state hydrogen fuel cell lifting vehicle; the solid-state hydrogen fuel cell lifting vehicle includes an upper sensing area, a middle operating area and a lower moving area, the upper sensing area and the middle operating area are connected by several pillars, the lower moving area is located below the middle operating area, and the turning method of the solid-state hydrogen fuel cell lifting vehicle includes: Step 1: When the solid-state hydrogen fuel cell lifting vehicle is in a "U"-shaped space and needs to drive out, the first radar (3) of the solid-state hydrogen fuel cell lifting vehicle detects the distance between the two sides of the vehicle body and the wall, and determines whether the solid-state hydrogen fuel cell lifting vehicle needs to turn around according to the minimum value of the distance between the left and right sides of the vehicle body and the corresponding wall; Step 2: When the fork tip obstacle avoidance camera (10) of the solid-state hydrogen fuel cell lifting vehicle senses that the distance of the obstacle in front is within the reference value, the solid-state hydrogen fuel cell lifting vehicle starts to turn around; Step 3: The solid-state hydrogen fuel cell lifting vehicle continuously adjusts the inner steering angle according to the distance between the fork tip obstacle avoidance camera (10) and the obstacle in front and the distance between the vehicle body and the wall on the turning side to complete the turning. The formula is as follows: Wherein, ω represents the inner steering angle of the solid-state hydrogen fuel cell lifting forklift, and the value range of ω is 30°-40°; L represents the front and rear wheel track of the solid-state hydrogen fuel cell lifting vehicle; W represents the left and right wheel track of the solid-state hydrogen fuel cell lifting vehicle; R represents the turning radius of the axle of the solid-state hydrogen fuel cell lifting vehicle; β represents the outer steering angle of the solid-state hydrogen fuel cell lifting vehicle; Step 4: The front end of the solid-state hydrogen fuel cell lifting vehicle is adjusted and drives out of the "U"-shaped area.

2. A solid-state hydrogen exchange station operating system according to claim 1, characterized in that: The upper sensing area of ​​the solid-state hydrogen fuel cell lifting vehicle comprises an indicator light, a signal input and output system, a radar and a fan; the indicator light comprises a clearance light (4), a turn signal light strip (12) and a three-color light (17); the signal input and output system comprises a No. 1 antenna (1), a loudspeaker (2) and a touch screen (20); the radar comprises a first radar (3) and a second radar (11); the fan comprises a cooling fan (18); the clearance light (4) of the upper sensing area of ​​the solid-state hydrogen fuel cell lifting vehicle is located on one side of the lower surface of the sensing area; the turn signal light strip (12) is located on the back of the sensing area; the three-color light (17) is located on both sides of the sensing area; the No. 1 antenna (1) is located on both sides of the upper surface of the sensing area; the loudspeaker (2) is located on both sides of the back of the sensing area; the touch screen (20) is located on one side of the lower surface of the sensing area; the first radar (3) is located on one side of the lower surface of the sensing area, and the second radar (11) is located in the middle of the upper surface of the sensing area; the cooling fan (18) is located on the left and right sides of the sensing area.

3. A solid-state hydrogen exchange station operating system according to claim 1, characterized in that: The central operating area of ​​the solid-state hydrogen fuel cell lifting vehicle comprises an operating table and a support column; the operating table comprises an operating handle (5), an emergency stop switch (6) and a main power switch (7); a manual-automatic switching button (21) is provided on the support column; the operating handle (5) is located on the central operating table of the solid-state hydrogen fuel cell lifting vehicle; the emergency stop switch (6) and the main power switch (7) are located on the upper surface of the operating table.

4. A solid-state hydrogen exchange station operating system according to claim 1, characterized in that: The lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle comprises an obstacle avoidance system, a lifting system, a laser radar, a charging port and a foot pedal; the obstacle avoidance system comprises an in-position detection switch (9), a fork-tip obstacle avoidance camera (10) and an anti-collision strip (22); the lifting system comprises a lifting system (8); the radar comprises a third radar (15); the charging port comprises an automatic charging brush plate (14); the foot pedal comprises a foot pedal (16); the in-position detection switch (9) of the lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle is located in front of the operating area; the fork-tip obstacle avoidance camera (10) is located at the tip of the fork arm of the solid-state hydrogen fuel cell lifting vehicle; the anti-collision strip (22) is located at the bottom of the solid-state hydrogen fuel cell lifting vehicle; the lifting system (8) of the lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle is located behind the moving area; the third radar (15) is located in front of the moving area; and the foot pedal (16) is located on one side of the moving area.

5. A solid-state hydrogen exchange station operating system according to claim 2, characterized in that: The ground requirements for the solid-state hydrogen fuel cell lifting vehicle include ground slope ≤3°; ground gap ≤3cm, height difference on both sides of the ground gap ≤1cm; steps ≤1cm; single channel width of forklift ≥1.6m; minimum width of the channel for forklift bidirectional straight operation ≥3.2m, vehicle driving route spacing ≥1.6m, cargo on pallet does not exceed the pallet range; the pallet is placed according to the specified size requirements.

6. A solid-state hydrogen exchange station system according to claim 1, characterized in that: The lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle includes a fuel cell system; the fuel cell system includes a fuel cell stack, a fuel supply system and a cooling system; the bipolar portions of the fuel cell stack of the fuel cell system are located on both sides of the fuel cell; the fuel supply system is located on one side of the battery; and the cooling system is located on the outer surface of the battery.

7. A solid-state hydrogen exchange station operating system according to claim 1, characterized in that: The bipolar electrode of the fuel cell system in the lower mobile area of ​​the solid hydrogen fuel cell lifting vehicle is made of graphite / metal material; the fuel cell system uses hydrogen as fuel, the hydrogen purity is ≥99.99%, and the hydrogen pressure is 0.6-0.8 bar.

8. A solid-state hydrogen exchange station operating system according to claim 1, characterized in that: The lower moving area of ​​the solid-state hydrogen fuel cell lifting vehicle also includes a hydrogen storage unit.

9. An operating method of a solid-state hydrogen exchange station operating system according to claim 1, the operating method of the solid-state hydrogen exchange station comprising: Step 1: The solid-state hydrogen fuel cell lifting vehicle receives the forklift instruction and moves from the standby point to the waiting point; Step 2: The solid-state hydrogen fuel cell lifting vehicle detects whether there is material at the fork point; Step 3: If there is material at the waiting point, the solid-state hydrogen fuel cell lifting vehicle starts to fork the goods and moves from the waiting point to the target point; if there is no material at the waiting point, the solid-state hydrogen fuel cell lifting vehicle returns to the waiting point; Step 4: The solid-state hydrogen fuel cell lifting vehicle completes its mission and returns to the standby point.

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