Hydrogen leakage detection device and detection method for hydrogenation / hydrogen production station

Abstract

The invention discloses a hydrogen leakage detection device and method for a hydrogen hydrogenation / hydrogen production station, and relates to the technical field of hydrogen leakage detection.The detection device comprises a control component and an air-ground amphibious detection component, the control component constructs a simulation model of the hydrogen hydrogenation / hydrogen production station, and the air-ground amphibious detection component is used for detecting hydrogen leakage of the hydrogen hydrogenation / hydrogen production station based on the simulation model. The positions and the number of hydrogen detection points of the hydrogen hydrogenation / hydrogen production station are obtained through genetic algorithm optimization, and after receiving the positions and the number of the hydrogen detection points, the land-air amphibious detection component moves to each hydrogen detection point and collects hydrogen leakage concentration data of each hydrogen detection point. And the control component determines whether hydrogen leakage occurs in the hydrogen / hydrogen production station based on the hydrogen leakage concentration data of each hydrogen detection point, and determines the position of a leakage source in the hydrogen / hydrogen production station when hydrogen leakage occurs. The detection efficiency of hydrogen leakage in the hydrogenation / hydrogen production station can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of hydrogen leakage detection, and particularly to a hydrogen leakage detection device and method for a hydrogenation / hydrogen production station. Background Art

[0002] Since hydrogen leakage may cause hazards such as explosion, combustion, asphyxiation, and environmental pollution, it is crucial to detect hydrogen leakage in hydrogenation / hydrogen production stations. The layout of hydrogen detection points in hydrogenation / hydrogen production stations mainly relies on manual experience or industry norms, usually adopting the method of arranging points at fixed intervals or covering key areas. However, such methods have significant limitations. Traditional methods are difficult to dynamically adapt to the equipment layout, process flow differences, and environmental changes of different stations, which may lead to detection blind spots or redundant point arrangements. At the same time, when existing detection devices detect all areas, they can only move to the area in a single mode, and moving to the area in only a single mode may not be able to adapt to all movement paths, resulting in low movement efficiency and low detection efficiency of hydrogen leakage. Summary of the Invention

[0003] The purpose of the present application is to provide a hydrogen leakage detection device and method for a hydrogenation / hydrogen production station, which can improve the detection efficiency of hydrogen leakage in a hydrogenation / hydrogen production station.

[0004] To achieve the above purpose, the present application provides the following solutions:

[0005] In the first aspect, the present application provides a hydrogen leakage detection device for a hydrogenation / hydrogen production station, where the hydrogen leakage detection device for a hydrogenation / hydrogen production station includes: a control component and an amphibious detection component, and the control component is communicatively connected to the amphibious detection component;

[0006] The control component is used to construct a simulation model of the hydrogenation / hydrogen production station, and based on the simulation model, optimize the position and quantity of hydrogen detection points in the hydrogenation / hydrogen production station by using a genetic algorithm;

[0007] The amphibious detection component is used to move to each hydrogen detection point in a land mode or an air mode respectively after receiving the position and quantity of the hydrogen detection points, and collect the hydrogen leakage concentration data of each hydrogen detection point; wherein, the hydrogen leakage concentration data includes the values of the hydrogen leakage concentration at each moment in a continuous plurality of moments;

[0008] The control component is further used to determine whether hydrogen leakage occurs in the hydrogenation / hydrogen production station based on the hydrogen leakage concentration data of each hydrogen detection point, and determine the position of the leakage source in the hydrogenation / hydrogen production station when hydrogen leakage occurs.

[0009] In a second aspect, the present application provides a hydrogen leakage detection method for a hydrogen addition / hydrogen production station, which is applied to the hydrogen leakage detection device for the hydrogen addition / hydrogen production station described above. The hydrogen leakage detection method for the hydrogen addition / hydrogen production station includes:

[0010] Construct a simulation model of the hydrogen addition / hydrogen production station. Based on the simulation model, use the genetic algorithm to optimize the positions and quantities of hydrogen detection points in the hydrogen addition / hydrogen production station.

[0011] Obtain the hydrogen leakage concentration data of each hydrogen detection point. The hydrogen leakage concentration data of each hydrogen detection point is the data collected after the land-air amphibious detection component moves to each hydrogen detection point in the land mode or the air mode respectively. Among them, the hydrogen leakage concentration data includes the values of the hydrogen leakage concentration at each moment in a continuous plurality of moments.

[0012] Based on the hydrogen leakage concentration data of each hydrogen detection point, determine whether hydrogen leakage occurs in the hydrogen addition / hydrogen production station, and determine the position of the leakage source in the hydrogen addition / hydrogen production station when hydrogen leakage occurs.

[0013] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0014] The present application provides a hydrogen leakage detection device and detection method for a hydrogen addition / hydrogen production station, including a control component and a land-air amphibious detection component. The control component constructs a simulation model of the hydrogen addition / hydrogen production station. Based on the simulation model, use the genetic algorithm to optimize the positions and quantities of hydrogen detection points in the hydrogen addition / hydrogen production station. After receiving the positions and quantities of the hydrogen detection points, the land-air amphibious detection component moves to each hydrogen detection point in the land mode or the air mode respectively, and collects the hydrogen leakage concentration data of each hydrogen detection point. The control component determines whether hydrogen leakage occurs in the hydrogen addition / hydrogen production station based on the hydrogen leakage concentration data of each hydrogen detection point, and determines the position of the leakage source in the hydrogen addition / hydrogen production station when hydrogen leakage occurs. Through the simulation model and the genetic algorithm, the present application can optimize the positions and quantities of hydrogen detection points in the hydrogen addition / hydrogen production station. Subsequently, detecting the optimized hydrogen detection points can complete the hydrogen leakage detection of the hydrogen addition / hydrogen production station, solving the significant limitations of the method of arranging points at fixed intervals or covering key areas, thereby improving the detection efficiency of hydrogen leakage in the hydrogen addition / hydrogen production station. At the same time, the land-air amphibious detection component can move to each hydrogen detection point in the land mode or the air mode respectively, adapt to different movement paths to each hydrogen detection point, improve the movement efficiency, and thus further improve the detection efficiency of hydrogen leakage in the hydrogen addition / hydrogen production station. Description of the Drawings

[0015] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0016] Figure 1 It is a working flowchart of a hydrogen leakage detection device for a hydrogenation / hydrogen production station provided in Embodiment 1 of the present application.

[0017] Figure 2 It is a schematic diagram of the land-air amphibious detection component working on a slope in the land mode provided in Embodiment 1 of the present application.

[0018] Figure 3 It is a schematic diagram of the land-air amphibious detection component working on a cylindrical surface in the land mode provided in Embodiment 1 of the present application.

[0019] Figure 4 It is a schematic diagram of the land-air amphibious detection component working in the air mode provided in Embodiment 1 of the present application.

[0020] Figure 5 It is a schematic flowchart of obstacle recognition and route planning provided in Embodiment 1 of the present application.

[0021] Figure 6 It is a schematic diagram of the rotary connection structure provided in Embodiment 1 of the present application Figure 1 。

[0022] Figure 7 It is a schematic diagram of the rotary connection structure provided in Embodiment 1 of the present application Figure 2 。

[0023] Figure 8 It is a schematic flowchart of a hydrogen leakage detection method for a hydrogenation / hydrogen production station provided in Embodiment 2 of the present application.

[0024] Figure 9 It is a schematic diagram of the structure of a computer device provided in Embodiment 3 of the present application.

[0025] Reference numerals:

[0026] 1 - Camera; 2 - Mesh film; 3 - Hydrogen-sensitive test paper; 4 - Suction cup; 5 - Telescopic mechanical claw; 6 - Warning buzzer; 7 - Airframe; 8 - Rotary connection structure; 9 - Nose; 10 - Slope; 11 - Cylindrical surface; 12 - Foldable wing; 13 - Equatorial region; 14 - Antarctic region; 15 - Arctic region; 16 - Second SMA coil; 17 - Cross. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0028] Embodiment 1

[0029] This embodiment provides a hydrogen leakage detection device for a hydrogen addition / hydrogen production station. The hydrogen leakage detection device for the hydrogen addition / hydrogen production station includes: a control component and an amphibious land-air detection component, and the control component is communicatively connected to the amphibious land-air detection component.

[0030] The control component is used to construct a simulation model of the hydrogen addition / hydrogen production station. Based on the simulation model, the positions and quantities of hydrogen detection points in the hydrogen addition / hydrogen production station are optimized by using a genetic algorithm.

[0031] The amphibious land-air detection component is used to move to each hydrogen detection point in a land mode or an air mode respectively after receiving the positions and quantities of the hydrogen detection points, and collect the hydrogen leakage concentration data of each hydrogen detection point. Among them, the hydrogen leakage concentration data includes the values of the hydrogen leakage concentration at each moment in a continuous plurality of moments.

[0032] The control component is further used to determine whether hydrogen leakage occurs in the hydrogen addition / hydrogen production station based on the hydrogen leakage concentration data of each hydrogen detection point, and determine the position of the leakage source in the hydrogen addition / hydrogen production station when hydrogen leakage occurs.

[0033] This embodiment can provide a hydrogen leakage detection device applicable to a hydrogen addition / hydrogen production station. Next, Figure 1 a detailed introduction to the hydrogen leakage detection device of this embodiment will be given:

[0034] (1) Modeling of the hydrogen addition / hydrogen production station

[0035] In this embodiment, a simulation model of the hydrogen addition / hydrogen production station scenario is constructed based on the FLUENT software (a general computational fluid dynamics software used for modeling and analyzing fluid flow, heat transfer, mass transfer, and chemical reaction processes, etc.). The simulation model includes hydrogen-related equipment such as hydrogen storage tanks, central control units, compressors, hydrogen tube trailers, and hydrogen dispensers, as well as auxiliary rooms and explosion-proof walls, etc. The length, width, and height of the simulation model are designed according to the data of the actual hydrogen addition / hydrogen production station, so as to complete the spatial layout modeling of the hydrogen addition / hydrogen production station and construct the simulation model of the hydrogen addition / hydrogen production station.

[0036] (2) Optimization of the positions and quantities of hydrogen detection points in the hydrogen addition / hydrogen production station

[0037] Based on the accident records of the hydrogenation / hydrogen production station and HAZOP analysis (Hazard and Operability Analysis, a structured analysis method used to identify design defects, process hazards, and operability problems), the historical leakage sources L at different positions in the hydrogenation / hydrogen production station are obtained i , and each historical leakage source L i can have different leakage diameters K i , environmental wind speed M i and environmental wind direction N i . The above parameters constitute SUM simulation scenarios, SUM = L * K * M * N, where L is the number of historical leakage sources, K is the number of leakage diameters, M is the number of environmental wind speeds, and N is the number of environmental wind directions. For each simulation scenario, the simulation scenario is input into the simulation model, that is, the positions, leakage diameters, environmental wind speeds, and environmental wind directions of each historical leakage source among the multiple historical leakage sources of the hydrogenation / hydrogen production station corresponding to the simulation scenario are added to the simulation model to obtain a scenario-based simulation model

[0038] Based on the above scenario-based simulation model, through the genetic algorithm, parameters such as coverage rate, number of sensors, redundancy, and response time can be efficiently balanced under multi-scenario constraints, providing a safe and economical hydrogen leakage detection scheme (i.e., the positions and numbers of hydrogen detection points) for the hydrogenation / hydrogen production station

[0039] (1) Data input:

[0040] 1) The hydrogen detection point is the position point that needs to be detected by a hydrogen sensor. For the convenience of understanding, in this embodiment, the optimization of the hydrogen detection point is replaced by the optimization of the hydrogen sensor. The hydrogenation / hydrogen production station is divided into grids of 0.5m × 0.5m, and each grid is represented by a binary bit (0 / 1). 1 means a hydrogen sensor is installed in this grid, and 0 means no hydrogen sensor is installed in this grid. Among the multiple hydrogen sensors that need to be optimized, 50% of the hydrogen sensors are randomly generated, and 50% of the hydrogen sensors preferentially cover high-risk areas (such as hydrogen storage tanks, pipeline interfaces, etc.), excluding high-temperature areas and sensor layouts with a spacing <1m

[0041] 2) Input the optimized parameter indicators, including coverage rate, number of sensors, redundancy, response time, etc. The coverage rate represents the proportion of all historical leakage sources covered by at least one hydrogen sensor. The hydrogen sensor has a coverage radius (such as 2m), and the historical leakage sources within the coverage area of the hydrogen sensor are the historical leakage sources covered by the hydrogen sensor The number of sensors is m, and the redundancy represents the proportion of the same historical leakage source covered by more than 2 (i.e., at least 2) hydrogen sensors The response time is the average time for the leaked hydrogen to diffuse to the nearest hydrogen sensor obtained from the simulation of the hydrogen leakage process using FLUENT software. The hydrogen sensor has a detection threshold (such as 1000 ppm). Record the time when each hydrogen sensor detects the leaked hydrogen, and calculate the average value of the time when each hydrogen sensor detects the leaked hydrogen to obtain the response time.

[0042] (2) Fitness calculation:

[0043] 1) Extract parameters such as the location, leakage diameter, ambient wind speed, and ambient wind direction of the historical leakage sources with high-frequency leakage from the accident records and HAZOP analysis of the hydrogen addition / hydrogen production station. Build SUM simulation scenarios, input each simulation scenario into the simulation model respectively, obtain SUM scenario-based simulation models, and subsequently, based on the scenario-based simulation models, use FLUENT software to simulate hydrogen diffusion and record the change of hydrogen concentration in each grid over time.

[0044] 2) For each individual, traverse all the simulation scenarios and calculate parameter indicators such as coverage rate, number of sensors, redundancy, and response time in all the simulation scenarios.

[0045] 3) Substitute the above four parameter indicators into the fitness function F(t), where t is the number of iterations, and calculate the fitness value of each individual.

[0046]

[0047] Among them, SUM is the number of simulation scenarios; α(t) is the coverage rate weight, which decays exponentially with the number of iterations, α(t) = 0.7e -0.01t ; β(t) is the number of sensors weight, which increases linearly with the number of iterations, β(t) = 0.3 + 0.005t; γ is the redundancy weight, taking 0.05; δ is the response time weight, taking 0.1.

[0048] (3) Iterative optimization:

[0049] 1) Selection strategy: Retain the individuals with the top 5% fitness values (elitist retention), and the remaining individuals are selected through the probability formula The higher the fitness value, the greater the probability of being selected. P i is the selection probability of the i-th individual, F i (t) is the fitness value of the i-th individual, m is the total number of individuals, and F j (t) is the fitness value of the j-th individual.

[0050] 2) Prioritize swapping the positions of sensors in high-risk areas to ensure coverage of key areas, and swap the positions of sensors in other areas with a 50% probability.

[0051] (3) Increase the mutation probability by 3% for low-coverage areas to enhance the global search ability.

[0052] (4) Output result: Continuously perform iterative calculations until the change rate of the maximum fitness value in two adjacent iterations < 1% or the number of iterations reaches the maximum number of iterations, and then output the individual with the best comprehensive performance.

[0053] At this time, in this embodiment, based on the simulation model, the positions and quantities of hydrogen detection points in the hydrogen production / hydrogenation station are optimized using the genetic algorithm, specifically including:

[0054] (1) Obtain multiple preset simulation scenarios, where the simulation scenarios include the positions, leakage diameters, ambient wind speeds, and ambient wind directions of each historical leakage source among multiple historical leakage sources in the hydrogen production / hydrogenation station.

[0055] (2) Initialize to obtain an initial population. The initial population includes multiple individuals, and each individual includes the position and quantity of hydrogen detection points.

[0056] (3) For each simulation scenario, input the simulation scenario into the simulation model to obtain a scenario-based simulation model; for each individual in the initial population, based on the individual, deploy virtual hydrogen sensors in the scenario-based simulation model (i.e., deploy virtual hydrogen sensors at the positions corresponding to each hydrogen detection point included in the corresponding individual), obtain the post-deployment simulation model, determine the coverage rate, the number of sensors, and the redundancy of the individual in the simulation scenario based on the post-deployment simulation model, perform hydrogen leakage simulation using the post-deployment simulation model to obtain the hydrogen leakage simulation result, and determine the response time of the individual in the simulation scenario based on the hydrogen leakage simulation result; where the coverage rate is the ratio of the number of historical leakage sources covered by the virtual hydrogen sensors to the total number of historical leakage sources, the number of sensors is the number of virtual hydrogen sensors, the redundancy is the ratio of the number of historical leakage sources covered by more than two virtual hydrogen sensors to the total number of historical leakage sources, and the response time is the average value of the time when each virtual hydrogen sensor detects the leaked hydrogen.

[0057] (4) Calculate the fitness value corresponding to the individual based on the coverage rate, the number of sensors, the redundancy, and the response time of the individual in each simulation scenario.

[0058] (5) Determine whether the iteration termination condition is reached; if so, use the individual with the maximum fitness value as the optimal individual to optimize the positions and quantities of hydrogen detection points in the hydrogen production / hydrogenation station; if not, update the initial population to obtain an updated population, and use the updated population as the initial population for the next iteration, and return to the step of "for each individual in the initial population, based on the individual, deploy virtual hydrogen sensors in the scenario-based simulation model to obtain the post-deployment simulation model".

[0059] (3) Hydrogen Leak Location in Hydrogenation / Hydrogen Production Station

[0060] Convolutional Neural Networks (CNN) are mainly used to process data with grid structures. It uses convolutional layers and pooling layers to extract features from two-dimensional data. The convolutional kernel can perceive local features in the data. Within the same convolutional layer, the entire dataset shares the same set of kernel parameters, reducing the number of model parameters. The pooling layer compresses the spatial dimension of the input data, reducing the risk of overfitting while extracting more significant features. By cascading multiple convolutional layers, pooling layers, and fully connected layers, feature extraction and abstraction can be achieved, enabling the learning of complex patterns in the input data.

[0061] According to the optimization results of the positions and quantities of hydrogen detection points in the hydrogenation / hydrogen production station, control the corresponding amphibious detection components to reach the corresponding optimized positions (i.e., hydrogen detection points). The hydrogen sensors in the amphibious detection components detect and collect the overall hydrogen leakage concentration data of the hydrogenation / hydrogen production station. After obtaining the hydrogen leakage concentration data of each hydrogen detection point, first perform noise reduction processing, then perform normalization processing, and then splice the continuous hydrogen leakage concentration data from each hydrogen detection point into a matrix form. Use convolutional layers and pooling layers to extract the spatial features of the hydrogen concentration distribution (such as diffusion patterns, high-concentration areas), and finally locate the position of the leakage source through the fully connected layer, thus completing the location of the leakage source using CNN.

[0062] At this time, in this embodiment, the amphibious detection component is used to move to each hydrogen detection point in land mode or air mode respectively after receiving the positions and quantities of the hydrogen detection points, and collect the hydrogen leakage concentration data of each hydrogen detection point. The hydrogen leakage concentration data includes the values of the hydrogen leakage concentration at each moment in a continuous plurality of moments. The control component is also used to determine whether hydrogen leakage occurs in the hydrogenation / hydrogen production station based on the hydrogen leakage concentration data of each hydrogen detection point, and determine the position of the leakage source in the hydrogenation / hydrogen production station when hydrogen leakage occurs.

[0063] Among them, based on the hydrogen leakage concentration data of each hydrogen detection point, it is determined whether there is hydrogen leakage in the hydrogen addition / hydrogen production station, and when hydrogen leakage occurs, the position of the leakage source in the hydrogen addition / hydrogen production station is determined. Specifically, it includes: judging whether the maximum value of the hydrogen leakage concentration data of any hydrogen detection point is greater than a preset threshold. If so, it is determined that there is hydrogen leakage in the hydrogen addition / hydrogen production station; performing noise reduction and normalization processing on the hydrogen leakage concentration data of each hydrogen detection point respectively to obtain preprocessed data; horizontally splicing all the preprocessed data to obtain spliced data; using the trained leakage source location model with the spliced data as the input to determine the position of the leakage source in the hydrogen addition / hydrogen production station. Among them, the trained leakage source location model uses a convolutional neural network, and the convolutional neural network includes a convolutional layer, a pooling layer, and a fully connected layer connected in sequence. Specifically, by splicing the continuous hydrogen leakage concentration data from each hydrogen detection point into a matrix form, the spatial features (such as diffusion mode, high-concentration area) of the hydrogen concentration distribution are extracted through the convolutional layer and the pooling layer, and finally the position of the leakage source is located through the fully connected layer, so as to locate the position of the leakage source in the hydrogen addition / hydrogen production station by using the convolutional neural network.

[0064] (4) Reconfirm the leakage source information, give an early warning, and timely feedback the leakage source information

[0065] After optimizing the positions and quantities of the hydrogen detection points in the hydrogen addition / hydrogen production station by running the genetic algorithm, the land-air amphibious detection component detects the hydrogen leakage concentration data of the hydrogen addition / hydrogen production station through a hydrogen sensor at each hydrogen detection point. When the maximum value of the hydrogen leakage concentration data of a certain hydrogen detection point reaches the preset threshold, the land-air amphibious detection component sends the hydrogen leakage concentration data to the control component (which can be called the total control system). The control component uses a convolutional neural network to locate the position of the leakage source, and controls the land-air amphibious detection component to move to the vicinity of the leakage source. The land-air amphibious detection component is affixed with a hydrogen-sensitive test paper (which can also be called a hydrogen-color-changing transparent film, which changes color significantly when encountering hydrogen), which can reconfirm the leakage situation, accurately locate the position of the leakage source and send out a warning message. The land-air amphibious detection component takes pictures of the position of the leakage source through a high-definition camera, transmits the pictures back to the control component, and timely feedbacks the leakage situation at the leakage source, facilitating the staff to remotely understand the leakage situation and take corresponding countermeasures, ensuring the safety of personnel's lives.

[0066] This embodiment designs a land-air amphibious detection component, such as Figure 2 、 Figure 3 and Figure 4As shown in the figure, the land-air amphibious detection component includes a nose 9 and a fuselage 7. The nose 9 and the fuselage 7 are made of a new material - carbon nanotubes. Carbon nanotubes are tubular structures composed of carbon atoms, with the characteristics of being light, strong, and tough, making the structure have high tensile strength and stiffness. In addition, carbon nanotubes also have excellent electrical conductivity and thermal conductivity, which are very important for aircraft. Finally, the use of carbon nanotubes can effectively reduce the mass of the aircraft and improve flight efficiency. A hydrogen sensor is installed on the nose 9. The hydrogen sensor is communicatively connected to the control component. The hydrogen sensor is used to collect hydrogen leakage concentration data at each hydrogen detection point. A grid film 2 is also installed on the hydrogen sensor. The grid film 2 is used to enable the leaked hydrogen to be fully received by the hydrogen sensor. A drive component is installed on the fuselage 7. The drive component is communicatively connected to the control component. The drive component is used to drive the land-air amphibious detection component to move to each hydrogen detection point respectively.

[0067] Preferably, to facilitate the movement of the entire land-air amphibious detection component to the corresponding hydrogen detection point, a camera 1 is also provided on the nose 9 for easy identification. To facilitate the quick power supply of each mechanism on the land-air amphibious detection component, a flexible solar film, a power supply component, etc. are also provided on the fuselage 7. The flexible solar film can collect solar energy and convert it into corresponding electrical energy, which is stored in the power supply component. The power supply component uses a storage battery or a lithium battery, etc. This land-air amphibious detection component can freely switch between the land mode and the air mode and can adapt to the optimized results of the positions and quantities of hydrogen detection points in hydrogen refueling / hydrogen production stations with different layouts.

[0068] In this embodiment, the land-air amphibious detection component is divided into a detection function part of the nose 9 and a drive function part of the fuselage 7.

[0069] The nose 9 is equipped with a camera 1, a grid film 2, a hydrogen sensor, a hydrogen-sensitive test paper 3, a wireless communication module (also known as a wireless network communication device), an adjustment component (also known as an automatic adjustment device or an intelligent control system), etc. The camera 1 monitors the operating status of the hydrogen refueling / hydrogen production station in real time and can adapt to the working requirements of day and night. After hydrogen passes through the grid film 2, it can be fully received by the hydrogen sensor, and the hydrogen sensor can collect hydrogen leakage concentration data. Hydrogen-sensitive test papers 3 are pasted on both sides of the nose 9. The hydrogen-sensitive test papers 3 change color significantly when encountering hydrogen, can reconfirm the leakage situation and accurately locate the position of the leakage source, and the hydrogen-sensitive test papers 3 are convenient to replace. The wireless communication module can achieve efficient wireless data transmission and control. Using the wireless communication module as a long-distance communication device, the wireless communication module is divided into a sending module and a receiving module. The sending module mainly completes functions such as the collection, data packaging, information sending, storage, and forwarding of hydrogen leakage concentration data and images. The receiving module is used to receive various commands from the control component, such as the switching between the air and land modes, the control of movement and stillness, etc. The adjustment component has functions of obstacle recognition and route planning, such asFigure 5 As shown, since the camera 1 and the adjustment component are carried, the environmental changes can be sensed in real time. According to the photos taken by the camera 1, the environmental image can be obtained. The position of the obstacle can be detected through the vision algorithm, and the possible movement trajectories of the land-air amphibious detection component at different speeds when moving to a certain hydrogen detection point can be predicted through the dynamic window method, and the optimal trajectory can be selected from them. Based on the optimal trajectory, the appropriate mode is switched, so that the land-air amphibious detection component can avoid obstacles and move towards the hydrogen detection point, which can not only improve the working efficiency of the land-air amphibious detection component, but also ensure that the land-air amphibious detection component will not interfere with people and vehicles in the hydrogen refueling / hydrogen production station during operation, and ensure the safety of the hydrogen refueling / hydrogen production station.

[0070] At this time, in this embodiment, a camera 1 and a hydrogen-sensitive test paper 3 are further installed on the nose 9. The camera 1 is communicatively connected to the control component. The camera 1 is used to take pictures of the leakage source in the hydrogen refueling / hydrogen production station to obtain a captured image and transmit the captured image to the control component. The hydrogen-sensitive test paper 3 is used to change color when contacting hydrogen to confirm the position of the leakage source in the hydrogen refueling / hydrogen production station. An adjustment component is further installed on the nose 9. The adjustment component is communicatively connected to the control component, the camera 1 and the drive component respectively. The camera 1 is further used to take pictures of the front environment of the land-air amphibious detection component when the drive component drives the land-air amphibious detection component to move to obtain an environmental image. The adjustment component is used to detect the position of the obstacle based on the environmental image and adjust the movement trajectory of the drive component based on the position of the obstacle.

[0071] In a specific embodiment, the land-air amphibious detection component includes a rotary connection structure 8. The nose 9 and the fuselage 7 are movably connected through the rotary connection structure 8. The rotary connection structure 8 is used to adjust the pitch angle, horizontal swing angle and rotation angle of the nose 9. Specifically, since the nose 9 and the fuselage 7 are connected by the rotary connection structure 8, the nose 9 can rotate freely, can pitch up and down (range: -45° to +45°, for the camera 1 to align with detection targets at different heights), can also swing horizontally left and right (range: -45° to +45°, to adapt to lateral environmental scanning), and can also rotate 360° without dead angles, flexibly driving the camera 11 to perform multi-angle rotation monitoring and shooting.

[0072] In a specific embodiment, as Figure 6 and Figure 7As shown in the figure, the rotary connection structure 8 includes a deformable spherical shell in an ellipsoidal shape; the side wall of the deformable spherical shell is provided with an equatorial region 13, and the equatorial region 13 is located at the middle position of the long axis of the deformable spherical shell, coaxially surrounds the outer peripheral side of the long axis, and is parallel to the short axis of the deformable spherical shell; four groups of first SMA coils are provided in the equatorial region 13 and are all attached to and fixed on the inner surface of the equatorial region 13; each group of first SMA coils is arranged at equal intervals in the circumferential direction of the equatorial region 13 and is distributed at an angle with respect to the long axis of the deformable spherical shell; the first SMA coils are all equipped with circuit structures for energizing and heating them, and the first SMA coils contract after being heated in sequence, so as to drive the equatorial plane of the deformable spherical shell to deform, realizing the horizontal swing and rotation of the nose 9; the two ends of the horizontal plane of the deformable spherical shell are respectively provided with a south pole region 14 and a north pole region 15, and two groups of second SMA coils 16 are provided in the south pole region 14. The two groups of second SMA coils 16 are symmetrically attached to and fixed on the inner surface of the deformable spherical shell and extend along the short axis of the deformable spherical shell. The second SMA coils 16 are all equipped with circuit structures for energizing and heating them. After the second SMA coils 16 are heated, they contract, so as to drive the south pole region 14 of the deformable spherical shell to contract up and down, realizing the pitching motion of the nose 9; a cross 17 is internally supported in the deformable spherical shell. The support arms of the cross 17 are arranged at equal intervals along the equatorial plane, and each support arm is parallel to the corresponding short axis. The ends of the support arms are all slidably connected to the inner surface of the deformable spherical shell. The cross 17 is used to transmit the amplified amplitude of the deformation of the deformable spherical shell and at the same time is used to limit the excessive deformation of the deformable spherical shell to prevent structural failure; a conical boss structure is provided in the north pole region 15 of the deformable spherical shell, and a conical groove is designed at the bottom of the nose 9. The conical boss structure is connected in a matching manner with the conical groove; the root of the cross 17 of the deformable spherical shell is fixedly connected to the fuselage 7.

[0073] In this embodiment, the deformable spherical shell is made of a nickel-titanium alloy spherical shell. The deformable spherical shell is an ellipsoid similar to the shape of the earth, with a short axis of 6 mm and a long axis of 8 mm. The surface is laser engraved with honeycomb hollowing, and the diameter of the hollowed holes is 0.2 mm, reducing the weight and enhancing the elasticity.

[0074] In this embodiment, both the first SMA coils and the second SMA coils 16 are made of nickel-titanium alloy (NiTi) wires with a diameter of 0.05 mm. The length of the coils in the free state is 10 mm, and they shrink to 8 mm after being heated. The first SMA coils are arranged at intervals of 90°. The first SMA coils and the second SMA coils 16 are both fixed on the inner wall of the deformable spherical shell by micro spot welding.

[0075] In this embodiment, the cross 17 is formed by crossing carbon fiber filaments with a diameter of 0.2 mm at the center of the sphere of the deformable housing to form a three-dimensional cross structure. The support arms of the cross 17 extend to the inner wall of the deformable housing. The cross 17 can transmit the deformation of the deformable housing to the nose 9, amplifying the movement amplitude. At the same time, it limits the excessive deformation of the deformable housing to prevent structural failure.

[0076] In this embodiment, to ensure that the ends of the support arms are all in sliding connection with the inner surface of the deformable housing, miniature ball bearings are provided at the ends of the support arms of the cross 17, allowing multi-directional sliding of the deformable housing. The outer ring of the miniature ball bearing is fixed to the inner wall of the deformable housing by laser welding; the inner ring of the miniature ball bearing is bonded to the end of the support arm with silver glue.

[0077] In this embodiment, specifically during pitching motion: heating the second SMA coil 16 at the top → the second SMA coil 16 contracts and pulls the top of the deformable housing towards the center → the local contraction of the deformable housing is transmitted to the top of the outer ring of the miniature ball bearing through the rigid housing → the outer ring of the top miniature ball bearing slides downward → the deformable housing tilts up around the horizontal axis, and the nose 9 rises. Stop heating the second SMA coil 16 at the top, the second SMA coil 16 resumes its original state, and the nose 9 returns to its original position. Similarly, heating the second SMA coil 16 at the bottom causes the nose 9 to pitch down. Specifically during horizontal swinging: heating the first SMA coil on the left → the first SMA coil on the left contracts → the outer ring of the left miniature ball bearing slides to the right, and the outer ring of the right miniature ball bearing slides leftward for compensation → the deformable housing deflects left around the vertical axis, and the nose 9 turns left. Stop heating the first SMA coil on the left, the first SMA coil resumes its original state, and the nose 9 returns to its original position. Similarly, heating the first SMA coil on the right causes the nose 9 to turn right. Specifically when realizing the rotation operation: along the rotation direction, sequentially heat the second SMA coils 16 in the equatorial region 13 → each contraction of the second SMA coil 16 pushes the local deformation of the deformable housing → forms a spiral twist - the deformable housing undergoes spiral deformation → the outer rings of all miniature ball bearings roll around the inner rings, the deformable housing continuously rotates, and the nose 9 rotates 360° around the long axis.

[0078] It should be noted that: The first SMA coil and the second SMA coils 16 are similar to miniature muscles. When heated, they are similar to muscle contraction, pulling the deformable housing to deform; when cooled, they are similar to muscle relaxation, elastically resetting. The sliding of the miniature ball bearing is similar to a finger joint, and the sliding of the outer ring is similar to the bending of a knuckle. The balls reduce friction and ensure flexible movement. Through the above design, the flexibility and miniaturization similar to biological joints are achieved, perfectly adapting to the detection requirements in complex and narrow environments.

[0079] In this embodiment, a conical groove is designed at the bottom of the nose 9, and a conical boss structure is provided in the Arctic region 15 of the deformable housing. The diameter of the conical groove is 3 mm, and a neodymium iron boron magnet is embedded in the conical groove, with a volume of 1 mm 3 , adsorbing the iron conical boss structure to achieve quick disassembly and assembly.

[0080] In this embodiment, the circuit structure supporting the first SMA coil and the second SMA coil 16 uses a polyimide thin film circuit with a thickness of 0.05 mm, and extends from the deformable housing to the nose 9 to transmit power and data.

[0081] In this embodiment, a conical groove is reserved in the fuselage 7 to complement the root of the cross 17. The root of the cross 17 is welded to the interface of the fuselage 7 by femtosecond laser. And silver glue is coated around the welding area to fill the micro-gap and enhance conductivity.

[0082] In a specific embodiment, the fuselage 7 is integrally in an intermittent storage cabin structure, which includes a front cabin, a middle cabin and a rear cabin; the drive assembly further includes multiple groups of telescopic mechanical claws 5 installed in the front cabin and the rear cabin, and multiple groups of foldable wings 12 installed in the middle cabin; so as to be able to realize the land-air mode switch and work flexibly in a hydrogen refueling / hydrogen production station.

[0083] In this embodiment, each group of telescopic mechanical claws 5 is evenly distributed on both sides of the fuselage 7; the telescopic mechanical claw 5 includes an upper arm and a lower arm sleeved on the upper arm and sliding along the extending direction of the upper arm; the base joint is installed in the front cabin and the rear cabin, and the base joint connects the fuselage 7 and the upper arm, and is used as the root support of the telescopic mechanical claw 5; a swing drive mechanism for driving the upper arm and the lower arm to swing reciprocally along the traveling direction of the fuselage 7 is installed inside the base joint, and a sliding drive mechanism for the lower arm to slide along the upper arm is arranged inside the lower arm; an electromagnetic buckle is arranged at the connection between the end of the upper arm and the head of the lower arm, and the electromagnetic buckle is used for keeping the upper arm and the lower arm fixed after being unfolded to a specified position; a suction cup assembly is movably connected to the end of the lower arm away from the upper arm, and a suction cup drive mechanism for driving the suction cup assembly to act is arranged on the lower arm. A suction cup 4 and a vacuum pump communicated with the suction cup 4 are arranged on the suction cup assembly. The suction cup 4 is used for adsorbing on the working surface of the hydrogen detection point, and the vacuum pump is used for evacuating the suction cup 4. By increasing the contact area through the suction cup assembly, not only can free movement and stop on a horizontal plane be realized, but also free movement and stop on walls with different slopes and circular surfaces with different curvatures can be realized. And the angle of the suction cup assembly can be adjusted through the suction cup drive mechanism, so that it can work on a cylindrical surface 11 such as a hydrogen transmission pipeline and a hydrogen storage tank; further, since the upper arm and the lower arm are slidably matched, the length of the entire telescopic mechanical claw 5 can be freely adjusted, and it can be unfolded for work in a narrow space. In the land mode, each group of telescopic mechanical claws 5 protrude from the holes on both sides of the front cabin and the rear cabin, and the telescopic mechanical claws 5 retract into the front cabin and the rear cabin when switching to the air mode. As Figure 2 andFigure 3 As shown in the figure. In the land mode, the swing drive mechanism drives the upper arm and the lower arm to swing reciprocally along the traveling direction of the fuselage 7. Under the control of the control component, it can achieve free movement on horizontal surfaces, slopes 10, cylindrical surfaces 11, and in narrow spaces, and can adapt to the optimized results of the positions and quantities of hydrogen detection points in hydrogen refueling / hydrogen production stations with different layouts.

[0084] In this embodiment, the upper arm is made of a titanium alloy tube with a diameter of 2 mm, a wall thickness of 0.08 mm, and a single-section extended length of 8 mm. The base joint has dimensions of 4 mm × 4 mm × 5 mm and is located in the core areas of the front and rear cabins of the fuselage 7, connecting the fuselage 7 and the upper arm, and serving as the root support of the retractable mechanical claw 5. The swing drive mechanism includes a stepper motor and a worm and gear mechanism. The stepper motor is installed inside the base joint and is perpendicularly installed to the lead screw. The stepper motor is driven through the worm and gear mechanism to drive the base joint to rotate around the axis of the fuselage 7. The sliding drive mechanism includes a micro linear motor. The micro linear motor drives the precision lead screw to push the upper arm to extend from inside the lower arm. The electromagnetic buckle is set at the end of the upper arm and can fix the upper arm after expansion. The lower arm is made of a stainless steel tube with a diameter of 3 mm and a wall thickness of 0.1 mm. The suction cup drive mechanism is embedded at the end of the lower arm, connecting the suction cup assembly and the lower arm body.

[0085] In this embodiment, the suction cup assembly includes a suction cup 4 with a diameter of 5 mm after expansion and is made of corrugated silica gel material. The vacuum pump is directly embedded in the suction cup assembly and is located in the central area of the suction cup 4. After the suction cup 4 contacts the surface, the vacuum pump is activated and the suction cup 4 adsorbs.

[0086] In this embodiment, each group of foldable wings 12 is evenly distributed on both sides of the fuselage 7 along the direction perpendicular to the traveling direction of the fuselage 7. The foldable wings 12 include a main wing beam with a multi-segment structure. Bistable hinges are connected between adjacent two-segment structures on the main wing beam and between the root of the main wing beam and the middle cabin. The bistable hinges are used for the expansion or folding of each segment structure of the main wing beam. A main wing beam drive mechanism for driving the expansion or folding of each segment structure of the main wing beam is provided at each bistable hinge, and the angle of the entire foldable wing 12 is adjusted through the main wing beam drive mechanism so that the angle can be adjusted within the range of 0 - 180°; Flexible support ribs that are connected to each segment structure of the main wing beam and move synchronously with it are connected to each segment structure of the main wing beam; The main wing beam and the support ribs are covered with a flexible wing plate; A reciprocating drive mechanism for reciprocally driving the main wing beam is detachably connected between the root position of the main wing beam and the middle cabin; In the air mode, the foldable wings 12 are opened from both sides of the fuselage 7, and the reciprocating drive mechanism is used to drive the foldable wings 12 to vibrate reciprocally, so as to achieve omnidirectional free flight and stillness in the air and real-time detection of hydrogen leakage concentration data, as Figure 4 shown in the figure. In the air mode, flight and stillness in space are achieved under the control of the control component, and it can adapt to the optimized results of the positions and quantities of hydrogen detection points in hydrogen refueling / hydrogen production stations with different layouts.

[0087] In this embodiment, the main wing beam is made of a carbon fiber tube, which runs through the entire foldable wing 12. After the entire foldable wing 12 is unfolded, it is 8 cm long. The bistable hinge is made of titanium alloy and can realize the unfolding / folding of the foldable wing 12. The support rib is made of a carbon fiber honeycomb panel and is vertically adhered to the main wing beam. When folded, it bends along with the bistable hinge. The wing panel is made of polyimide film, and its edge is thermally pressed and bonded to the main wing beam and the support rib. The reciprocating drive mechanism uses a micro rotary motor and is installed at the root of the main wing beam, and is connected to the bistable hinge through a gear set.

[0088] In this embodiment, a control component and a power supply component are also provided inside the spaced storage cabin structure to make the layout of the space more reasonable.

[0089] In a specific embodiment, the fuselage 7 is also equipped with a warning buzzer 6. The warning buzzer 6 integrates the functions of a buzzer and a warning light. It can not only display whether the operation status of the amphibious detection component is normal, but also give warnings with lights of different colors and buzzer sounds of different intensities according to the degree of hydrogen leakage. At this time, in this embodiment, the warning buzzer 6 is communicatively connected to the control component, and the control component is also used to control the warning buzzer 6 to give early warnings with lights of different colors and buzzer sounds of different intensities based on the hydrogen leakage concentration data of each hydrogen detection point.

[0090] In a specific embodiment, flexible solar films are provided on the surfaces of the foldable wings 12 of the amphibious detection component, which can realize solar charging. In addition, the front and rear wings are arranged in a staggered manner, which is beneficial to fully receive solar energy and improve the charging efficiency. At the same time, the amphibious detection component is equipped with a storage battery, which can store the excess power and realize the detection work at night. Through solar charging and power storage, all-weather operation is realized. At this time, in this embodiment, flexible solar films are provided on the surface of the drive assembly, and the flexible solar films are electrically connected to the storage battery, and the storage battery is used to supply power to the amphibious detection component.

[0091] The amphibious detection component of this embodiment is flexible and lightweight, and can be applied to the hydrogen leakage detection task of hydrogen refueling / hydrogen production stations. And in this embodiment, the positions can all be characterized by coordinate data.

[0092] Embodiment 2

[0093] This embodiment provides a method for detecting hydrogen leakage in a hydrogen refueling / hydrogen production station, which is applied to the hydrogen leakage detection device described in Embodiment 1, as Figure 8 shown, the method for detecting hydrogen leakage in the hydrogen refueling / hydrogen production station includes:

[0094] S1: Construct a simulation model of the hydrogen refueling / hydrogen production station, and based on the simulation model, use a genetic algorithm to optimize and obtain the positions and quantities of the hydrogen detection points in the hydrogen refueling / hydrogen production station.

[0095] S2: Obtain the hydrogen leakage concentration data of each hydrogen detection point; the hydrogen leakage concentration data of each hydrogen detection point is the data collected after the land-air amphibious detection component moves to each hydrogen detection point in the land mode or the air mode respectively; wherein, the hydrogen leakage concentration data includes the values of the hydrogen leakage concentration at each moment in a continuous plurality of moments.

[0096] S3: Determine whether hydrogen leakage occurs in the hydrogen refueling / hydrogen production station based on the hydrogen leakage concentration data of each hydrogen detection point, and determine the position of the leakage source in the hydrogen refueling / hydrogen production station when hydrogen leakage occurs.

[0097] Embodiment 3

[0098] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structure diagram can be as shown in Figure 9 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it implements a hydrogen leakage detection method for a hydrogen refueling / hydrogen production station.

[0099] Those skilled in the art can understand that Figure 9 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0100] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, it implements the hydrogen leakage detection method for a hydrogen refueling / hydrogen production station in Embodiment 2.

[0101] Embodiment 4

[0102] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program which, when executed by a processor, implements the hydrogen leakage detection method in hydrogenation / hydrogen production station in Embodiment 2.

[0103] Embodiment 5

[0104] In an exemplary embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the hydrogen leakage detection method in hydrogenation / hydrogen production station in Embodiment 2.

[0105] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0106] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0107] Specific examples are used in this article to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, based on the idea of this application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. A hydrogen leakage detection device for a hydrogenation / hydrogen production station, characterized in that, The hydrogen leakage detection device for a hydrogenation / hydrogen production station includes: a control component and an amphibious detection component, and the control component is communicatively connected to the amphibious detection component; The control component is used to construct a simulation model of the hydrogenation / hydrogen production station, and based on the simulation model, optimize the positions and quantities of hydrogen detection points in the hydrogenation / hydrogen production station by using a genetic algorithm; The amphibious detection component is used to move to each hydrogen detection point in a land mode or an air mode respectively after receiving the positions and quantities of the hydrogen detection points, and collect hydrogen leakage concentration data for each hydrogen detection point; wherein, the hydrogen leakage concentration data includes the values of the hydrogen leakage concentration at each moment in a continuous plurality of moments; The control component is further used to determine whether hydrogen leakage occurs in the hydrogenation / hydrogen production station based on the hydrogen leakage concentration data for each hydrogen detection point, and determine the position of the leakage source in the hydrogenation / hydrogen production station when hydrogen leakage occurs.

2. The hydrogen leakage detection device for a hydrogenation / hydrogen production station according to claim 1, characterized in that Based on the simulation model, optimizing the positions and quantities of hydrogen detection points in the hydrogenation / hydrogen production station by using a genetic algorithm specifically includes: Obtaining a plurality of preset simulation scenarios; the simulation scenarios include the positions, leakage diameters, ambient wind speeds, and ambient wind directions of each historical leakage source among a plurality of historical leakage sources in the hydrogenation / hydrogen production station; Initializing to obtain an initial population; the initial population includes a plurality of individuals, and each individual includes the positions and quantities of hydrogen detection points; For each of the simulation scenarios, input the simulation scenario into the simulation model to obtain a scenario-based simulation model; for each individual in the initial population, deploy virtual hydrogen sensors based on the individual in the scenario-based simulation model to obtain a post-deployment simulation model, determine the coverage rate, sensor quantity, and redundancy of the individual in the simulation scenario based on the post-deployment simulation model, perform hydrogen leakage simulation by using the post-deployment simulation model to obtain a hydrogen leakage simulation result, and determine the response time of the individual in the simulation scenario based on the hydrogen leakage simulation result; wherein, the coverage rate is the ratio of the number of historical leakage sources covered by the virtual hydrogen sensors to the total number of historical leakage sources, the sensor quantity is the number of virtual hydrogen sensors, the redundancy is the ratio of the number of historical leakage sources covered by more than two virtual hydrogen sensors to the total number of historical leakage sources, and the response time is the average value of the times when each virtual hydrogen sensor detects leaked hydrogen; Calculate the fitness value corresponding to the individual based on the coverage rate, sensor quantity, redundancy, and response time of the individual in each of the simulation scenarios; Judge whether the iteration termination condition is reached; if so, use the individual with the maximum fitness value as the optimal individual, and optimize the positions and quantities of hydrogen detection points in the hydrogenation / hydrogen production station; if not, update the initial population to obtain an updated population, and use the updated population as the initial population for the next iteration, and return to the step of "for each individual in the initial population, deploy virtual hydrogen sensors based on the individual in the scenario-based simulation model to obtain a post-deployment simulation model".

3. The hydrogen leakage detection device for a hydrogenation / hydrogen production station according to claim 1, characterized in that, The land-air amphibious detection component includes a nose and a fuselage; A hydrogen sensor is installed on the nose, and the hydrogen sensor is communicatively connected to the control component. The hydrogen sensor is used to collect hydrogen leakage concentration data at each hydrogen detection point; A driving component is installed on the fuselage, and the driving component is communicatively connected to the control component. The driving component is used to drive the land-air amphibious detection component to move to each hydrogen detection point respectively.

4. The hydrogen leakage detection device for a hydrogenation / hydrogen production station according to claim 3, characterized in that The land-air amphibious detection component includes a rotary connection structure. The nose and the fuselage are movably connected through the rotary connection structure. The rotary connection structure is used to adjust the pitch angle, horizontal swing angle and rotation angle of the nose; Among them, the rotary connection structure includes a deformable shell in the shape of an ellipsoid; The side wall of the deformable shell is provided with an equatorial region. The equatorial region is located at the middle position of the long axis of the deformable shell, coaxially surrounds the outer peripheral side of the long axis, and is parallel to the short axis of the deformable shell; Four groups of first SMA coils are arranged in the equatorial region and are all attached and fixed to the inner surface of the equatorial region; Each group of the first SMA coils is arranged in parallel at equal intervals along the circumferential direction of the equatorial region and is angularly distributed with respect to the long axis of the deformable shell; The first SMA coils are all equipped with circuit structures for heating them by energization. The first SMA coils shrink after being heated in sequence, and are used to push the equatorial plane of the deformable shell to deform, so as to realize the horizontal swing and rotation of the nose; The south pole region and the north pole region are respectively arranged at both ends of the horizontal plane of the deformable shell. Two groups of second SMA coils are arranged in the south pole region. The two groups of second SMA coils are symmetrically attached and fixed to the inner surface of the deformable shell and extend along the short axis of the deformable shell. The second SMA coils are all equipped with circuit structures for heating them by energization. The second SMA coils shrink after being heated, and are used to push the south pole region of the deformable shell to contract up and down, so as to realize the pitching motion of the nose; A cross is internally supported in the deformable shell. The support arms of the cross are arranged at equal intervals along the equatorial plane. Each support arm is parallel to the corresponding short axis. The ends of the support arms are all slidably connected to the inner surface of the deformable shell. The cross is used to transmit the amplified deformation movement amplitude of the deformable shell, and at the same time is used to limit the excessive deformation of the deformable shell to prevent structural failure; A conical boss structure is arranged in the north pole region of the deformable shell, and a conical groove is designed at the bottom of the nose. The conical boss structure is matched and connected with the conical groove; The root of the cross of the deformable shell is fixedly connected to the fuselage.

5. The hydrogen leakage detection device for a hydrogenation / hydrogen production station according to claim 3, characterized in that, A camera and a hydrogen-sensitive test paper are also installed on the nose; The camera is communicatively connected to the control component. The camera is used to take pictures of the leakage source in the hydrogen refueling / hydrogen production station to obtain a captured image, and transmit the captured image to the control component; The hydrogen-sensitive test paper is used to change color when it comes into contact with hydrogen to confirm the position of the leakage source in the hydrogen refueling / hydrogen production station.

6. The hydrogen leakage detection device for a hydrogenation / hydrogen production station according to claim 3, characterized in that, The overall fuselage has an intermittent storage cabin structure, which includes a front cabin, a middle cabin, and a rear cabin; The drive assembly further includes multiple groups of retractable mechanical claws installed in the front cabin and the rear cabin, and multiple groups of foldable wings installed in the middle cabin; each group of the retractable mechanical claws is evenly distributed on both sides of the fuselage; the retractable mechanical claws include an upper arm and a lower arm sleeved on the upper arm and sliding along the extension direction of the upper arm; The base joints are installed in the front cabin and the rear cabin, and the base joints connect the fuselage to the upper arm and are used as the root support of the retractable mechanical claws; a swing drive mechanism for driving the upper arm and the lower arm to swing reciprocally along the traveling direction of the fuselage is installed inside the base joints, and a sliding drive mechanism for the lower arm to slide along the upper arm is arranged inside the lower arm; an electromagnetic buckle is arranged at the connection between the end of the upper arm and the head of the lower arm, and the electromagnetic buckle is used to keep the upper arm and the lower arm fixed after being unfolded to a specified position; a suction cup assembly is movably connected to the end of the lower arm away from the upper arm, and a suction cup drive mechanism for driving the suction cup assembly to act is arranged on the lower arm. A suction cup and a vacuum pump communicated with the suction cup are arranged on the suction cup assembly. The suction cup is used to adsorb on the working surface of the hydrogen detection point, and the vacuum pump is used to evacuate the suction cup; Each group of the foldable wings is evenly distributed on both sides thereof along the direction perpendicular to the traveling direction of the fuselage. The foldable wings include a main wing beam with a multi-section structure. Bistable hinges are connected between adjacent two sections of the main wing beam and between the root of the main wing beam and the middle cabin. The bistable hinges are used to unfold or fold each section of the main wing beam. A main wing beam drive mechanism for driving each section of the main wing beam to unfold or fold is arranged at each bistable hinge; Supporting ribs with a flexible structure and synchronously acting therewith are connected to each section of the main wing beam; a wing plate with a flexible structure covers the main wing beam and the supporting ribs; a reciprocating drive mechanism for reciprocally driving the main wing beam is detachably connected between the root position of the main wing beam and the middle cabin; The control component and the power supply component are also arranged in the intermittent storage cabin.

7. The hydrogen leakage detection device for a hydrogenation / hydrogen production station according to claim 5, characterized in that, An adjustment component is further installed on the nose, and the adjustment component is respectively communicatively connected with the control component, the camera, and the drive assembly; The camera is further used to take a picture of the front environment of the land-air amphibious detection component when the drive assembly drives the land-air amphibious detection component to move, so as to obtain an environmental image; The adjustment component is used to detect the position of an obstacle based on the environmental image and adjust the movement track of the drive assembly based on the position of the obstacle.

8. The hydrogen leakage detection device for a hydrogenation / hydrogen production station according to claim 7, wherein, A warning buzzer is also installed on the fuselage. The warning buzzer is communicatively connected with the control component. The control component is further used to control the warning buzzer to give an early warning with lights of different colors and beeping sounds of different intensities based on the hydrogen leakage concentration data of each hydrogen detection point; Both the nose and the fuselage are made of carbon nanotubes; A wireless communication module is also installed on the machine head, and the wireless communication module is communicatively connected to the control component, the hydrogen sensor, the drive assembly, the camera, the adjustment assembly, and the warning buzzer respectively; A grid film is also installed on the hydrogen sensor, and the grid film is used to enable the leaked hydrogen to be fully received by the hydrogen sensor; A flexible solar film is arranged on the surface of the drive assembly, and the flexible solar film is electrically connected to a storage battery, and the storage battery is used to supply power to the land-air amphibious detection component.

9. The hydrogen leakage detection device for a hydrogenation / hydrogen production station according to claim 1, wherein, Determine whether a hydrogen leak occurs in the hydrogen refueling / hydrogen production station based on the hydrogen leak concentration data of each hydrogen detection point, and determine the location of the leak source in the hydrogen refueling / hydrogen production station when a hydrogen leak occurs, specifically including: Judge whether the maximum value of the hydrogen leak concentration data of any hydrogen detection point is greater than a preset threshold; If so, determine that a hydrogen leak has occurred in the hydrogen refueling / hydrogen production station; Perform noise reduction and normalization processing on the hydrogen leak concentration data of each hydrogen detection point respectively to obtain preprocessed data; Horizontally splice all the preprocessed data to obtain spliced data; Use the trained leak source location model to determine the location of the leak source in the hydrogen refueling / hydrogen production station with the spliced data as the input; wherein, the trained leak source location model adopts a convolutional neural network, and the convolutional neural network includes a convolutional layer, a pooling layer, and a fully connected layer connected in sequence.

10. A method for detecting hydrogen leakage in a hydrogenation / hydrogen production station, applied to the hydrogen leakage detection device of the hydrogenation / hydrogen production station according to any one of claims 1-9, characterized in that, The hydrogen leak detection method for the hydrogen refueling / hydrogen production station includes: Construct a simulation model of the hydrogen refueling / hydrogen production station, and based on the simulation model, use a genetic algorithm to optimize and obtain the location and quantity of the hydrogen detection points of the hydrogen refueling / hydrogen production station; Obtain the hydrogen leak concentration data of each hydrogen detection point; the hydrogen leak concentration data of each hydrogen detection point is the data collected after the land-air amphibious detection component moves to each hydrogen detection point respectively in the land mode or the air mode; wherein, the hydrogen leak concentration data includes the values of the hydrogen leak concentration at each moment in a continuous plurality of moments; Determine whether a hydrogen leak occurs in the hydrogen refueling / hydrogen production station based on the hydrogen leak concentration data of each hydrogen detection point, and determine the location of the leak source in the hydrogen refueling / hydrogen production station when a hydrogen leak occurs.

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