Low-temperature liquid dynamic pressure balance filling system and method

Abstract

The invention discloses a low-temperature liquid dynamic pressure balance filling system and method, and relates to the field of low-temperature liquid filling. The method comprises the following steps: performing image information identification on a to-be-filled vehicle; after the vehicle confirms the information and the starting condition is met, a pre-cooling stage is started, and after pre-cooling is completed, a filling stage is started; in the filling stage, the filling pump is started, and when the pressure reaches the preset condition, the filling valve is opened; the reflux valve is adjusted, after the filling target is achieved, the filling pump and the filling valve are closed, the reflux valve is opened until the preset time is reached, and filling is completed; and in the filling process, early warning monitoring is started, real-time early warning monitoring is conducted on the filling process, whether the filling target is reached or not is determined, if the target is reached, the filling pump stops running, the filling valve is closed, the backflow stage is started, backflow is ended, and filling is completed. And through real-time multi-dimensional sensor monitoring, abnormal early warning and automatic control, the safety, precision and efficiency of the filling process are remarkably improved, and the operation risk and the labor burden are reduced.

Description

Technical Field

[0001] The present invention relates to the field of dynamic pressure balance, and particularly to a cryogenic liquid dynamic pressure balance filling system and method. Background Art

[0002] Cryogenic liquid filling is a common operation in industrial production, widely used in the storage and transportation of cryogenic liquids such as liquefied natural gas (LNG), liquid oxygen (LOX), and liquid nitrogen (LIN). Since these cryogenic liquids involve extremely low temperatures and high-pressure operations during the filling process, it is crucial to maintain pressure balance and the stability of the filling process. Any abnormal situation during the filling process, such as unstable pressure, abnormal flow rate, or equipment failure, may lead to dangerous events, such as equipment damage, liquid leakage, or even fire. Therefore, developing an efficient and safe filling method and system that can dynamically monitor the filling process, provide real-time warnings, and ensure the accuracy and safety of the filling process has become the demand of current technological development.

[0003] In the prior art, cryogenic liquid filling systems usually use manual operations or simple automated equipment to complete the filling process. However, these traditional methods usually rely on manual experience for monitoring and control, lack automated precise control means, have high requirements for equipment and operators, and it is difficult to detect abnormal situations during the filling process in a timely manner, posing certain safety hazards. At the same time, existing filling systems usually only focus on static parameters, such as pressure, temperature, and liquid level, but fail to combine more dynamic characteristics for multi-dimensional real-time monitoring, thus unable to predict possible filling abnormalities or equipment failures in real time, affecting the safety and efficiency of the filling process.

[0004] Therefore, researchers are committed to developing a cryogenic liquid filling method and system based on dynamic pressure balance and multi-sensor monitoring to achieve more precise filling control and real-time warning monitoring. By introducing means such as image recognition technology, machine learning algorithms, and multi-dimensional sensor data fusion, the safety, efficiency, and automation level of the filling process can be comprehensively improved. Summary of the Invention

[0005] Based on the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a cryogenic liquid dynamic pressure balance filling system and method to solve the above technical problems.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A cryogenic liquid dynamic pressure balance filling method, including: Performing image information recognition on the vehicle to be filled; After the vehicle confirmation information, connect the tanker hose to the pipeline. After the start-up conditions are met, enter the pre-cooling stage. After the pre-cooling is completed, enter the filling stage; During the filling stage, start the filling pump. When the pressure reaches the preset condition, open the filling valve; adjust the reflux valve through the differential pressure PID loop. After reaching the filling target, close the filling pump and the filling valve, open the reflux valve until the preset time is reached, and the filling is completed; During the filling process, start the early warning monitoring to conduct real-time early warning monitoring on the filling process; During the filling process, compare with the set target filling volume through the weight sensor to confirm whether the filling target is reached. If the target is reached, the filling pump stops running, the filling valve closes, and it enters the reflux stage. After the reflux ends, the balanced filling is completed.

[0007] The present invention is further configured such that the image information recognition of the vehicle to be filled includes: Take a vehicle image through a digital high-definition camera; Use the convolutional neural network CNN for image processing and feature extraction to automatically identify the license plate number and vehicle body features.

[0008] The present invention is further configured such that when connecting the tanker hose to the pipeline and after the start-up conditions are met, it enters the pre-cooling stage, including: Fully open the filling pump inlet valve and the filling pump reflux valve to pre-cool the pipeline; Start timing from the moment the start button is clicked. After the set pre-cooling time ends or when the pump body temperature is less than -100 °C, the pre-cooling ends.

[0009] The present invention is further configured such that during the filling stage, start the filling pump. When the pressure reaches the preset condition, open the filling valve, including: When the pressure rises above the preset value, open the filling valve. The opening speed of the filling valve needs to be limited, less than 3% per second, and there is no limit for valve closing.

[0010] The present invention is further configured such that during the filling process, start the early warning monitoring to conduct real-time early warning monitoring on the filling process, including: During the filling process, collect data from multi-dimensional sensors in real time, including temperature, pressure, flow rate, flow velocity, liquid level, pump speed, filling pump power, electrical power, and control signal parameters; Perform data cleaning, denoising, and normalization preprocessing operations on the sensor data to ensure its quality and usability; Extract pump electrical characteristics based on electrical power, control signals, flow rate, and liquid level; Extract liquid flow deviation characteristics based on filling pump power, liquid level, and flow rate; Construct a filling early warning monitoring model based on pump electrical characteristics and liquid flow deviation characteristics.

[0011] The present invention is further configured such that the calculation logic of the pump electrical characteristics includes: , where is the pump electrical characteristic, is the electrical power of the filling pump, is the control signal of the filling pump, is the real-time flow rate, is the real-time liquid level, is a small smoothing constant to prevent division-by-zero errors when the liquid level is zero.

[0012] The present invention is further configured such that the calculation logic of the liquid flow deviation characteristic includes: , where is the liquid flow deviation characteristic, is the filling pump power, is the target value or expected value of the filling pump power, is the real-time flow rate, is the target flow rate, is the maximum safety limit of the flow rate, is the real-time liquid level, is the target liquid level, and are the start and end times of the filling process.

[0013] The present invention is further configured such that the construction logic of the filling warning monitoring model includes: Obtain historical sensor data, label the data, and according to the monitoring data of the historical filling process, divide the filling process into normal filling: no problems occur during the filling process, and all parameters are within the expected range, and abnormal filling: potential failures or instabilities occur during the filling process, which may lead to the failure of the filling process or cause equipment damage. Each data record includes a liquid flow deviation characteristic LD, a pump electrical characteristic EP, and the label of the filling process; Divide the data set into a training set and a test set; Use the pump electrical characteristic and the liquid flow deviation characteristic as input features, and use the monitoring value of the filling process as the output for model training; use the data in the test set to verify the trained SVM model; Apply the trained SVM model to the actual filling process for real-time monitoring. When the output is 0, it indicates that the filling process is stable and proceeding normally; when the output is 1, it indicates that there is an abnormality in the filling process and immediate intervention or stopping of the filling is required.

[0014] The present invention is further configured such that the reflux stage includes: When the filling ends or the pre-cooling ends in advance but the start button is not pressed, reflux is automatically performed and timing starts. When the reflux timing reaches the preset time or the next start condition is met and the start button is pressed, the reflux ends.

[0015] The present invention also provides a cryogenic liquid dynamic pressure balance filling system, which includes: Vehicle information recognition module: recognizing image information of the vehicle to be filled; Precooling module: after the vehicle confirmation information, connect the tanker hose to the pipeline. After the start-up conditions are met, enter the precooling stage. After the precooling is completed, enter the filling stage; Filling module: in the filling stage, start the filling pump. When the pressure reaches the preset conditions, open the filling valve; adjust the reflux valve through the differential pressure PID loop. After reaching the filling target, close the filling pump and the filling valve, open the reflux valve until the preset time is reached, and the filling is completed; Early warning and monitoring module: during the filling process, start the early warning and monitoring to conduct real-time early warning and monitoring on the filling process; Reflux module: when the filling is completed, compare with the set target filling volume through the weight sensor to confirm whether the filling target is reached. If the target is reached, stop the operation of the filling pump, close the filling valve, enter the reflux stage, and after the reflux ends, complete the balanced filling.

[0016] The present invention provides a cryogenic liquid dynamic pressure balance filling system and method. The method recognizes image information of the vehicle to be filled; after the vehicle confirmation information, connect the tanker hose to the pipeline. After the start-up conditions are met, enter the precooling stage. After the precooling is completed, enter the filling stage; in the filling stage, start the filling pump. When the pressure reaches the preset conditions, open the filling valve; adjust the reflux valve through the differential pressure PID loop. After reaching the filling target, close the filling pump and the filling valve, open the reflux valve until the preset time is reached, and the filling is completed; during the filling process, start the early warning and monitoring to conduct real-time early warning and monitoring on the filling process; during the filling process, compare with the set target filling volume through the weight sensor to confirm whether the filling target is reached. If the target is reached, stop the operation of the filling pump, close the filling valve, enter the reflux stage, and after the reflux ends, complete the balanced filling. The beneficial effects generated include: 1. Improve the safety of the filling process: by real-time monitoring of multi-dimensional sensor data, the present invention can dynamically evaluate abnormal situations that may occur during the filling process, such as pressure fluctuations, flow rate deviations, etc. Combining the filling pump power and the characteristics of liquid flow deviation, an early warning and monitoring model for the filling process is constructed, which can issue early warnings in time before problems occur, prevent potential safety hazards caused by equipment failures or improper operations, and ensure the safety of the filling process; 2. Real-time monitoring and abnormal warning: During the filling process, the present invention collects and processes signals from multi-dimensional sensors in real time, and performs pre-processing operations such as data cleaning, denoising, and normalization to ensure the accuracy and availability of data. Based on these data, the system can analyze in real time whether there are abnormal conditions during the filling process, and issue warnings in time through the early warning monitoring module to remind operators to intervene and avoid potential failures or equipment damage; 3. Reduce operational risks and manual burden: The automated filling method of the present invention reduces the complexity and uncertainty of manual operation and reduces operational risks. At the same time, the system monitors and automatically controls various parameters in real time during the filling process, reducing manual intervention in the operation process, reducing the possibility of manual errors, and alleviating the workload of operators.

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings: Figure 1 A flowchart of a method for dynamically balancing the pressure of a cryogenic liquid and filling it according to an exemplary embodiment of the present invention is shown; Figure 2 The present invention is a schematic structural diagram of a low-temperature liquid dynamic pressure balance filling system according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0020] It should be noted that the illustrations provided in the following embodiments only schematically illustrate the basic concept of the present invention. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0021] In the following description, numerous details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0022] Embodiment 1 A method for dynamically balancing the filling of cryogenic liquids, as Figure 1 shown, includes: Performing image information recognition on the vehicle to be filled; After the vehicle confirmation information, connect the tanker hose to the pipeline. After the start-up conditions are met, enter the pre-cooling stage. After the pre-cooling is completed, enter the filling stage; In the filling stage, start the filling pump. When the pressure reaches the preset conditions, open the filling valve; adjust the reflux valve through the differential pressure PID loop. After reaching the filling target, close the filling pump and the filling valve, open the reflux valve until the preset time is reached, and the filling is completed; During the filling process, start the early warning monitoring to perform real-time early warning monitoring on the filling process; During the filling process, compare with the set target filling amount through the weight sensor to confirm whether the filling target is reached. If the target is reached, the filling pump stops running, the filling valve is closed, enter the reflux stage, and after the reflux ends, the balanced filling is completed.

[0023] The present invention is further configured such that the performing image information recognition on the vehicle to be filled includes: Taking a vehicle image through a digital high-definition camera; Use a Convolutional Neural Network (CNN) for image processing and feature extraction to automatically identify license plate numbers and vehicle body features. Specifically, use digital high-definition cameras to collect images of the vehicles to be filled. These high-definition cameras can capture high-quality and detail-rich image data to ensure that various features of the vehicles in the images can be accurately captured. The captured images can include key information such as the overall appearance of the vehicle body, license plate number, and specific markings on the vehicle body. The Convolutional Neural Network (CNN) will be used to process and analyze the images collected by the cameras. The Convolutional Neural Network is a deep learning algorithm specifically designed for processing image data. Its basic principle is to extract features in the images through a series of convolutional layers, pooling layers, and fully connected layers. The Convolutional Neural Network (CNN) automatically learns important features in the images by simulating the processing method of the human visual system, without the need for manual feature specification or extraction. Using the Convolutional Neural Network to automatically extract image features and perform license plate number and vehicle body feature recognition can greatly improve the recognition accuracy. Through training with a large amount of labeled data, the CNN can accurately identify license plate characters and vehicle shapes, avoiding the complexity of manual feature selection and parameter tuning in traditional image processing methods.

[0024] The present invention is further configured such that after connecting the tanker hose to the pipeline and when the start-up conditions are met, it enters the pre-cooling stage, including: Fully open the filling pump inlet valve and the filling pump reflux valve to pre-cool the pipeline; Start timing from the moment the start button is clicked. When the set pre-cooling time ends or when the pump body temperature is less than -100 °C, the pre-cooling ends. Specifically, the start-up conditions include: the filling pipe is connected, the tanker filling valve is open, the filling port pressure is greater than 50 KPa; the storage tank liquid level is greater than the lower limit; the weighbridge weight is greater than 5000 KG, and the set value is greater than the current weight by 600 KG; the valves 7101.10.H05 or 7101.10.H06 at the bottom of the storage tank are open; the purity of the cryogenic liquid meets the requirements; the liquid nitrogen filling pump is not running; the liquid argon filling pump is not running. During the pre-cooling stage, to avoid damage to the pipeline, tanker, and filling equipment caused by the temperature difference generated during liquid filling, the system needs to first cool down the entire pipeline through pre-cooling operations. At this time, by fully opening the filling pump inlet valve and the reflux valve, the filling pump starts to circulate the liquid flow and cools through the pipeline. The system starts timing after clicking the start button and enters the pre-cooling mode. When the set pre-cooling time ends, or when the pump body temperature of the filling pump drops to the preset minimum temperature (such as less than -100 °C), the pre-cooling process automatically ends. Excessive or too low pump body temperature will affect the fluidity of the filling liquid and the safety of the pump body. Therefore, it is necessary to ensure sufficient and effective pre-cooling in this way. The pre-cooling time and the pump body temperature are key control parameters of the system to ensure that during the filling process, the equipment can operate stably, and the filling equipment such as the pipeline and the tanker reaches a safe temperature, avoiding equipment failures caused by excessive temperature differences.

[0025] The present invention is further configured such that, during the filling stage, when the filling pump is started and the pressure reaches a preset condition, the filling valve is opened, including: When the pressure rises above the preset value, the filling valve is opened. The opening speed of the filling valve needs to be restricted, less than 3% per second. There is no restriction on the valve closing. Specifically, the starting conditions for the filling valve are: the inlet valve of the filling pump is open; the filling pump is electrically controlled and allowed; the temperature of the filling pump casing is low or the pre-cooling time has reached. When entering the filling stage, the filling pump is first started. The function of the filling pump is to transport the cryogenic liquid from the storage device to the tanker. After the filling pump is started, the liquid begins to flow along the pipeline and passes through the filling valve. The operation of the filling pump generates a certain pressure. When the pressure rises above 0.4 MPa, the filling valve is opened. This is to ensure that filling starts only when the pressure is stable and meets the safety requirements, preventing filling problems or leakage due to too low or unstable pressure. The opening speed of the filling valve is restricted, less than 3% per second. There is no restriction on the valve closing. By controlling the opening speed of the valve, the pressure change is ensured to be stable, avoiding damage to the equipment caused by system vibration and excessive pressure fluctuations; the differential pressure PID loop automatically changes to the automatic state to adjust the reflux valve. After reaching the filling target, stop the pump, close the filling valve, and close the inlet valve. The differential pressure PID is in the manual state and the reflux valve is fully opened. After the reflux valve opening time has reached, the filling is completed.

[0026] The present invention is further configured such that, during the filling process, early warning monitoring is started to perform real-time early warning monitoring on the filling process, including: During the filling process, data from multi-dimensional sensors are collected in real time, including temperature, pressure, flow rate, flow velocity, liquid level, pump speed, filling pump power, electrical power, and control signal parameters; The sensor data is preprocessed by data cleaning, denoising, and normalization operations to ensure its quality and usability. Specifically, the data collected by the sensors may contain noise, outliers, or inaccurate information, which will affect the accuracy of subsequent analysis. Therefore, it is necessary to perform preprocessing operations such as data cleaning, denoising, and normalization on the collected raw data. The specific operations include: data cleaning: removing invalid data, duplicate data, and abnormal data to ensure that the remaining data is real and valid; denoising: removing random noise in the data through various algorithms (such as mean filtering or Kalman filtering, etc.) to make the data smoother and more accurate; Normalization: performing normalization processing on the data to standardize parameters of different magnitudes to the same range, eliminating the differences between data from different sensors, and making subsequent processing more reliable; Extract the pump electrical characteristics based on electrical power, control signals, flow rate, and liquid level. Specifically, these data reflect the state of the filling pump during the entire filling process, including the pump's operating efficiency, power consumption, and liquid flow state, etc. The pump electrical characteristics can be used to detect whether there are abnormal conditions, such as abnormal power fluctuations or insufficient flow rate, to help determine whether the pump is working properly; Extract the liquid flow deviation characteristics based on the filling pump power, liquid level, and flow rate. Specifically, based on data such as the filling pump power, liquid level, and flow rate, extract the liquid flow deviation characteristics. The liquid flow deviation characteristics are used to detect problems such as flow deviation or unstable liquid level during the filling process. The calculation of the liquid flow deviation characteristics can help detect the difference between the flow rate and the target flow rate during the filling process, thus providing a basis for abnormal early warning; Construct a filling early warning monitoring model based on the pump electrical characteristics and the liquid flow deviation characteristics. Specifically, through the extracted pump electrical characteristics and liquid flow deviation characteristics, construct an early warning monitoring model for the filling process. This model is based on historical data and uses machine learning algorithms to train an early warning system for real-time monitoring of various abnormalities during the filling process. By continuously monitoring the pump electrical characteristics and liquid flow deviation characteristics in the current filling process and comparing them with the trained model, when potential abnormalities are detected, the system will issue an early warning signal to remind the operator to intervene in a timely manner.

[0027] In addition, there are interlock stop filling conditions during the filling process. When any of the following conditions is met, automatically stop filling, stop the filling pump, and close the filling valve, including: local emergency stop; emergency stop of the storage tank system; inconsistency between the filling pump control output and electrical feedback; storage tank liquid level is less than the very low limit; filling pump outlet pressure is very low (takes effect 45 seconds after the pump starts); filling pump outlet pressure is too high; storage tank pressure is too low; storage tank outlet valve is fully closed; filling pipe pressure switch (low pressure); filling reaches the target value; after the filling pump runs for 5 minutes, the weight increase is less than the set value. These conditions cooperate with the early warning monitoring to further strengthen the timely resolution of errors or mistakes in the operation during the filling process.

[0028] The present invention is further configured such that the calculation logic of the pump electrical characteristics includes: , where is the pump electrical characteristic, is the electrical power of the filling pump, is the control signal of the filling pump, is the real-time flow rate, is the real-time liquid level, is a small smoothing constant to prevent division by zero errors when the liquid level is zero. Specifically, the pump electrical characteristic represents at time At a moment, it reflects the electrical working state of the filling pump. It synthesizes information such as electrical power, control signal, flow rate, liquid level, etc., and can judge the working efficiency of the pump and whether there are abnormalities. The electrical power of the filling pump represents the electricity consumed by the pump during operation, in watts. The higher the electrical power, the greater the load on the pump, and there may be a fault or abnormal working state. The control signal of the filling pump is a continuous value representing the running state of the pump, with a value range of 0 - 100% (not 0), indicating the running load. The control signal shows the response characteristics of the pump under different working states. The real-time flow rate represents the liquid flow velocity through the pipeline during the filling process. The flow rate is a very important parameter during the filling process, directly reflecting the filling speed and whether there are abnormal flow rate fluctuations. The real-time liquid level represents the height of the liquid in the tanker. The liquid level is an important parameter to ensure the smooth progress of the filling process. An overly low liquid level may lead to overfilling or filling an empty vehicle, while an overly high liquid level may lead to overflow or leakage. Smoothing constant, preventing the liquid level A constant to prevent a division-by-zero error when the liquid level is at zero value, usually taking a very small value. This parameter ensures that when the liquid level is close to zero, the calculation formula will not produce unstable mathematical problems. and The ratio of... reflects the relative relationship between the power load and the control signal of the pump during operation. If the electrical power is too high while the control signal is low, it may indicate that the pump is in an overloaded state or the control signal is abnormal. ... is to square the ratio of the electrical power and the control signal, further amplifying its influence. This can make a more sensitive response to possible abnormalities. ... reflects the change of the flow rate under a unit liquid level. The relationship between the flow rate and the liquid level determines the efficiency of the filling process.

[0029] The present invention is further configured such that the calculation logic of the liquid flow deviation feature includes: , where is the liquid flow deviation feature, is the power of the filling pump, is the target value or expected value of the power of the filling pump, is the real-time flow rate, is the target flow rate, is the maximum safety limit of the flow rate, is the real-time liquid level, is the target liquid level, and are the start and end moments of the filling process. Specifically, is the liquid flow deviation feature, representing the deviation degree of the liquid flow, reflecting the difference between the actual filling process and the target filling parameters; The filling pump power represents the actual electrical power consumed by the filling pump. The unit is usually watt, and this item reflects the load condition of the pump; It is the target value or expected value of the filling pump power. There is a preset power range during the filling process, and it is expected that the pump works within a certain power range; It is the real-time flow rate, representing the liquid flow velocity during the filling process. The stability of the flow rate is crucial for the efficiency and safety of the filling process; It is the target flow rate, the ideal or preset flow rate value during the filling process. The flow rate should be maintained within the target range, otherwise it may indicate equipment failure or unstable filling; The maximum safety limit of the flow rate, which represents the maximum safety upper limit of the flow rate, preventing the too fast flow velocity during the filling process from causing overflow or equipment damage; It is the real-time liquid level, representing the liquid height in the tank truck; It is the target liquid level, the ideal liquid level value during the filling process, ensuring that the tank truck is full but does not overflow; and define the time range for calculating the liquid flow deviation characteristics, measures the deviation between the actual power of the filling pump and the expected target power. If the deviation between the actual power and the target power is large, it indicates that the filling pump works unstably or has too large a load, which may lead to abnormalities in the filling process; describes the deviation degree of the flow rate. The difference between the flow rate and the target flow rate is processed by an exponential function. If the flow rate deviation is large, the value of the exponential term will be small, reducing the value of the overall liquid flow deviation characteristics, measures the deviation of the liquid level during the filling process, generally reflecting the accuracy of the filled liquid. If the liquid level deviates too much from the target liquid level, it may cause overflow or incomplete filling.

[0030] The present invention is further configured such that the construction logic of the filling early warning monitoring model includes: Obtain historical sensor data, label the data. According to the monitoring data of the historical filling process, divide the filling process into normal filling: no problems occur during the filling process, and all parameters are within the expected range, and abnormal filling: potential failures or instabilities occur during the filling process, which may lead to the failure of the filling process or cause equipment damage. Each data record includes a liquid flow deviation characteristic LD, a pump electrical characteristic EP, and the label of this filling process; Divide the data set into a training set and a test set; Use the pump electrical characteristic and the liquid flow deviation characteristic as input features, and use the monitoring value of the filling process as the output for model training; use the data in the test set to verify the SVM model after training is completed; Apply the trained SVM model to the actual filling process for real-time monitoring. When the output is 0, it indicates that the filling process is stable and proceeding normally; when the output is 1, it indicates that there is an abnormality during the filling process, and immediate intervention or stopping of the filling is required. Specifically, the support vector machine (SVM) is a commonly used machine learning algorithm for binary classification tasks. It separates data of different classes by finding an optimal hyperplane. The core idea of the SVM model is to maximize the classification boundary to improve the generalization ability of the model. By real-time monitoring the pump electrical characteristics and liquid flow deviation characteristics, potential abnormalities during the filling process can be effectively identified, and intervention can be carried out in a timely manner to prevent equipment damage or filling failure. Through automatic early warning and anomaly detection, unnecessary pauses or mistakes during the filling process can be avoided, and the overall filling efficiency can be improved.

[0031] The present invention is further configured such that the reflux stage includes: When the filling is completed or the pre-cooling is completed in advance but the start button is not pressed, reflux is automatically carried out and timing starts. When the reflux timing reaches the preset time or the next start condition is met and the start button is pressed, the reflux ends. Specifically, when the filling is completed or the pre-cooling is completed in advance but the start button is not pressed, reflux is automatically carried out and timing starts. The reflux timing is 3600 seconds; or when the next start condition is met and the start button is pressed, the reflux ends.

[0032] Embodiment 2 Please refer to Figure 2 , an exemplary cryogenic liquid dynamic pressure balance filling system includes: Module: Vehicle information recognition module: Perform image information recognition on the vehicle to be filled; Pre-cooling module: After the vehicle confirmation information, connect the tanker hose to the pipeline. When the start condition is met, enter the pre-cooling stage. After the pre-cooling is completed, enter the filling stage; Filling module: In the filling stage, start the filling pump. When the pressure reaches the preset condition, open the filling valve; adjust the reflux valve through the differential pressure PID loop. After reaching the filling target, close the filling pump and filling valve, and open the reflux valve until the preset time is reached, and the filling is completed; Early warning and monitoring module: During the filling process, start early warning and monitoring to perform real-time early warning and monitoring on the filling process; Reflux module: After the filling is completed, compare with the set target filling amount through the weight sensor to confirm whether the filling target is reached. If the target is reached, stop the operation of the filling pump, close the filling valve, enter the reflux stage, and after the reflux ends, complete the balanced filling.

[0033] It should be noted that a cryogenic liquid dynamic pressure balance filling system provided by the above embodiments and a cryogenic liquid dynamic pressure balance filling method provided by the above embodiments belong to the same concept. The specific manners in which each module and unit perform operations have been described in detail in the method embodiments and will not be elaborated herein. In practical applications, for the cryogenic liquid dynamic pressure balance filling system provided by the above embodiments, the above functions can be allocated to different functional modules as needed, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above. This is not limited herein either.

[0034] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more collections of available media. The available media can be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0035] It should be understood that the term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood with reference to the context before and after.

[0036] In this application, "at least one" means one or more, and "a plurality of" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0037] It should be understood that in various embodiments of this application, the magnitudes of the sequence numbers of the above processes do not mean the order of execution is prior or subsequent. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0038] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0039] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0040] In several embodiments provided in this application, it should be understood that the disclosed system can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical, or other forms.

[0041] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0042] In addition, in each embodiment of the present application, each functional unit can be integrated into one processing unit, can exist separately physically for each unit, or two or more units can be integrated into one unit.

[0043] If the above-mentioned function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0044] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for dynamic pressure balance filling of cryogenic liquids, characterized in that: include: Perform image information recognition on the vehicle to be filled; After the vehicle confirms the information, the tank truck hose is connected to the pipeline. When the start-up conditions are met, it enters the pre-cooling stage. After the pre-cooling is completed, it enters the filling stage; During the filling stage, the filling pump is turned on, and when the pressure reaches the preset condition, the filling valve is opened; the reflux valve is adjusted through the differential pressure PID loop, and when the filling target is reached, the filling pump and the filling valve are turned off, and the reflux valve is opened until the preset time is reached, and the filling is completed; During the filling process, early warning monitoring is started to conduct real-time early warning monitoring of the filling process; During the filling process, the weight sensor is used to compare the set target filling volume to confirm whether the filling target has been reached. If the target has been reached, the filling pump stops running, the filling valve is closed, and the reflux stage begins. The reflux ends and the balanced filling is completed.

2. A method for dynamically balancing the pressure of cryogenic liquids according to claim 1, characterized in that: Image information recognition of the vehicle to be filled, including: Capture vehicle images through a digital high-definition camera; Use convolutional neural network (CNN) for image processing and feature extraction to automatically identify license plate numbers and vehicle features; Compare with the vehicle information in the database to confirm the vehicle identity and charging eligibility.

3. A method for dynamically balancing the pressure of low-temperature liquids according to claim 1, characterized in that: Connect the tank truck hose to the pipeline, and when the start-up conditions are met, enter the pre-cooling stage, including: Fully open the charging pump inlet valve and charging pump return valve to precool the pipeline; The timing starts from clicking the start button. Precooling ends when the set precooling time is over or when the pump body temperature is lower than -100℃.

4. A method for dynamically balancing the pressure of low-temperature liquids according to claim 1, characterized in that: During the filling stage, the filling pump is turned on, and when the pressure reaches the preset condition, the filling valve is opened, including: When the pressure rises above the preset value, the filling valve is opened. The filling valve needs to be opened at a speed limit of less than 3% per second. There is no limit on valve closing.

5. A method for dynamically balancing the pressure of low-temperature liquids according to claim 1, characterized in that: During the filling process, early warning monitoring is started to conduct real-time early warning monitoring of the filling process, including: During the filling process, data from multi-dimensional sensors is collected in real time, including temperature, pressure, flow, flow rate, liquid level, pump speed, filling pump power, electrical power and control signal parameters; The sensor data is preprocessed by data cleaning, denoising, and normalization to ensure its quality and availability; Extract pump electrical characteristics based on electrical power, control signal, flow rate and liquid level; Extract flow deviation characteristics based on filling pump power, liquid level and flow rate; A filling early warning monitoring model is constructed based on the pump electrical characteristics and liquid flow deviation characteristics.

6. A method for dynamically balancing the pressure of low-temperature liquids according to claim 5, characterized in that: The calculation logic of the pump electrical characteristics includes: ,in, is the pump electrical characteristic, is the electrical power of the filling pump, is the control signal of the filling pump, For real-time traffic, For real-time liquid level, is a small smoothing constant that prevents division by zero errors when the liquid level is zero.

7. A method for dynamically balancing the pressure of low-temperature liquids according to claim 5, characterized in that: The calculation logic of the flow deviation feature includes: ,in, is the flow deviation characteristic, is the charging pump power, is the target value or expected value of the charging pump power, For real-time traffic, is the target flow, is the maximum safety limit of the flow rate, For real-time liquid level, is the target liquid level, and The start and end time of the filling process.

8. A method for dynamically balancing the pressure of low-temperature liquids according to claim 5, characterized in that: The construction logic of the filling early warning monitoring model includes: Obtain historical sensor data, annotate the data, and divide the filling process into normal filling: no problems occurred during the filling process, and all parameters were within the expected range; and abnormal filling: potential failures or instabilities occurred during the filling process, which may cause the filling process to fail or cause equipment damage. Each data record contains a liquid flow deviation feature LD. , a pump electrical characteristic EP , and the marking of the filling process; Divide the dataset into training and testing sets; The pump electrical characteristics and liquid flow deviation characteristics are used as input features, and the monitoring values ​​of the filling process are used as outputs for model training; the trained SVM model is verified using the data in the test set; The trained SVM model is applied to the actual filling process for real-time monitoring. When the output is 0, it means that the filling process is stable and proceeding normally; when the output is 1, it means that there is an abnormality in the filling process and immediate intervention or filling stop is required.

9. A method for dynamically balancing the pressure of low-temperature liquids according to claim 1, characterized in that: The reflow phase includes: When filling is finished or pre-cooling is finished but the start button is not pressed, reflux is automatically performed and timing begins. Reflux ends when the preset reflux timing time or the next start condition is met and the start button is pressed.

10. A low-temperature liquid dynamic pressure balance filling system, used to implement a low-temperature liquid dynamic pressure balance filling method according to any one of claims 1 to 9, characterized in that: include: Vehicle information recognition module: performs image information recognition on the vehicle to be filled; Precooling module: After the vehicle confirms the information, the tank truck hose is connected to the pipeline. When the start-up conditions are met, it enters the precooling stage. After the precooling is completed, it enters the filling stage; Filling module: During the filling stage, the filling pump is turned on, and when the pressure reaches the preset condition, the filling valve is opened; the reflux valve is adjusted through the differential pressure PID loop, and when the filling target is reached, the filling pump and the filling valve are turned off, and the reflux valve is opened until the preset time is reached, and the filling is completed; Early warning monitoring module: during the filling process, early warning monitoring is started to conduct real-time early warning monitoring of the filling process; Reflux module: When the filling is completed, the weight sensor is used to compare the set target filling volume to confirm whether the filling target has been reached. If the target has been reached, the filling pump stops running, the filling valve is closed, and the reflux stage begins. The reflux ends and the balanced filling is completed.

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