Cryogenic pressure vessel, cryogenic pressure vessel control method and transportation system

Abstract

The invention belongs to the technical field of low-temperature storage, and discloses a cryogenic pressure container, a cryogenic pressure container control method and a transportation system. The cryogenic pressure container comprises an outer container body installed on a transportation tool, an inner container body located in the outer container body, a supporting assembly supported between the outer container body and the inner container body, a magnetic force compensation module, a detection module used for detecting the acceleration and the angular velocity and a controller in signal connection with the detection module. The supporting assembly is located below the inner container body, when the acceleration and the angular speed are zero, the controller enables the magnetic force compensation module to be powered off, and when the acceleration and / or the angular speed are / is not zero, the controller enables the magnetic force compensation module to be powered on, and the magnetic force compensation module applies compensation magnetic force opposite to the dynamic load direction to the inner container body. Or compensation magnetic force with component force opposite to the dynamic load direction is provided, so that the cracking probability of the supporting assembly is reduced, and electric energy is saved.

Description

Technical Field

[0001] This invention relates to the field of cryogenic storage technology, and in particular to a cryogenic pressure vessel, a cryogenic pressure vessel control method, and a transportation system. Background Technology

[0002] Cryogenic pressure vessels typically employ a double-shell structure. The inner shell contains cryogenic liquids with temperatures below -100°C, such as liquid oxygen, liquid nitrogen, liquid helium, liquid hydrogen, and liquefied natural gas. The outer shell, fitted over the inner shell, provides thermal insulation. To ensure stable support for the inner shell, a support structure is required between the inner and outer shells. Existing support structures include saddle structures, support column structures, tie rod structures, and lifting strap structures.

[0003] Currently, cryogenic pressure vessels are often transported by road tank trucks, railway tank cars, or ships. When the transport vehicle experiences sudden stops, accelerations, deflections, or bumps, the cryogenic liquid in the inner shell will experience inertial forces. Furthermore, the cryogenic liquid will exert an impact force on the inner shell due to inertia, causing the inner shell to be subjected to dynamic loads. The inner shell will then transfer these dynamic loads to the supporting structure.

[0004] Under the aforementioned dynamic loads, cracks are prone to occur at weak points in the support structure, at the connection between the support structure and the outer shell, and at the connection between the support structure and the inner shell, thereby reducing the stability and reliability of the support structure in supporting the inner shell. Furthermore, the area of ​​the support structure near the inner shell is susceptible to brittle transformation due to low temperatures, further increasing the risk of cracking.

[0005] Therefore, there is an urgent need to propose a cryogenic pressure vessel, a cryogenic pressure vessel control method, and a transportation system to solve the above-mentioned technical problems. Summary of the Invention

[0006] The first objective of this invention is to provide a cryogenic pressure vessel that, while saving electrical energy, can also offset at least part of the dynamic load on the support components, thereby reducing the risk of cracking of the support components.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] Cryogenic pressure vessels, including:

[0009] The inner container body is used to contain cryogenic liquids;

[0010] The outer container body can be installed on a transport vehicle, and the inner container body is set inside the outer container body;

[0011] A support component is located below the inner container body and supports it between the inner container body and the outer container body.

[0012] The magnetic compensation module includes a magnetic component, which includes a magnetic bearing member and an electromagnet arranged opposite to each other. The magnetic bearing member is disposed on the inner container body, and the electromagnet is disposed on the outer container body.

[0013] The detection module is used to detect the acceleration and angular velocity of the vehicle.

[0014] The controller is connected to the detection module. When both acceleration and angular velocity are zero, the controller can de-energize the magnetic compensation module. When acceleration and / or angular velocity are not zero, the controller can energize the magnetic compensation module. The magnetic compensation module is used to apply a compensating magnetic force to the inner container body.

[0015] The compensating magnetic force is opposite in direction to the dynamic load on the inner container body; or, the compensating magnetic force has a component force opposite in direction to the dynamic load on the inner container body.

[0016] Optionally, the magnetic force bearing element is made of iron.

[0017] Optionally, the detection module includes an accelerometer and a gyroscope, both of which are mounted on the outer container body.

[0018] Optionally, a vacuum insulation cavity is provided between the inner container body and the outer container body. The electromagnet includes an iron core and a coil. The iron core is sealed and passes through the outer container body, and the coil is wound on the iron core. The coil is located on the side of the outer container body away from the inner container body.

[0019] Optionally, the cryogenic pressure vessel also includes a cooling module for cooling the electromagnet.

[0020] The second objective of this invention is to provide a method for controlling cryogenic pressure vessels, which can save energy and offset at least part of the dynamic load on the support components, thereby reducing the risk of cracking of the support components.

[0021] To achieve this objective, the present invention adopts the following technical solution:

[0022] A cryogenic pressure vessel control method, applied to the aforementioned cryogenic pressure vessel, includes:

[0023] Determine whether the magnetic compensation activation conditions are met;

[0024] If the magnetic compensation activation conditions are met, the magnetic compensation module is powered on, causing it to apply a compensating magnetic force to the inner container body. The compensating magnetic force is opposite in direction to the dynamic load on the inner container body, or the compensating magnetic force has a component force opposite in direction to the dynamic load on the inner container body.

[0025] If the conditions for starting magnetic compensation are not met, the magnetic compensation module will be powered off.

[0026] The conditions for initiating magnetic compensation include the occurrence of acceleration and / or angular velocity in the vehicle.

[0027] Optionally, the magnetic compensation activation conditions also include the presence of a cause signal, which includes signals that cause the vehicle to accelerate and signals that cause the vehicle to angular velocity.

[0028] Optionally, timing begins when a signal is detected, and the magnetic compensation module is powered on when a first preset delay time is reached.

[0029] Optionally, the cryogenic pressure vessel also includes a cooling module for cooling the electromagnet, and the cryogenic pressure vessel control method further includes:

[0030] When the magnetic compensation activation conditions are met, the cooling module is activated.

[0031] When the magnetic compensation module is powered on and then powered off, a timer starts. When the second preset delay time is reached, the cooling module is turned off.

[0032] A third objective of this invention is to provide a transportation system that saves energy while reducing the risk of cracking in the support components of cryogenic pressure vessels.

[0033] To achieve this objective, the present invention adopts the following technical solution:

[0034] The transportation system includes a transportation vehicle and a cryogenic pressure vessel. The outer container body is mounted on the transportation vehicle, and the cryogenic pressure vessel adopts the cryogenic pressure vessel control method described above.

[0035] The beneficial effects of this invention are:

[0036] When the speed or direction of movement of a transport vehicle changes drastically in a short period of time, such as when the transport vehicle brakes, accelerates, yaws, or experiences bumps, the cryogenic liquid in the inner container will experience inertial force. Due to inertia, the cryogenic liquid will impact the inner container, causing the inner container to be subjected to dynamic load. The inner container will then transfer this dynamic load to the support assembly between the inner container and the outer container. At this time, the support assembly must not only bear the weight of the inner container but also the dynamic load. To reduce the risk of cracking in the support components, the cryogenic pressure vessel provided by this invention includes a magnetic compensation module, a detection module, and a controller. The magnetic compensation module includes a magnetic component, wherein the magnetic bearing element and the electromagnet of the magnetic component are arranged opposite to each other, and the magnetic bearing element and the electromagnet are respectively disposed on the inner container body and the outer container body. The detection module is used to detect the acceleration and angular velocity of the transport vehicle. When the acceleration and / or angular velocity are not zero, the controller energizes the magnetic compensation module, causing the magnetic compensation module to apply a compensating magnetic force to the inner container body. Since the compensating magnetic force is opposite to the direction of the dynamic load, or the compensating magnetic force has a component force opposite to the direction of the dynamic load, the compensating magnetic force can offset at least part of the dynamic load on the support components, reducing the risk of cracking in the support components.

[0037] Furthermore, when the transport vehicle is moving at a constant speed or stationary, its acceleration and angular velocity are both zero. At this time, the dynamic load on the inner container body is zero, that is, the dynamic load on the support component is zero. The support component only bears the weight of the inner container body, and the risk of cracking is low. Therefore, the controller de-energizes the magnetic compensation module, achieving the effect of saving energy. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the cryogenic pressure vessel provided in Embodiment 1 of the present invention;

[0039] Figure 2 This is a schematic diagram of the cryogenic pressure vessel provided in Embodiment 1 of the present invention;

[0040] Figure 3 This is a schematic diagram of the structure of the magnetic component provided in Embodiment 1 of the present invention;

[0041] Figure 4 This is a schematic diagram of the structure of the cryogenic pressure vessel provided in Embodiment 1 of the present invention when the transport vehicle is traveling at a constant speed;

[0042] Figure 5 This is a schematic diagram of the structure of the cryogenic pressure vessel provided in Embodiment 1 of the present invention when the acceleration a of the transport vehicle is decelerated.

[0043] In the picture:

[0044] D1, First Direction; D2, Second Direction;

[0045] 10. Cryogenic liquid;

[0046] 100. Inner container body; 200. Outer container body; 300. Support assembly; 400. Magnetic assembly; 410. Magnetic bearing component; 420. Electromagnet; 421. Iron core; 422. Coil; 430. Circumferential magnetic assembly; 440. Top magnetic assembly; 500. Vacuum insulation chamber; 611. First cooling pipe; 612. Second cooling pipe; 620. Liquid storage tank; 630. Booster pump; 710. Accelerometer; 720. Gyroscope; 730. Controller. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0048] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0050] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0051] Example 1

[0052] This embodiment provides a cryogenic pressure vessel that saves energy and can also offset at least part of the dynamic load on the support components, reducing the risk of cracking of the support components.

[0053] Specifically, such as Figures 1 to 3 As shown, the cryogenic pressure vessel includes an inner container body 100, an outer container body 200, a support assembly 300, a magnetic compensation module, a detection module, and a controller 730. The inner container body 100 contains the cryogenic liquid 10. The outer container body 200 can be mounted on a transport vehicle (not shown). The inner container body 100 is disposed within the outer container body 200. The support assembly 300 is located below the inner container body 100 and supported between the inner container body 100 and the outer container body 200. The magnetic compensation module includes a magnetic component 400, which includes a magnetic force-bearing member 410 and an electromagnet 420 disposed opposite to each other. The bearing element 410 is disposed on the inner container body 100, the electromagnet 420 is disposed on the outer container body 200, the detection module is used to detect the acceleration and angular velocity of the transport vehicle, the controller 730 is signal-connected to the detection module, when the acceleration and angular velocity are both zero, the controller 730 can de-energize the magnetic compensation module, when the acceleration and / or angular velocity are not zero, the controller 730 can energize the magnetic compensation module. The magnetic compensation module is used to apply a compensating magnetic force to the inner container body 100, the compensating magnetic force is opposite in direction to the dynamic load on the inner container body 100, or the compensating magnetic force has a component force opposite in direction to the dynamic load on the inner container body 100.

[0054] The aforementioned means of transport may be road tank trucks, railway tank cars, or ships, etc.

[0055] The aforementioned cryogenic liquid 10 refers to cryogenic liquids with temperatures below -100°C, such as liquid oxygen, liquid nitrogen, liquid helium, liquid hydrogen, and liquefied natural gas.

[0056] The number of the aforementioned support components 300 can be one or more, and the support components 300 can adopt common saddle structures or support column structures in the art.

[0057] When the speed or direction of movement of a transport vehicle changes drastically in a short period of time, such as when the transport vehicle brakes, accelerates, yaws, or experiences bumps, the acceleration and / or angular velocity of the transport vehicle are not zero. At this time, the cryogenic liquid 10 in the inner container body 100 will experience inertial force, and the cryogenic liquid 10 will impact the inner container body 100 due to inertia, causing the inner container body 100 to be subjected to dynamic load. The inner container body 100 will then transfer this dynamic load to the support assembly 300 supported between the inner container body 100 and the outer container body 200. At this time, the support assembly 300 must not only bear the weight of the inner container body 100, but also bear the dynamic load. In other words, when the acceleration and / or angular velocity of the transport vehicle are not zero, the dynamic load on the inner container body 100 is not zero, and consequently, the dynamic load on the support assembly 300 is not zero. To reduce the risk of cracking in the support assembly 300, the cryogenic pressure vessel provided in this embodiment is equipped with a magnetic compensation module, a detection module, and a controller 730. The magnetic compensation module includes a magnetic component 400, wherein the magnetic bearing component 410 and the electromagnet 420 of the magnetic component 400 are arranged opposite to each other, and the magnetic bearing component 410 and the electromagnet 420 are respectively disposed on the inner container body 100 and the outer container body 200. The detection module is used to detect the acceleration and angular velocity of the transport vehicle. When the acceleration and / or angular velocity are not zero, the controller 730 energizes the magnetic compensation module, so that the magnetic compensation module applies a compensating magnetic force to the inner container body 100. Since the compensating magnetic force is opposite to the direction of the dynamic load, or the compensating magnetic force has a component force opposite to the direction of the dynamic load, the compensating magnetic force can offset at least part of the dynamic load on the support assembly 300, thereby reducing the risk of cracking in the support assembly 300.

[0058] Furthermore, when the transport vehicle is moving at a constant speed or stationary, the acceleration and angular velocity of the transport vehicle are both zero. At this time, the dynamic load on the inner container body 100 is zero, that is, the dynamic load on the support component 300 is zero. At this time, the support component 300 only bears the weight of the inner container body 100, and the risk of cracking is low. Therefore, the controller 730 de-energizes the magnetic compensation module, thereby achieving the effect of saving energy.

[0059] Optionally, such as Figure 3 As shown, the magnetic force bearing member 410 is disposed on the outer wall of the inner container body 100 to prevent the low-temperature liquid 10 in the inner container body 100 from affecting the magnetic force bearing member 410.

[0060] Optionally, such as Figure 1 and Figure 3As shown, a vacuum insulation cavity 500 is provided between the inner container body 100 and the outer container body 200 to ensure the heat insulation effect between the inner container body 100 and the outer container body 200. The electromagnet 420 includes an iron core 421 and a coil 422. The iron core 421 is sealed and inserted into the outer container body 200, and the coil 422 is wound on the iron core 421. The coil 422 is located on the side of the outer container body 200 away from the inner container body 100 to reduce heat leakage.

[0061] In this embodiment, the iron core 421 and the outer container body 200 are separate structures. Specifically, the outer container body 200 is provided with a through hole (not shown in the figure), the iron core 421 passes through the through hole, and sealing elements such as sealing rings seal the gap between the iron core 421 and the through hole to reduce the heat transfer through the gap between the iron core 421 and the through hole.

[0062] It is understandable that the aforementioned power-on and power-off of the magnetic compensation module refers to the power-on and power-off of the coil 422 of the electromagnet 420.

[0063] In another embodiment, the iron core 421 is integrally formed with the outer container body 200 to reduce heat leakage.

[0064] Optionally, such as Figure 2 As shown, the cryogenic pressure vessel also includes a cooling module for cooling the electromagnet 420. When the coil 422 of the electromagnet 420 is energized, it generates heat. To reduce or prevent this heat from being transferred to the inner container body 100, the cryogenic pressure vessel provided in this embodiment is equipped with a cooling module to cool the electromagnet 420, thereby reducing or preventing the electromagnet 420 from transferring heat to the inner container body 100.

[0065] Furthermore, the cooling module includes a first cooling pipe 611, a second cooling pipe 612, a liquid storage tank 620, and a booster pump 630. The first cooling pipe 611 is wound around the coil 422. The inside of the iron core 421 has a cavity adapted to the shape of the second cooling pipe 612, and the second cooling pipe 612 is embedded in the cavity. The liquid storage tank 620 stores coolant. The inlet ends of the first cooling pipe 611 and the second cooling pipe 612 are both connected to the liquid storage tank 620 through the booster pump 630. The outlet ends of the first cooling pipe 611 and the second cooling pipe 612 are also connected to the liquid storage tank 620. The booster pump 630 pumps the coolant in the liquid storage tank 620 to the first cooling pipe 611 and the second cooling pipe 612 to cool the iron core 421 and the coil 422.

[0066] In another embodiment, the cooling module includes a fan or blower or other air supply equipment, which supplies air to the electromagnet 420 to achieve the effect of cooling the electromagnet 420.

[0067] Optionally, the magnetic force-bearing component 410 is an ferrous element, such as an iron block or sheet. When the coil 422 of the electromagnet 420 is de-energized, there is no magnetic force interacting between the electromagnet 420 and the magnetic force-bearing component 410, thereby improving the stability of the support assembly 300 in supporting the inner container body 100. When the coil 422 of the electromagnet 420 is energized, the electromagnet 420 and the magnetic force-bearing component 410 attract each other to form a compensating magnetic force.

[0068] Optionally, such as Figure 2 As shown, the detection module includes an accelerometer 710 and a gyroscope 720. Both the accelerometer 710 and the gyroscope 720 are mounted on the outer container body 200. The accelerometer 710 is used to detect the acceleration generated when the speed of the transport vehicle changes drastically in a short period of time, and the gyroscope 720 is used to detect the angular velocity generated when the direction of movement of the transport vehicle changes drastically in a short period of time. Both the accelerometer 710 and the gyroscope 720 are signal-connected to the controller 730. The controller 730 is used to determine the dynamic load on the inner container body 100 based on the acceleration detected by the accelerometer 710 and the angular velocity detected by the gyroscope 720. When the dynamic load is zero (i.e., both acceleration and angular velocity are zero), the controller 730 de-energizes the magnetic compensation module. When the dynamic load is not zero (i.e., acceleration and / or angular velocity are not zero), the controller 730 energizes the magnetic compensation module to apply a compensating magnetic force to the inner container body 100, that is, to apply a compensating magnetic force to the inner container body 100 in the same direction as the acceleration and angular velocity. Optionally, there may be multiple magnetic components 400, for example, two, three, or four, etc. Some of the multiple magnetic components 400 are circumferential magnetic components 430, and the other part is a top magnetic component 440. There are multiple circumferential magnetic components 430, for example, two, three, or four, etc. These multiple circumferential magnetic components 430 are distributed circumferentially along the inner container body 100, with the top magnetic component 440 located at the top of the inner container body 100. When the transport vehicle brakes, accelerates, or veers, the circumferential magnetic components 430 can apply a compensating magnetic force to the inner container body 100, and this compensating magnetic force is parallel to the horizontal plane. When the transport vehicle experiences bumps, the top magnetic component 440 can apply a compensating magnetic force to the inner container body 100, and this compensating magnetic force is parallel to the vertical direction. This allows the magnetic compensation module to apply a compensating magnetic force to the inner container body 100 under various driving conditions, reducing the risk of cracking of the support component 300.

[0069] It should be noted that in other implementations, the number of magnetic components 400 can also be one. In this case, the magnetic compensation module can only apply a compensating magnetic force in one direction to the inner container body 100.

[0070] Furthermore, when the outer container body 200 has a large volume or a large dimension in a certain direction (e.g., the length direction), if the transport vehicle experiences acceleration and / or angular velocity, the detected acceleration and angular velocity will differ at different positions on the outer container body 200. Therefore, in this embodiment, the number of detection modules is equal to and corresponds one-to-one with the number of magnetic components 400. Each detection module is positioned near a corresponding magnetic component 400. The weighted average or average value of the data detected by multiple detection modules can then be used as the basis for determining whether the magnetic compensation module is energized, thereby improving the sensitivity and reliability of the magnetic compensation module in providing magnetic compensation. Of course, when the overall size of the outer container body 200 is small, only one detection module can be installed on the outer container body 200.

[0071] Furthermore, there are multiple magnetic components 400. To improve the cooling effect of the cooling module, in this embodiment, the number of first cooling pipes 611, second cooling pipes 612, and magnetic components 400 are equal and correspond one-to-one. The iron core 421 of each magnetic component 400 corresponds to one second cooling pipe 612, and the coil 422 of each magnetic component 400 corresponds to one first cooling pipe 611, so that the cooling module can cool the iron core 421 and coil 422 of each magnetic component 400.

[0072] The following is a brief explanation of the working principles of the detection module and the magnetic compensation module when a transportation vehicle decelerates at an acceleration 'a'.

[0073] Please see Figure 4 During the process of the transport vehicle traveling at a constant speed v along the first direction D1, the liquid surface of the cryogenic liquid 10 remains horizontal. At this time, the acceleration and angular velocity of the transport vehicle are both zero, and the inner container body 100 and the support assembly 300 are not subject to dynamic loads.

[0074] Please see Figure 5When the transport vehicle decelerates at an acceleration a along a second direction D2 opposite to the first direction D1, the cryogenic liquid 10 impacts the inner wall of the inner container body 100 on the side facing the first direction D1 under inertia, causing the support assembly 300 to be subjected to a dynamic load along the first direction D1. At this time, the controller 730 energizes the circumferential magnetic force assembly 430 located on the side of the inner container body 100 facing the second direction D2, so that the magnetic force bearing member 410 of the circumferential magnetic force assembly 430 in this area attracts the electromagnet 420 to apply a compensating magnetic force in the second direction D2 to the inner container body 100. Alternatively, the controller 730 energizes both the circumferential magnetic components 430 located on the inner container body 100 facing the first direction D1 and the second direction D2, and energizes the circumferential magnetic components 430 located on the inner container body 100 facing the second direction D2 with a greater current than the circumferential magnetic components 430 located on the inner container body 100 facing the first direction D1, so that the circumferential magnetic components 430 located on the second direction D2 (i.e. Figure 5 The attractive force generated by the circumferential magnetic component 430 (on the right side of the image) is greater than that of the component located on the first direction D1 side (i.e., the one on the right side of the image). Figure 5 The attraction formed by the circumferential magnetic component 430 (on the left side of the container) thereby creates a compensating magnetic force in the second direction D2 applied to the inner container body 100.

[0075] Therefore, in this embodiment, multiple circumferential magnetic components 430 are distributed circumferentially along the inner container body 100. In practical applications, it is not necessary to energize any one or several circumferential magnetic components 430. That is, as long as the total force (compensation magnetic force) applied by the magnetic compensation module to the inner container body 100 is opposite to the dynamic load on the inner container body 100, or as long as the total force (compensation magnetic force) applied by the magnetic compensation module to the inner container body 100 has a component force opposite to the direction of the dynamic load on the inner container body 100.

[0076] When the transport vehicle accelerates, veers, or experiences bumps, the detection module, magnetic compensation module, and controller 730 operate on the same principle as when the transport vehicle decelerates. For example, when the transport vehicle veers, the gyroscope 720 detects that the transport vehicle is veerging in a third direction at an angular velocity w (i.e., the angular velocity is not zero). Then, the controller 730 causes the corresponding circumferential magnetic component 430 to apply a third-direction compensating magnetic force to the inner container body 100, so that the compensating magnetic force cancels out part or all of the dynamic load on the support component 300.

[0077] It should be noted that in practical applications, the method by which the controller 730 obtains the dynamic load on the inner container body 100 based on acceleration and angular velocity can be implemented in various ways. For example, multiple preset acceleration values, preset angular velocity values, and multiple preset compensation magnetic force values ​​obtained through multiple experiments can be pre-input into the controller 730, such that each preset acceleration value corresponds to a preset compensation magnetic force value, and each preset angular velocity value corresponds to a preset compensation magnetic force value. When the accelerometer 710 detects an actual acceleration value of the vehicle (or the gyroscope 720 detects an actual angular velocity value of the vehicle), the controller 730 searches among the multiple preset acceleration values ​​for a preset acceleration value equal to or close to the actual acceleration value (or the controller 730 needs a preset angular velocity value equal to or close to the actual angular velocity value among the multiple preset angular velocity values), and uses the preset compensation magnetic force value corresponding to that preset acceleration value (or preset angular velocity value) as the actual compensation magnetic force value. Alternatively, multiple known calculation formulas can be pre-input into the controller 730, such as the calculation formula for the impact force of the cryogenic liquid 10 on the inner container body 100, and the controller 730 can calculate the magnitude and direction of the compensating magnetic force.

[0078] It should also be noted that the direction of the compensating magnetic force can be determined in various ways. For example, when the transport vehicle decelerates or accelerates, the direction of the compensating magnetic force can be determined by the calculation of the controller 730. Alternatively, a visual sensor such as a CCD can be installed in the inner container body 100, and the liquid surface state of the cryogenic liquid 10 can be observed through the images captured by the visual sensor. That is, observe in which direction the liquid surface of the cryogenic liquid 10 is significantly higher than in other directions, and the direction of the compensating magnetic force can be determined based on the liquid surface state of the cryogenic liquid 10. When the transport vehicle experiences bumps, the gyroscope 720 can directly detect the bumps. At this time, the top magnetic component 440 is energized to apply an upward compensating magnetic force to the inner container body 100. When the transport vehicle deflects, the gyroscope 720 can directly detect the deflection direction. At this time, the corresponding circumferential magnetic component 430 is energized to apply a compensating magnetic force in the same direction as the deflection to the inner container body 100.

[0079] Optionally, this embodiment also provides a cryogenic pressure vessel control method, which is applied to the above-mentioned cryogenic pressure vessel. While saving energy, it can also offset at least part of the dynamic load on the support component 300, reducing the risk of cracking of the support component 300.

[0080] Specifically, the cryogenic pressure vessel control method includes:

[0081] Determine whether the magnetic compensation activation conditions are met;

[0082] If the magnetic compensation activation conditions are met, the magnetic compensation module is powered on, causing the magnetic compensation module to apply a compensating magnetic force to the inner container body 100. The compensating magnetic force is opposite in direction to the dynamic load on the inner container body 100, or the compensating magnetic force has a component force opposite in direction to the dynamic load on the inner container body 100.

[0083] If the conditions for starting magnetic compensation are not met, the magnetic compensation module will be powered off.

[0084] The conditions for initiating magnetic compensation include the occurrence of acceleration and / or angular velocity in the vehicle.

[0085] When the transport vehicle experiences acceleration and / or angular velocity, i.e., when the magnetic compensation activation condition is met, the magnetic compensation module is energized, causing the magnetic compensation module to apply a compensating magnetic force to the inner container body 100. Since the compensating magnetic force is opposite to the direction of the dynamic load, or the compensating magnetic force has a component force opposite to the direction of the dynamic load, the compensating magnetic force can offset at least part of the dynamic load on the support component 300, reducing the risk of cracking of the support component 300.

[0086] When the conditions for starting magnetic compensation are not met, the magnetic compensation module is powered off in order to save energy.

[0087] Optionally, the magnetic compensation activation conditions also include the presence of a cause signal, which includes signals that cause the vehicle to accelerate and signals that cause the vehicle to angular velocity.

[0088] Specifically, the signals can be the rate of change of the accelerator pedal rotation angle, the rate of change of the brake pedal rotation angle, the rate of change of the steering wheel rotation angle, the rate of change of the engine speed, the rate of change of the suspension shock absorber height, the rate of change of the propeller speed, the rate of change of the blade angle, or the driver's operating actions, etc. The appearance of all these signals will cause the vehicle to generate acceleration or angular velocity.

[0089] Although the magnetic compensation module applies a compensating magnetic force to the inner container body 100 when the acceleration and angular velocity are not zero (i.e., when the dynamic load is not zero) to offset at least part of the dynamic load on the support component 300, the support component 300 may have already been subjected to the dynamic load for a certain period of time when the dynamic load is determined to be non-zero. Therefore, in this embodiment, the method of applying a compensating magnetic force to the inner container body 100 when the cause signal is detected can significantly shorten the response time of applying the compensating magnetic force, that is, shorten or even avoid the dynamic load on the support component 300, and further reduce the risk of breakage of the support component 300.

[0090] Furthermore, timing begins when a cause signal is detected. When a first preset delay time is reached, the magnetic compensation module is powered on. For example, the first preset delay time can be 0.01s, 0.02s, or 0.03s, etc. Since the inner container body 100 and the support component 300 are not currently subjected to dynamic loads when a cause signal is detected, if a compensation magnetic force is applied to the inner container body 100 at the time the cause signal is detected, the support component 300 will bear the additional compensation magnetic force while bearing the weight of the inner container body 100. For ease of description, the compensation magnetic force borne by the support component 300 when it is not subjected to dynamic loads will be referred to as the additional magnetic force. This actually increases the burden on the support component 300 and increases the risk of breakage of the support component 300. Therefore, in this embodiment, after the first preset delay time following the occurrence of the signal, the magnetic compensation module is powered on to apply a compensating magnetic force to the inner container body 100. This can shorten the time that the support component 300 bears the additional magnetic force, and may even make the starting time of the support component 300 bearing the compensating magnetic force the same as the starting time of the dynamic load. This can reduce the risk of breakage due to the support component 300 bearing the additional magnetic force.

[0091] Optionally, the cryogenic pressure vessel also includes a cooling module for cooling the electromagnet 420. The cryogenic pressure vessel control method further includes:

[0092] When the magnetic compensation activation conditions are met, the cooling module is activated.

[0093] When the magnetic compensation module is powered on and then powered off, a timer starts. When the second preset delay time is reached, the cooling module is turned off. For example, the second preset delay time can be 1 second, 3 seconds, or 10 seconds, etc.

[0094] Because the electromagnet 420 generates heat during the energization of the magnetic compensation module, and the inner container 100 contains cryogenic liquids 10 with temperatures below -100°C, such as liquid oxygen, liquid nitrogen, liquid helium, liquid hydrogen, and liquefied natural gas, the temperature difference between the cryogenic liquid 10 and the external environment is large. Therefore, external heat can easily be transferred to the cryogenic liquid 10 through the inner container 100. To prevent the heat generated by the electromagnet 420 from being transferred to the inner container 100 when the magnetic compensation module is energized, in this embodiment, the cooling module is activated when a signal is received. That is, the cooling module is activated before the first preset delay time has been reached, and the magnetic compensation module is not yet energized. The cooling module is activated at this time to pre-cool the electromagnet 420, thus preventing the heat generated by the electromagnet 420 from being transferred to the inner container 100 after the magnetic compensation module is energized.

[0095] On the other hand, when the magnetic compensation module is powered on and then powered off, a timer begins. When the second preset delay time is reached, the cooling module is shut down. Although the electromagnet 420 does not generate heat after the magnetic compensation module is powered off, its temperature remains relatively high. Therefore, the residual heat of the electromagnet 420 will be transferred to the inner container body 100. Thus, in this embodiment, after the magnetic compensation module is powered off, the cooling module is shut down only after the second preset delay time has elapsed. Within the second preset delay time, the cooling module continues to cool the electromagnet 420, further reducing the probability of heat transfer to the inner container body 100.

[0096] In this embodiment, the cooling module includes a first cooling pipe 611, a second cooling pipe 612, a liquid storage tank 620, and a booster pump 630. Therefore, starting the cooling module means starting the booster pump 630, which pumps the coolant from the liquid storage tank 620 into the first cooling pipe 611 and the second cooling pipe 612. Turning off the cooling module means turning off the booster pump 630, stopping the pumping of coolant into the first cooling pipe 611 and the second cooling pipe 612.

[0097] This embodiment also provides a transportation system, which includes a transportation vehicle and a cryogenic pressure vessel. The outer container body 200 is installed on the transportation vehicle. The cryogenic pressure vessel adopts the above-mentioned cryogenic pressure vessel control method. The transportation system adopts the above-mentioned cryogenic pressure vessel control method, which can save energy and reduce the risk of cracking of the support component 300 of the cryogenic pressure vessel.

[0098] Example 2

[0099] This embodiment provides a cold pressure vessel control method. The following mainly describes the differences between this embodiment and Embodiment 1, while the similarities will not be repeated.

[0100] In this embodiment, the cooling module is activated when the transport vehicle experiences acceleration and / or angular velocity. That is, when the magnetic compensation module is powered on, the cooling module is activated to cool the electromagnet 420 and prevent the heat generated by the electromagnet 420 from being transferred to the inner container body 100.

[0101] Example 3

[0102] This embodiment provides a cryogenic pressure vessel. The following mainly describes the differences between this embodiment and Embodiment 1, while the similarities will not be repeated.

[0103] In this embodiment, the magnetic force bearing member 410 is a permanent magnet or a ferromagnetic metal. The circumferential magnetic force components 430 are grouped in pairs, with the two circumferential magnetic force components 430 in the same group located on opposite sides of the inner container body 100. When the electromagnet 420 is not energized, there is still a magnetic force interacting between the electromagnet 420 and the magnetic force bearing member 410. To avoid the support component 300 bearing additional magnetic force, the two circumferential magnetic force components 430 in the same group are located on opposite sides of the inner container body 100, allowing the magnetic forces generated by the two circumferential magnetic force components 430 in the same group to cancel each other out, thus improving the stability of the support component 300 in supporting the inner container body 100. Similarly, some of the multiple magnetic force components 400 are bottom magnetic force components (not shown in the figure). The number of bottom magnetic force components and top magnetic force components 440 are equal and correspond one-to-one. Each bottom magnetic force component is opposite to a corresponding top magnetic force component 440, so that the magnetic forces generated by the corresponding bottom magnetic force component and top magnetic force component 440 cancel each other out.

[0104] It should be noted that in this embodiment, the magnetic force bearing member 410 is a permanent magnet or a ferromagnetic metal. Therefore, in practical applications, it is necessary to determine the direction of the current according to the direction of the dynamic load on the support component 300 and the inner container body 100, so that the magnetic force bearing member 410 and the electromagnet 420 attract or repel each other, and ultimately make the compensating magnetic force applied by the magnetic force compensation module to the inner container body 100 opposite to the direction of the dynamic load, or make the compensating magnetic force have a component force opposite to the direction of the dynamic load.

[0105] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A cryogenic pressure vessel, characterized in that, include: An inner container body (100) for containing a cryogenic liquid (10); An outer container body (200) is capable of being installed on a transport vehicle, and an inner container body (100) is disposed within the outer container body (200); A support assembly (300) is located below the inner container body (100) and is supported between the inner container body (100) and the outer container body (200); A magnetic compensation module, comprising a magnetic component (400), the magnetic component (400) comprising a magnetic bearing member (410) and an electromagnet (420) disposed opposite to each other, the magnetic bearing member (410) being disposed on the inner container body (100), and the electromagnet (420) being disposed on the outer container body (200); A detection module, which is used to detect the acceleration and angular velocity of the transport vehicle; A controller (730) is connected to the detection module. When the acceleration and the angular velocity are both zero, the controller (730) can de-energize the magnetic compensation module. When the acceleration and / or the angular velocity are not zero, the controller (730) can energize the magnetic compensation module. The magnetic compensation module is used to apply a compensating magnetic force to the inner container body (100). The compensating magnetic force is opposite in direction to the dynamic load on the inner container body (100); or, the compensating magnetic force has a component force opposite in direction to the dynamic load on the inner container body (100).

2. The cryogenic pressure vessel according to claim 1, characterized in that, The magnetic force bearing component (410) is an iron element.

3. The cryogenic pressure vessel according to claim 1, characterized in that, The detection module includes an accelerometer (710) and a gyroscope (720), both of which are mounted on the outer container body (200).

4. The cryogenic pressure vessel according to claim 1, characterized in that, A vacuum insulation cavity (500) is provided between the inner container body (100) and the outer container body (200). The electromagnet (420) includes an iron core (421) and a coil (422). The iron core (421) is sealed and inserted through the outer container body (200). The coil (422) is wound on the iron core (421). The coil (422) is located on the side of the outer container body (200) away from the inner container body (100).

5. The cryogenic pressure vessel according to any one of claims 1-4, characterized in that, The cryogenic pressure vessel also includes a cooling module for cooling the electromagnet (420).

6. A method for controlling cryogenic pressure vessels, characterized in that, The cryogenic pressure vessel control method, applied to any one of claims 1-5, comprises: Determine whether the magnetic compensation activation conditions are met; If the magnetic compensation activation condition is met, the magnetic compensation module is powered on, so that the magnetic compensation module applies a compensating magnetic force to the inner container body (100). The compensating magnetic force is opposite in direction to the dynamic load on the inner container body (100), or the compensating magnetic force has a component force opposite in direction to the dynamic load on the inner container body (100). If the magnetic compensation activation conditions are not met, the magnetic compensation module will be powered off. The magnetic compensation activation conditions include the vehicle experiencing acceleration and / or angular velocity.

7. The cryogenic pressure vessel control method according to claim 6, characterized in that, The magnetic compensation activation condition also includes the occurrence of a cause signal, which includes a signal that causes the vehicle to accelerate and a signal that causes the vehicle to angular velocity.

8. The cryogenic pressure vessel control method according to claim 7, characterized in that, The timing begins when the signal is received, and the magnetic compensation module is powered on when the first preset delay time is reached.

9. The method for controlling a cryogenic pressure vessel according to any one of claims 6-8, characterized in that, The cryogenic pressure vessel further includes a cooling module for cooling the electromagnet (420), and the cryogenic pressure vessel control method further includes: When the magnetic compensation activation conditions are met, the cooling module is activated; When the magnetic compensation module is powered on and then powered off, a timer starts, and when the second preset delay time is reached, the cooling module is turned off.

10. A transportation system, characterized in that, It includes a transport vehicle and a cryogenic pressure vessel, wherein the outer container body (200) is mounted on the transport vehicle, and the cryogenic pressure vessel employs the cryogenic pressure vessel control method according to any one of claims 6-9.

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