An operating method and system based on a solid-state hydrogen exchange station
By using the operation method and system based on solid-state hydrogen exchange stations, and utilizing solid-state hydrogen fuel cell lifting vehicles and intelligent management systems, the problems of pollution emissions and high labor costs of traditional forklifts have been solved, achieving the effects of pollution-free, zero-emission, high-efficiency energy conversion and enhanced safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TAKIN NEW ENERGY TECH SHANGHAI CO LTD
- Filing Date
- 2025-03-13
- Publication Date
- 2026-06-05
AI Technical Summary
Traditional forklifts have problems such as pollution emissions, high labor costs, and potential injury to personnel if operated improperly.
The system adopts an operation method and system based on solid-state hydrogen exchange stations, using solid-state hydrogen fuel cell lift vehicles equipped with a hydrogen solid-state fuel cell system. It combines industrial-grade multi-line lidar, hybrid solid-state lidar, inertial navigation system and other sensors to achieve autonomous positioning and navigation and automatic identification and insertion. It is equipped with an intelligent management system that supports touch screen interaction and multi-machine scheduling.
It achieves zero pollution and zero emissions, high energy conversion efficiency, strong power, long range, reduced labor costs, improved safety, and supports the digital and visual management of the fleet.
Smart Images
Figure CN119976701B_ABST
Abstract
Description
Technical Field
[0001] This invention proposes an operation method and system based on a solid-state hydrogen exchange station, belonging to the field of hydrogen energy development and application technology. Background Technology
[0002] Green has become a global theme, green power has become a driving force of the times, and green energy is the dominant force in the future new energy industry. Hydrogen energy is providing green power system solutions for transportation, tourism, logistics, and warehousing. Forklifts are frequently used production equipment in factories and warehouses. Large manufacturing enterprises have a large number of forklifts, resulting in many operators and high labor costs. Furthermore, forklifts pose inherent risks, with frequent personal injury accidents caused by improper operation each year, placing a heavy burden on enterprise safety management. However, fuel-powered and purely electric forklifts are limited by environmental and scenario constraints. Therefore, green, intelligent, and unmanned forklift handling and loading / unloading should be a good option. Summary of the Invention
[0003] This invention provides an operation method and system based on a solid-state hydrogen exchange station to solve the problems of pollution from traditional forklift emissions, high labor costs, and potential harm to personnel.
[0004] Preferably, the solid-state hydrogen exchange station system includes a solid-state hydrogen fuel cell lift vehicle comprising 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. To distinguish between front and rear, the direction in which the forklift travels is considered the front, and the opposite direction is considered the rear.
[0005] Preferably, the upper sensing area of the solid hydrogen fuel cell lift vehicle includes indicator lights, a signal input and output system, radar, and a fan; the indicator lights include a marker light 4, a turn signal strip 12, and a tri-color light 17; the signal input and output system includes a primary 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 marker light 4 of the upper sensing area of the solid hydrogen fuel cell lift 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 tri-color light 17 is located on both sides of the sensing area; the primary antenna 1 is located on both sides of the upper surface of the sensing area; the speaker 2 is located on both sides of the rear 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.
[0006] Preferably, the central operating area of the solid hydrogen fuel cell lift vehicle includes an operating platform and a support column; the operating platform includes an operating handle 5, an emergency stop switch 6, and a main power switch 7; the support column has a manual / automatic switching button 21; the operating handle 5 is located on the central operating platform of the solid hydrogen fuel cell lift vehicle; the emergency stop switch 6 and the main power switch 7 are located on the upper surface of the operating platform.
[0007] Preferably, the lower moving area of the solid hydrogen fuel cell lift vehicle includes an obstacle avoidance system, a lifting system, radar, a charging port, and a foot pedal; the obstacle avoidance system includes a position detection switch 9, a fork tip obstacle avoidance camera 10, and a crash bar 22; the lifting system includes a lifting system 8; the radar includes a third radar 15; the charging port includes an automatic charging brush 14; and the foot pedal includes a foot pedal 16. The position detection switch 9 of the lower moving area of the solid hydrogen fuel cell lift 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 hydrogen fuel cell lift vehicle; the crash bar 22 is located at the bottom of the solid hydrogen fuel cell lift vehicle; the lifting system 8 of the lower moving area of the solid hydrogen fuel cell lift 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 for the solid hydrogen fuel cell lifting vehicle include: ground slope ≤ 3°; ground gap ≤ 3cm; height difference between the two sides of the ground gap ≤ 1cm; steps ≤ 1cm; single forklift lane width ≥ 1.6m; minimum lane width for forklift bidirectional straight operation ≥ 3.2m; vehicle travel distance ≥ 1.6m; goods on the pallet not exceeding the pallet's range; and the pallets are placed according to the specified size requirements.
[0009] Preferably, the lower moving area of the solid hydrogen fuel cell lift 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 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 electrodes of the fuel cell system in the lower moving area of the solid hydrogen fuel cell lift vehicle are made of graphite / metal; the fuel cell system uses hydrogen as fuel, with a hydrogen purity ≥99.99% and a hydrogen pressure of 0.6-0.8 bar.
[0011] Preferably, the lower moving area of the solid hydrogen fuel cell lift vehicle includes a hydrogen storage unit.
[0012] Preferably, the turning method of the solid hydrogen fuel cell lift vehicle includes:
[0013] Step 1: When the solid hydrogen fuel cell lift vehicle is in a "U" shaped space and needs to drive out, the first radar 3 of the solid hydrogen fuel cell lift vehicle detects the distance between the two sides of the vehicle body and the wall. Based on the minimum value of the distance between the left and right sides of the vehicle body and the corresponding wall, it is determined whether the solid hydrogen fuel cell lift vehicle needs to turn around.
[0014] Step 2: When the obstacle avoidance camera 10 of the solid hydrogen fuel cell lifting vehicle senses that the distance to the obstacle ahead is within the reference value, the solid hydrogen fuel cell lifting vehicle begins to turn around.
[0015] Step 3: The solid hydrogen fuel cell lift vehicle continuously adjusts its inner steering angle based on the distance between the fork tip obstacle avoidance camera 10 and the obstacle in front, as well as the distance between the vehicle body and the wall on the turning side, to complete the U-turn. The formula is as follows:
[0016]
[0017] Wherein, L represents the front and rear wheel track of the solid hydrogen fuel cell lift vehicle; w represents the left and right wheel track of the solid hydrogen fuel cell lift vehicle; R represents the turning radius of the solid hydrogen fuel cell lift vehicle axle; and β represents the external steering angle of the solid hydrogen fuel cell lift vehicle.
[0018] Step 4: The front of the solid hydrogen fuel cell lift vehicle is adjusted and it drives out of the "U"-shaped area.
[0019] Preferably, the control method for the solid-state hydrogen exchange station includes:
[0020] Step 1: The solid hydrogen fuel cell lifting vehicle receives the forklift instruction and moves from the standby point to the waiting point;
[0021] Step 2: The solid hydrogen fuel cell lift vehicle checks whether there is material at the forklift point;
[0022] Step 3: When there is material at the waiting point, the solid hydrogen fuel cell truck starts to pick up the goods and moves from the waiting point to the target point; when there is no material at the waiting point, the solid hydrogen fuel cell truck returns to the waiting point.
[0023] Step 4: The solid hydrogen fuel cell lift vehicle completes its mission and returns to the standby point.
[0024] The beneficial effects of this invention are as follows: This invention proposes an operation method and system based on a solid-state hydrogen exchange station. The solid-state hydrogen fuel cell lift vehicle is equipped with a solid-state hydrogen fuel cell system, which has the advantages of being pollution-free, zero-emission, having high energy conversion efficiency, constant power output, strong power, short refueling time, and long driving range. It comes standard with an intelligent management system, which has multiple functions such as vehicle management, data reports, remote maintenance reminders, and fault testing, helping customers achieve digital and visual management of their fleets. The vehicle is compact and flexible, with a sleek and aesthetically pleasing design. Its small turning radius allows it to operate in narrow passages, and multiple speed modes adapt to different working environments. Attached Figure Description
[0025] Figure 1 Front view of the solid hydrogen fuel cell lift vehicle;
[0026] Figure 2 This is a rear view of the solid hydrogen fuel cell lift vehicle.
[0027] In the diagram: 1. Antenna No. 1; 2. Speaker; 3. First radar; 4. Marker light; 5. Operating handle; 6. Emergency stop switch; 7. Main power switch; 8. Lifting system; 9. Position detection switch; 10. Fork tip obstacle avoidance camera; 11. Second radar; 12. Turn signal strip; 13. Electrical control box cover switch; 14. Automatic charging brush plate; 15. Third radar; 16. Foot pedal; 17. Tri-color light; 18. Cooling fan; 19. Power button; 20. Touch screen; 21. Manual / automatic switch button; 22. Anti-collision strip. Detailed Implementation
[0028] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.
[0029] Numerous specific details are set forth in the following description to provide a thorough understanding of the invention. The described embodiments are only a part of, and not all, of the embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.
[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
[0031] This invention provides an operation method and system based on a solid-state hydrogen exchange station, wherein the solid-state hydrogen exchange station system includes a solid-state hydrogen fuel cell lift vehicle and a solid-state hydrogen storage and refueling device.
[0032] The working principle and effects of the above technical solution are as follows: The solid-state hydrogen fuel cell forklift vehicle, through industrial-grade multi-line LiDAR, hybrid solid-state LiDAR, inertial navigation system, single-line LiDAR, collision detection and other sensors, combined with Muyi's professional intelligent forklift software, achieves autonomous positioning and navigation, automatic identification and insertion, and human-machine collaboration. It supports touch screen interaction, multi-machine server scheduling, and integration with upper-level business systems such as WMS (Warehouse Management System), WCS (Warehouse Control System), and MES (Manufacturing Execution System). It has the advantages of zero pollution and zero emissions, high energy conversion efficiency, constant power output, strong power, short hydrogen refueling time, and long driving range. It comes standard with an intelligent management system, which has multiple functions such as vehicle management, data reports, remote maintenance reminders, and fault detection, helping customers achieve digital and visual management of their fleets.
[0033] In one embodiment of the present invention, the solid hydrogen exchange station system includes a solid hydrogen fuel cell lift vehicle; the solid hydrogen fuel cell lift 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 effects of the above technical solution are as follows: The solid hydrogen fuel cell lift vehicle adopts a small wheelbase design and is lightweight, which enables it to work flexibly in narrow spaces; multiple speed modes can be selected to adapt to different working scenarios; and high 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 lift vehicle includes indicator lights, a signal input and output system, radar, and a fan. The indicator lights include a marker light 4, a turn signal strip 12, and a tri-color light 17; the signal input and output system includes a primary antenna 1, a speaker 2, and a touchscreen 20; the radar includes a first radar 3 and a second radar 11; the fan includes a cooling fan 18; the marker light 4 of the upper sensing area of the solid hydrogen fuel cell lift 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 tri-color light 17 is located on both sides of the sensing area; the primary antenna 1 is located on both sides of the upper surface of the sensing area; the speaker 2 is located on both sides of the rear of the sensing area; the touchscreen 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, and the second radar 11 is a multi-line lidar; the primary antenna 1 is a cylindrical rod antenna.
[0036] The working principle and effects of the above technical solution are as follows: After receiving a signal through the No. 1 antenna, the solid hydrogen fuel cell lift vehicle begins to move. Simultaneously, the first radar detects whether there are any obstacles around the vehicle. The lights on the vehicle serve as warnings. The solid hydrogen fuel cell lift vehicle can maintain high-intensity operation for extended periods using a cooling fan. Meanwhile, commands can also be manually input via the touchscreen 20. The standard intelligent management system has multiple functions such as vehicle management, data reports, remote maintenance reminders, and fault detection, helping customers achieve digital and visual management of their fleets.
[0037] In one embodiment of the present invention, the central operating area of the solid hydrogen fuel cell lift vehicle includes an operating platform and a support column. The operating platform includes an operating handle 5, an emergency stop switch 6, and a main power switch 7; the support column has a manual / automatic switching button 21; the operating handle 5 is located on the central operating platform of the solid hydrogen fuel cell lift vehicle; the emergency stop switch 6 and the main power switch 7 are located on the upper surface of the operating platform.
[0038] The working principle and effect of the above technical solution are as follows: The solid hydrogen fuel cell lifting vehicle can be operated in both automatic and manual modes. When the solid hydrogen fuel cell lifting vehicle is running automatically, antenna 1 receives a command, and the vehicle begins to move. During operation, the fork tip obstacle avoidance camera 10 detects obstacles and prompts the vehicle to avoid them. After reaching the desired position, the arrival detection switch 9 determines whether the vehicle has reached the target position. All of the above operations can be performed manually via the operating handle 5. Automatic driving not only saves labor costs but also greatly reduces injuries to workers caused by improper forklift operation.
[0039] In one embodiment of the present invention, the ground requirements for the solid hydrogen fuel cell lifting vehicle include: ground slope ≤ 3°; ground gap ≤ 3cm, height difference between the two sides of the ground gap ≤ 1cm; steps ≤ 1cm; single forklift lane width ≥ 1.6m; minimum lane width for forklift bidirectional straight operation ≥ 3.2m; vehicle travel route spacing ≥ 1.6m; goods on the pallet not exceeding the pallet's range; and the pallets are placed according to the specified size requirements.
[0040] The working principle and effect of the above technical solution are as follows: To ensure the stable operation of the solid hydrogen fuel cell lift vehicle, the ground conditions must meet the above requirements; simultaneously, the total weight of the pallet and cargo must be ≤2 tons, and cargo cannot be stacked on the pallet; the pallet is a parallelogram structure with a length of 1200mm and a width of 1000mm, and has 3 support brackets at the bottom. The support brackets are 1300mm long, with one end flush with the wide side of the pallet and the other end extending 100mm beyond the wide side. The 3 support brackets ensure the stability of the pallet, and the flat epoxy ground also allows the solid hydrogen fuel cell lift vehicle to operate smoothly.
[0041] In one embodiment of the present invention, the lower moving area of the solid hydrogen fuel cell lift 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 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 external dimensions of 550*200*400mm and a mass of 10kg; the output voltage of the fuel cell system is 25.6V DC; the operating environment of the fuel cell system is -10 to 60℃ and the ambient humidity is 10 to 95%.
[0042] The working principle and effects of the above technical solution are as follows: The fuel cell system uses hydrogen as fuel. Hydrogen is injected into a fuel channel through a fuel inlet, and then flows through each individual cell of the hydrogen fuel cell to participate in the oxidation reaction. Finally, unreacted hydrogen and water generated from the reaction are discharged from a fuel outlet on one side of the fuel channel. The fuel cell system has the advantages of being pollution-free, zero-emission, high energy conversion efficiency, constant power output, strong power, short hydrogen refueling time, and long driving range.
[0043] In one embodiment of the present invention, the bipolar electrodes of the fuel cell system in the lower moving area of the solid hydrogen fuel cell lift vehicle are made of graphite / metal; the fuel cell system uses hydrogen as fuel with a hydrogen purity ≥99.99% and a hydrogen pressure of 0.6-0.8 bar. The battery stack has dimensions of 350*161*263mm and a mass of 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 channel from a fuel inlet, and then flows through each cell of the hydrogen fuel cell to participate in the oxidation reaction. Finally, the unreacted hydrogen and the water generated by the reaction are discharged from a fuel outlet on one side of the fuel channel. The air-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 moving area of the solid hydrogen fuel cell lift vehicle includes a hydrogen storage unit. The hydrogen storage unit is characterized by hydrogen storage performance, dimensions, hydrogen filling performance parameters, and hydrogen release performance parameters; the hydrogen storage performance includes a rated hydrogen storage capacity of 300g; the dimensions include a device height of 380mm, a device width of 120mm, and a device length of 400mm; the hydrogen filling performance parameters include a rated hydrogen filling pressure of 3MPa, a safe release pressure of 6MPa, and a rated hydrogen filling flow rate of 0.2kgH. 2 / h; The hydrogen release performance parameters include a rated hydrogen release pressure of 0.1-3 MPa, a cycle life of 5000 cycles, and a hydrogen inlet of 1 / 8 inch.
[0046] The working principle and effects of the above technical solution are as follows: The hydrogen storage unit is installed on the solid hydrogen fuel cell lift vehicle. Since the solid hydrogen fuel cell lift vehicle uses hydrogen as fuel, the hydrogen storage unit can serve as both an energy storage unit and a functional unit for the solid hydrogen fuel cell lift vehicle. The hydrogen storage unit supplies hydrogen to the fuel cell system, which then converts the hydrogen into energy for the use of the solid hydrogen fuel cell lift vehicle. Because the fuel is hydrogen, combustion is completely pollution-free. Simultaneously, the hydrogen storage unit can achieve rapid hydrogen exchange in 5 minutes, is unaffected by environmental factors, and can withstand operating temperatures from -30°C to 50°C for 16 hours, effectively solving the range anxiety problem of new energy forklift products. Furthermore, by utilizing the hydrogen absorption and release properties of the alloy, hydrogen is combined with the hydrogen storage alloy to form a metallic hydride during storage, achieving low-pressure safe hydrogen storage. Hydrogen release can be achieved by relying on a small pressure inside the bottle or by heating. Moreover, thanks to the low pressure characteristic of the solid hydrogen storage bottle, rapid hydrogen exchange can be achieved.
[0047] According to one embodiment of the present invention, the control method of the solid-state hydrogen exchange station includes:
[0048] Step 1: The solid hydrogen fuel cell lifting vehicle receives the forklift instruction and moves from the standby point to the waiting point;
[0049] Step 2: The solid hydrogen fuel cell lift vehicle checks whether there is material at the forklift point;
[0050] Step 3: When there is material at the waiting point, the solid hydrogen fuel cell truck starts to pick up the goods and moves from the waiting point to the target point; when there is no material at the waiting point, the solid hydrogen fuel cell truck returns to the waiting point.
[0051] Step 4: The solid hydrogen fuel cell lift 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 hydrogen fuel cell lifting vehicle can issue task instructions through a large-scale cluster scheduling system in the background. It uses SLAM navigation to perceive distance, accuracy and space, generate environmental semantic maps, learn about the target and obstacles and observe the picking and placing space, and can judge the object status in real time. This provides data reference for adaptive operation and autonomous obstacle avoidance. Based on 3D+SLAM laser navigation technology, the unmanned forklift can optimize its actions in real time, realize smooth multi-axis combined movement, and ensure accurate and efficient execution of fork end operations such as picking, placing and stacking.
[0053] According to one embodiment of the present invention, the control method of the solid-state hydrogen exchange station includes:
[0054] Step 1: When the solid hydrogen fuel cell lift vehicle is in a "U" shaped space and needs to drive out, the first radar 3 of the solid hydrogen fuel cell lift vehicle detects the distance between the two sides of the vehicle body and the wall. Based on the minimum value of the distance between the left and right sides of the vehicle body and the corresponding wall, it is determined whether the solid hydrogen fuel cell lift vehicle needs to turn around.
[0055] Step 2: When the obstacle avoidance camera 10 of the solid hydrogen fuel cell lifting vehicle senses that the distance to the obstacle ahead is within the reference value, the solid hydrogen fuel cell lifting vehicle begins to turn around.
[0056] Step 3: The solid hydrogen fuel cell lift vehicle continuously adjusts its inner steering angle based on the distance between the fork tip obstacle avoidance camera 10 and the obstacle in front, as well as the distance between the vehicle body and the wall on the turning side, to complete the U-turn. The formula is as follows:
[0057]
[0058] Wherein, L represents the front and rear wheel track of the solid hydrogen fuel cell lift vehicle; W represents the left and right wheel track of the solid hydrogen fuel cell lift vehicle; R represents the minimum turning radius of the front axle of the solid hydrogen fuel cell lift vehicle; and β represents the external steering angle of the solid hydrogen fuel cell lift vehicle.
[0059] Step 4: The front of the solid hydrogen fuel cell lift vehicle is adjusted and it drives out of the "U"-shaped area.
[0060] The working principle and effect of the above technical solution are as follows: When the solid hydrogen fuel cell lifting forklift determines that it needs to turn around, the wheelbase data of the current solid hydrogen fuel cell lifting forklift is retrieved, and the minimum turning radius, minimum turning width, and maximum steering angle of the solid hydrogen fuel cell lifting forklift are obtained based on the wheelbase data; wherein, the physical quantities are obtained by the following formula:
[0061]
[0062] Where ψ represents the maximum steering angle; the wheelbase of the solid hydrogen fuel cell lift vehicle is L = 1290 mm, therefore R = 1007 mm can be calculated;
[0063] When the solid hydrogen fuel cell forklift 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) By using the fork tip obstacle avoidance camera 10 to retrieve the distance between the front of the vehicle and the obstacle in front, and the steering angle of the solid hydrogen fuel cell lifting vehicle, the distance between one side tire of the solid hydrogen fuel cell lifting vehicle and the corresponding wall is obtained, as follows:
[0066] H = U / tanω
[0067] Where H represents the distance between the wheels of the solid hydrogen fuel cell lifting forklift and the wall in the turning direction, U represents the distance between the obstacle in front and the front of the vehicle, and ω represents the internal turning angle of the solid hydrogen fuel cell lifting forklift, with a value range of 30°-40°.
[0068] (3) When ω reaches its maximum value, there is a corresponding minimum value H1 of H. H1 represents the limit distance at which the solid hydrogen fuel cell lifting vehicle can turn around. The sensing distance of the fork tip obstacle avoidance camera is 100mm, so H1 = 120mm. When H < H1, the solid hydrogen fuel cell lifting vehicle determines that it cannot turn around, so it drives out by reversing.
[0069] Thanks to its small turning radius, the solid hydrogen fuel cell lift vehicle not only greatly improves maneuverability and obstacle avoidance capabilities, but also allows it to turn around in narrow spaces, making its application scenarios more extensive.
[0070] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends 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 lift vehicle; the solid-state hydrogen fuel cell lift 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. Furthermore, the turning method of the solid-state hydrogen fuel cell lift vehicle includes: Step 1: When the solid hydrogen fuel cell lift vehicle is in a "U" shaped space and needs to drive out, the first radar (3) of the solid hydrogen fuel cell lift vehicle detects the distance between the two sides of the vehicle body and the wall. Based on the minimum distance between the left and right sides of the vehicle body and the corresponding wall, it is determined whether the solid hydrogen fuel cell lift vehicle needs to turn around. Step 2: When the obstacle avoidance camera (10) of the solid hydrogen fuel cell lifting vehicle senses that the distance to the obstacle in front is within the reference value, the solid hydrogen fuel cell lifting vehicle begins to turn around; Step 3: The solid hydrogen fuel cell lift vehicle continuously adjusts its inner steering angle based on the distance between the fork tip obstacle avoidance camera (10) and the obstacle in front, as well as the distance between the vehicle body and the wall on the turning side, to complete the turn. The formula is as follows: Wherein, ω represents the internal steering angle of the solid hydrogen fuel cell lifting forklift, and the value of ω ranges from 30° to 40°; L represents the front and rear wheel track of the solid hydrogen fuel cell lifting forklift; W represents the left and right wheel track of the solid hydrogen fuel cell lifting forklift; R represents the turning radius of the axle of the solid hydrogen fuel cell lifting forklift; and β represents the external steering angle of the solid hydrogen fuel cell lifting forklift. Step 4: The front of the solid hydrogen fuel cell lift vehicle is adjusted and it drives out of the "U"-shaped area; The lower moving area of the solid hydrogen fuel cell lift 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 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.
2. The solid-state hydrogen exchange station operating system according to claim 1, characterized in that, The upper sensing area of the solid hydrogen fuel cell lift vehicle includes indicator lights, a signal input and output system, radar, and a fan; the indicator lights include a marker light (4), a turn signal strip (12), and a tri-color light (17); the signal input and output system includes a first 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 marker light (4) of the upper sensing area of the solid hydrogen fuel cell lift 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 tri-color light (17) is located on both sides of the sensing area; the first antenna (1) is located on both sides of the upper surface of the sensing area; the speaker (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. The solid-state hydrogen exchange station operating system according to claim 1, characterized in that, The central operating area of the solid hydrogen fuel cell lift vehicle includes an operating platform and a support column; the operating platform includes an operating handle (5), an emergency stop switch (6), and a main power switch (7); the support column has a manual / automatic switching button (21); the operating handle (5) is located on the central operating platform of the solid hydrogen fuel cell lift vehicle; the emergency stop switch (6) and the main power switch (7) are located on the upper surface of the operating platform.
4. The solid-state hydrogen exchange station operating system according to claim 1, characterized in that, The lower moving area of the solid hydrogen fuel cell lift vehicle includes an obstacle avoidance system, a lifting system, a lidar, a charging port, and a foot pedal; the obstacle avoidance system includes a position detection switch (9), a fork tip obstacle avoidance camera (10), and a crash bar (22); the lifting system includes a lifting system (8); the lidar includes a third lidar (15); the charging port includes an automatic charging brush plate (14); the foot pedal includes a foot pedal (16); the position detection switch (9) of the lower moving area of the solid hydrogen fuel cell lift 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 hydrogen fuel cell lift vehicle; the crash bar (22) is located at the bottom of the solid hydrogen fuel cell lift vehicle; the lifting system (8) of the lower moving area of the solid hydrogen fuel cell lift vehicle is located behind the moving area; the third lidar (15) is located in front of the moving area; and the foot pedal (16) is located on one side of the moving area.
5. The solid-state hydrogen exchange station operating system according to claim 2, characterized in that, The ground requirements for the solid hydrogen fuel cell lifting vehicle include: ground slope ≤ 3°; ground gap ≤ 3cm, height difference between the two sides of the ground gap ≤ 1cm; steps ≤ 1cm; single forklift lane width ≥ 1.6m; minimum lane width for forklift bidirectional straight operation ≥ 3.2m; vehicle travel distance ≥ 1.6m; goods on the pallet not exceeding the pallet's area; and the pallets are placed according to the specified size requirements.
6. The solid-state hydrogen exchange station operating system according to claim 1, characterized in that, The bipolar electrodes of the fuel cell system in the lower moving area of the solid hydrogen fuel cell lift vehicle are made of graphite / metal; the fuel cell system uses hydrogen as fuel with a hydrogen purity ≥99.99% and a hydrogen pressure of 0.6-0.8 bar.
7. The solid-state hydrogen exchange station operating system according to claim 1, characterized in that, The lower moving area of the solid hydrogen fuel cell lift vehicle also includes a hydrogen storage unit.
8. An operating method for a solid-state hydrogen exchange station operating system as described in claim 1, wherein the operating method for the solid-state hydrogen exchange station includes: Step 1: The solid hydrogen fuel cell lifting vehicle receives the forklift instruction and moves from the standby point to the waiting point; Step 2: The solid hydrogen fuel cell lift vehicle checks whether there is material at the forklift point; Step 3: If there is material at the waiting point, the solid hydrogen fuel cell truck will start to pick up the goods and move from the waiting point to the target point; if there is no material at the waiting point, the solid hydrogen fuel cell truck will return to the waiting point. Step 4: The solid hydrogen fuel cell lift vehicle completes its mission and returns to the standby point.