Dynamic monitoring and early warning method and system for hydrogen leakage of hydrogen production and hydrogenation all-in-one machine

Abstract

The invention relates to a hydrogen leakage dynamic monitoring and early warning method and system for a hydrogen production and hydrogenation all-in-one machine. The system comprises a measuring unit, a synchronous data acquisition module, an analog signal processing module, a central processing module, an alarm control module and a power supply module, the measuring unit comprises a hydrogen sensor, a temperature sensor, a pressure sensor, a flow sensor, an oxygen concentration sensor and a humidity sensor; the synchronous data acquisition module is connected with the measurement unit and is used for receiving original data of each sensor in real time and synchronously transmitting the original data; the central processing module is connected with the analog signal processing module, is internally provided with component transport equation analysis logic and is used for multi-parameter data fusion analysis and hydrogen escape risk identification; the alarm control module is connected with the central processing module and is used for triggering diversified early warning responses; and the power supply module adopts a 24V power supply, is internally provided with a power supply conversion sub-module and is used for providing stable power supply for each module.

Description

Technical Field

[0001] This invention relates to the fields of low-altitude economy and hydrogen energy application technology, and more particularly to a method and system for dynamic monitoring and early warning of hydrogen leakage in an integrated hydrogen production and refueling machine. Background Technology

[0002] The low-altitude economy has become a national strategic emerging industry. Hydrogen-powered low-altitude aircraft, with their advantages of long endurance and cycle life, are expected to overcome the performance bottlenecks of lithium-ion battery-powered aircraft, becoming the preferred equipment for low-altitude operations, logistics transportation, and emergency rescue. It is projected that by 2030, the market size of hydrogen-powered drones in China will exceed 14 billion yuan, indicating urgent market demand.

[0003] Due to their compact layout and small footprint, the dynamic safety monitoring of hydrogen leaks in integrated hydrogen production and refueling units is a crucial aspect of ensuring safe operation. Existing hydrogen leak monitoring technologies have significant limitations: they rely solely on a single hydrogen concentration indicator, lacking comprehensive consideration of related influencing parameters such as temperature, pressure, and flow rate, resulting in insufficient monitoring accuracy. Furthermore, traditional technologies focus on post-event risk analysis rather than real-time dynamic monitoring and early warning, leading to delayed early warning responses and difficulty in quickly mitigating hydrogen leak risks.

[0004] With the widespread application of integrated hydrogen production and refueling machines, especially in mobile operation scenarios such as hydrogen production and refueling in low-altitude aircraft, higher requirements are placed on the accuracy, real-time performance, and comprehensiveness of hydrogen leak monitoring. Existing single-parameter, low-response monitoring technologies can no longer meet actual safety needs.

[0005] In existing technologies, such as the Chinese patent document CN121025366A entitled "A Safety Monitoring System and Method for a Hydrogen Storage Device," which discloses a data-driven intelligent monitoring system, a scheme that uses machine learning algorithms to train and predict based on historical data, the accuracy of its early warning largely depends on the completeness and representativeness of the historical dataset. For emerging integrated equipment like hydrogen production and refueling units, their operating conditions are complex and variable, especially in scenarios such as outdoor mobile deployment and collaborative operation with automated equipment (such as robotic arms). It is difficult to obtain sufficient historical data covering all potential risk modes, which may lead to delayed or misjudgment in the identification of sudden and novel leakage modes. Therefore, there is an urgent need for a monitoring and early warning method that does not heavily rely on historical data and can perform mechanism analysis and trend prediction based on real-time physical parameters to meet the dynamic safety requirements of integrated hydrogen production and refueling units. Summary of the Invention

[0006] In response to the aforementioned technical problems, a method and system for dynamic monitoring and early warning of hydrogen leakage in an integrated hydrogen production and refueling machine are provided.

[0007] The technical means employed in this invention are as follows: A dynamic monitoring and early warning system for hydrogen leakage in an integrated hydrogen production and refueling machine includes a measurement unit, a synchronous data acquisition module, an analog signal processing module, a central processing module, an alarm control module, and a power supply module. Each module is electrically connected via wires or signal lines. The measurement unit is a multi-dimensional parameter acquisition component, including a hydrogen sensor, a temperature sensor, a pressure sensor, a flow sensor, an oxygen concentration sensor, and a humidity sensor, which are used to collect real-time data on hydrogen concentration, temperature, pressure, flow rate, oxygen concentration, and humidity around the hydrogen production and refueling integrated machine. The synchronous data acquisition module is connected to the measurement unit and is used to receive and synchronously transmit the raw data from each sensor in real time. The analog signal processing module is connected to the synchronous data acquisition module and is used to amplify and filter the original analog signal. The central processing module is connected to the analog signal processing module and has built-in component transport equation analysis logic for multi-parameter data fusion analysis and hydrogen escape risk identification. The alarm control module is connected to the central processing module and is used to trigger diversified early warning responses; The power module uses a 24V power supply and has a built-in power conversion submodule to provide stable power to each module.

[0008] Furthermore, the analog signal processing module employs a low-pass filtering algorithm to remove noise signals caused by environmental interference, and the amplification factor can be adaptively adjusted according to the strength of the sensor output signal.

[0009] Furthermore, the multi-parameter fusion analysis of the central processing module refers to the comprehensive calculation of hydrogen concentration, temperature, pressure, flow rate, oxygen concentration, and humidity data based on the component transport equation, to identify hydrogen diffusion trends and escape risks.

[0010] Furthermore, the central processing module has a built-in risk threshold determination logic, which can accurately identify potential hydrogen leakage risks by comparing the results of multi-parameter fusion analysis with preset thresholds.

[0011] Furthermore, the alarm control module is electrically connected to the central processing module and includes an audible and visual alarm unit, an SMS alarm unit, a remote communication alarm unit, and a relay control submodule. It has a built-in three-level safety level determination logic, and the relay control submodule is linked with the emergency shutdown system of the integrated hydrogen production and hydrogen refueling machine. The central processing module, based on a preset weight allocation ratio and combined with the component transport equation, performs fusion analysis on multi-parameter data to predict hydrogen diffusion trends and determine the safety level based on the analysis results. The Level 1 safety status is characterized by no leakage, all parameters being within the normal range, the display unit showing safety, and the system maintaining a monitoring status. The Level 2 warning status is a minor leak, where the hydrogen concentration is ≥1%LEL or any auxiliary parameter exceeds the normal range by ±10%. The central processing module sends a warning signal, activates the audible and visual alarm unit, and the display unit highlights the abnormal parameter. A Level 3 emergency is a serious leak, where the hydrogen concentration is ≥4%LEL or any auxiliary parameter exceeds the normal range by ±20%. The central processing module sends an emergency signal and simultaneously activates the audible and visual alarm, SMS alarm, and remote communication alarm units. The relay control submodule triggers the emergency shutdown of the integrated hydrogen production and refueling machine.

[0012] The present invention also discloses a method for dynamic monitoring and early warning of hydrogen leakage based on any of the above-described devices, comprising the following steps: Step 1: Power on the power module to supply power to all modules, and the system enters standby mode; Step 2: The sensors in the measurement unit are activated to collect real-time data on hydrogen concentration, temperature, pressure, flow rate, oxygen concentration, and humidity around the integrated hydrogen production and refueling unit. Step 3: The synchronous data acquisition module receives the raw data and transmits it synchronously to the analog signal processing module; Step 4: The analog signal processing module amplifies and filters the original signal, and then transmits the processed data to the central processing module. Step 5: The central processing module performs fusion analysis on multi-parameter data based on the component transport equation, assesses the operating status, and identifies the risk of hydrogen leakage; Step 6: If an abnormal risk is detected, the central processing module sends an early warning signal to the alarm control module, activating audible and visual alarms, SMS alarms, and remote communication alarms. At the same time, it triggers safety control measures through the relay control submodule until the risk is eliminated.

[0013] Compared with the prior art, the present invention has the following advantages: 1. This invention uses the linkage of multiple high-precision sensors in the measurement unit to clarify the specific monitoring range of each parameter, realize the accurate acquisition of multi-dimensional data, avoid the limitations of traditional single-parameter monitoring, and provide comprehensive and accurate basic data for subsequent fusion analysis.

[0014] 2. The central processing module of this invention has a built-in multi-parameter weight allocation algorithm, which is combined with the component transport equation for fusion analysis. It not only realizes the comprehensive judgment of multiple parameters, but also assigns weights differently according to the degree of influence of each parameter on the leakage risk, and predicts the hydrogen diffusion trend. Compared with the traditional single indicator judgment, the monitoring accuracy is improved.

[0015] 3. The alarm control module has a built-in three-level safety level judgment logic, which triggers differentiated early warning responses for different leakage levels. Minor leaks only trigger audible and visual alarms, while severe leaks trigger triple alarms and link emergency shutdowns simultaneously. This solves the problems of traditional early warning methods being singular and having a delayed response, achieving accurate early warning and hierarchical control, and significantly improving the pertinence and timeliness of risk management.

[0016] 4. The relay control submodule is linked with the emergency shutdown system of the integrated hydrogen production and refueling machine, which automatically triggers shutdown in the event of a serious leak, suppressing the risk of leakage from the source and significantly improving safety protection capabilities.

[0017] 5. Compared with existing technologies that rely on machine learning and historical data patterns for prediction, this invention models the physical mechanism based on component transport equations. Its risk identification does not depend on training with large amounts of historical fault data, making it particularly suitable for new equipment or scenarios in the early stages of data accumulation. By solving the physical equations of fluid diffusion, this method can directly deduce hydrogen diffusion trends based on real-time collected multi-dimensional parameters, enabling mechanistic-level prediction of unknown or sudden leakage modes, thus improving the universality of the monitoring system and the reliability of early warnings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a system diagram of the present invention.

[0020] Figure 2 A diagram of a hydrogen production and refueling integrated system for a low-altitude aircraft, adapted to a specific embodiment of the present invention. Detailed Implementation

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0025] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0026] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0027] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0028] like Figure 1 As shown in the figure, this invention discloses a dynamic monitoring and early warning system for hydrogen leakage in an integrated hydrogen production and refueling machine, including a measurement unit, a synchronous data acquisition module, an analog signal processing module, a central processing module, an alarm control module, and a power supply module. Each module is electrically connected through wires or signal lines. The measurement unit is a multi-dimensional parameter acquisition component, including a hydrogen sensor, a temperature sensor, a pressure sensor, a flow sensor, an oxygen concentration sensor, and a humidity sensor, which are used to collect real-time data on hydrogen concentration, temperature, pressure, flow rate, oxygen concentration, and humidity around the hydrogen production and refueling integrated machine. The synchronous data acquisition module is connected to the measurement unit and is used to receive and synchronously transmit the raw data from each sensor in real time. The analog signal processing module is connected to the synchronous data acquisition module and is used to amplify and filter the original analog signal. The central processing module is connected to the analog signal processing module and has built-in component transport equation analysis logic for multi-parameter data fusion analysis and hydrogen escape risk identification. The alarm control module is connected to the central processing module and is used to trigger diversified early warning responses; The power module uses a 24V power supply and has a built-in power conversion submodule to provide stable power to each module.

[0029] Furthermore, the analog signal processing module employs a low-pass filtering algorithm to remove noise signals caused by environmental interference, and the amplification factor can be adaptively adjusted according to the strength of the sensor output signal.

[0030] Furthermore, the multi-parameter fusion analysis of the central processing module refers to the comprehensive calculation of hydrogen concentration, temperature, pressure, flow rate, oxygen concentration, and humidity data based on the component transport equation, to identify hydrogen diffusion trends and escape risks.

[0031] Furthermore, the central processing module has a built-in risk threshold determination logic, which can accurately identify potential hydrogen leakage risks by comparing the results of multi-parameter fusion analysis with preset thresholds.

[0032] Furthermore, the alarm control module is electrically connected to the central processing module and includes an audible and visual alarm unit, an SMS alarm unit, a remote communication alarm unit, and a relay control submodule. It has a built-in three-level safety level determination logic, and the relay control submodule is linked with the emergency shutdown system of the integrated hydrogen production and hydrogen refueling machine. The central processing module, based on a preset weight allocation ratio and combined with the component transport equation, performs fusion analysis on multi-parameter data to predict hydrogen diffusion trends and determine the safety level based on the analysis results. The Level 1 safety status is characterized by no leakage, all parameters being within the normal range, the display unit showing safety, and the system maintaining a monitoring status. The Level 2 warning status is a minor leak, where the hydrogen concentration is ≥1%LEL or any auxiliary parameter exceeds the normal range by ±10%. The central processing module sends a warning signal, activates the audible and visual alarm unit, and the display unit highlights the abnormal parameter. A Level 3 emergency is a serious leak, where the hydrogen concentration is ≥4%LEL or any auxiliary parameter exceeds the normal range by ±20%. The central processing module sends an emergency signal and simultaneously activates the audible and visual alarm, SMS alarm, and remote communication alarm units. The relay control submodule triggers the emergency shutdown of the integrated hydrogen production and refueling machine.

[0033] Specifically, the threshold in the three-level security level determination logic is not a fixed value, but is dynamically adjusted based on real-time ambient temperature, humidity, and wind speed. The specific adjustment formula is as follows: C adj =C0*[1+α(T-T0)+-(H-H0)] Among them, C adj The adjusted hydrogen concentration threshold is C0, which is the threshold under standard conditions. In this embodiment, it is 1%LEL. T and H are the real-time collected temperature and humidity, T0 and H0 are the temperature and humidity under standard conditions, and α and β are environmental correction coefficients, which are obtained through experimental calibration.

[0034] The dynamic adjustment mechanism significantly improves the accuracy of early warnings under different climates and operating environments, and is especially suitable for outdoor mobile hydrogen production and refueling units.

[0035] Specifically, multi-parameter fusion refers to the comprehensive processing and analysis of parameters or indicators from multiple sources and of different natures within the integrated hydrogen production and refueling unit to extract more valuable information for evaluating the system's operational status. Based on the integrated hydrogen production and refueling unit, a hydrogen monitoring device is used for real-time data acquisition. Multiple high-precision monitoring sensors, such as hydrogen sensors, temperature sensors, and pressure sensors, are selected to comprehensively monitor concentration changes, temperature fluctuations, and pressure conditions in the hydrogen environment, ensuring the timely and accurate acquisition of key data.

[0036] In the event of a hydrogen leak, the leaked hydrogen will mix with the surrounding air to form a complex multi-component system. This system is described by a component transport equation. This equation describes the diffusion and distribution of hydrogen in the environment by introducing parameters such as coefficients representing components, mass fraction of components, fluid density, and velocity components in each direction in a two-dimensional plane. The specific calculation is shown in formula (1).

[0037] (1)

[0038] By organically integrating multiple parameters such as hydrogen concentration, temperature, pressure, flow rate, oxygen concentration, and humidity, more comprehensive and accurate system operating status information can be obtained.

[0039] This system uses real-time collected data such as temperature, pressure, ambient humidity, and oxygen concentration as boundary conditions, substituting them into equations for solution, to simulate the diffusion path, concentration distribution, and accumulation trend of hydrogen around the equipment in real time. Compared to purely data-driven machine learning methods, this solution employs a fusion of physical models and real-time data, resulting in stronger interpretability and adaptability to different operating conditions.

[0040] Based on multi-parameter data fusion analysis, a hydrogen leakage monitoring and early warning system was further established to monitor key indicators such as hydrogen concentration and leakage rate in real time. According to the continuously collected real-time monitoring data, the early warning response mechanism is triggered immediately once a potential risk of hydrogen leakage is identified, based on the analysis of formula (1). This mechanism integrates diversified alarm methods, including visual and auditory warnings (sound and light alarms), mobile communication notifications (SMS alarms), and remote communication alarms, to ensure that relevant personnel can detect the problem in time and take appropriate countermeasures. The functional block diagram of the hydrogen concentration monitoring system is shown below. Figure 1 As shown.

[0041] The hydrogen sensor, as a core component of the monitoring system, is responsible for real-time detection of hydrogen concentration in the environment. Its working principle is typically based on chemical reactions or physical effects, converting hydrogen concentration into a measurable electrical signal. Temperature and pressure sensors are also crucial factors affecting the risk of hydrogen leakage, in addition to hydrogen concentration. The temperature sensor monitors ambient temperature, while the pressure sensor detects ambient pressure. These data, along with hydrogen concentration data, are input into the system for comprehensive analysis and judgment. A synchronous data acquisition module collects real-time data from the hydrogen, temperature, and pressure sensors and synchronizes the data to the central processing unit (CPU) for processing. An analog signal processing module preprocesses the acquired analog signals, such as amplifying and filtering, to improve data accuracy and reliability. The CPU receives data from the synchronous data acquisition module and analyzes and judges it according to a preset algorithm. Once a potential hydrogen leakage risk is identified, the CPU triggers an early warning response mechanism. An alarm control module and a relay control module together constitute the core of the early warning response mechanism. Once the central processing unit issues a warning signal, the alarm control module will activate visual and auditory alerts (sound and light alarm), while the relay control module will initiate mobile communication notifications (SMS alarm) and remote communication alarms to ensure that relevant personnel can detect the warning in a timely manner and take appropriate countermeasures.

[0042] In summary, the hydrogen leak dynamic monitoring and early warning system provided in this embodiment is a highly integrated, multi-parameter coordinated, and intelligently responsive closed-loop safety system, constructing a complete link from data acquisition to risk control. The measurement unit no longer relies on a single hydrogen concentration sensor but instead constructs a multi-dimensional, high-precision sensor array. The synchronous data acquisition module employs high-precision synchronous clock technology to ensure millisecond-level time synchronization from sensors at different physical locations. This ensures strict alignment of pressure pulsations, flow changes, and concentration fluctuations on the time axis, providing a time-consistent data foundation for subsequent fusion analysis and avoiding misjudgments caused by asynchronous data. The analog signal processing module uses a low-pass filtering algorithm to effectively filter out high-frequency noise from equipment vibration and electromagnetic radiation; its amplification factor can be dynamically adjusted according to the real-time intensity of each sensor signal (such as the weak signal at extremely low concentrations), ensuring optimal signal-to-noise ratio of the signal sent to the central processor. This step transforms the raw, coarse physical signals into a stable, clean, and standardized digital information stream. The central processor engine incorporates a simplified and optimized fluid dynamics component transport equation calculation model. The model uses six parameters—hydrogen concentration, temperature, pressure, flow rate, oxygen concentration, and humidity—collected in real time as boundary conditions and variable inputs. Within a virtual space constructed by the processor, it simulates the diffusion path, velocity, concentration distribution, and mixing process of hydrogen with air in real time. For example, when a slight increase in hydrogen concentration is detected at a certain point, coupled with a decrease in pressure on the upwind side and an abnormal flow meter reading, the model can immediately calculate the possible location and leakage rate of the leak source and predict the diffusion trend of the danger zone in the next few seconds to tens of seconds.

[0043] Specifically, the synchronous data acquisition module employs a hardware-level synchronous triggering mechanism, with each sensor's sampling clock driven by the same high-precision crystal oscillator, ensuring that the acquisition time deviation of signals such as hydrogen concentration, pressure, and flow rate is ≤1ms. Based on this, the system introduces a timing alignment algorithm to compensate for phase differences caused by varying sensor response times, ensuring strict consistency in timing among multiple parameters. This mechanism is particularly suitable for instantaneous leaks that may occur during refueling, accurately capturing the causal relationship between sudden pressure drops and concentration increases, and avoiding misjudgments or missed detections due to data asynchrony.

[0044] Extendably, the central processing module does not mechanically compare fixed thresholds. It stores normal parameter ranges and risk threshold matrices under different operating conditions (such as hydrogen production, storage, refueling, and standby). Combining the output of the component transport model, the system performs weighted fusion judgments. For example, in a well-ventilated refueling area, a slight instantaneous exceedance of hydrogen concentration may have a low weight; however, in a closed storage tank area, the same concentration signal combined with increased humidity will be assigned a higher risk weight, triggering a higher-level warning. Multi-parameter fusion based on the component transport equation enables the system to possess preliminary analytical capabilities. It can understand the physical meaning behind different parameter combinations, reducing false alarms caused by environmental interference, such as accidental sensor contamination or brief airflow disturbances. Furthermore, when real risks occur, even if a single parameter does not reach its limit threshold, early warnings can be achieved through multi-parameter correlation anomalies, significantly improving the accuracy and reliability of monitoring. The system's modular and integrated design adapts to the compact layout of the integrated hydrogen production and refueling unit. Its stable 24V power supply and reliable communication mechanism can meet the needs of mobile and outdoor deployment, providing a solid guarantee for the safe hydrogen refueling operation of low-altitude aircraft such as hydrogen-powered drones.

[0045] The present invention also discloses a method for dynamic monitoring and early warning of hydrogen leakage based on any of the above-described devices, comprising the following steps: Step 1: Power on the power module to supply power to all modules, and the system enters standby mode; Step 2: The sensors in the measurement unit are activated to collect real-time data on hydrogen concentration, temperature, pressure, flow rate, oxygen concentration, and humidity around the integrated hydrogen production and refueling unit. Step 3: The synchronous data acquisition module receives the raw data and transmits it synchronously to the analog signal processing module; Step 4: The analog signal processing module amplifies and filters the original signal, and then transmits the processed data to the central processing module. Step 5: The central processing module performs fusion analysis on multi-parameter data based on the component transport equation, assesses the operating status, and identifies the risk of hydrogen leakage; Step 6: If an abnormal risk is detected, the central processing module sends an early warning signal to the alarm control module, activating audible and visual alarms, SMS alarms, and remote communication alarms. At the same time, it triggers safety control measures through the relay control submodule until the risk is eliminated.

[0046] To concretely demonstrate the technical advantages of this invention in low-altitude aircraft application scenarios, the following section will deeply embed the hydrogen leakage dynamic monitoring and early warning system into the entire operation process of a mobile hydrogen production and refueling integrated machine suitable for low-altitude aircraft such as hydrogen-powered drones, and elaborate on how it solves the core safety problems in this specific scenario, highlighting its irreplaceable value.

[0047] Specifically, taking the integrated hydrogen production and refueling machine for low-altitude aircraft equipped with this system as an example: Figure 2 As shown, this embodiment of the invention discloses an integrated hydrogen production and refueling machine suitable for low-altitude aircraft, including a photovoltaic module, an energy storage module, a hydrogen production unit, a storage unit, a hydrogen diaphragm compressor module, a control module, an intelligent robotic arm module, and auxiliary units; The photovoltaic module is used to convert solar energy into electrical energy; its core function is solar power generation, converting renewable energy into electrical energy to provide a green power source for the system. The energy storage module is used to store the electrical energy generated by the photovoltaic module and to supply power to the system equipment; specifically, it is electrically connected to the photovoltaic module to store excess electrical energy, realize power supply stability regulation, and ensure continuous operation of the system. The hydrogen production unit is used to produce high-purity hydrogen from tap water. It includes a water purification module, a water alkali tank module, a water replenishment module, an alkali circulation module, an electrolyzer module connected in sequence, as well as a hydrogen separation and cooling module, a hydrogen purification and cooling module, and an oxygen separation and cooling module connected to the electrolyzer module. The water purification module is used to purify tap water, remove impurities, and avoid affecting the lifespan of the electrolyzer and the purity of hydrogen. The water replenishment module is used to automatically replenish purified tap water according to the liquid level in the water scale tank module; The alkaline solution tank module is used to store a mixture of alkaline solution and purified water, providing raw materials for the electrolytic cell module; The alkali circulation module is used to realize the recycling of alkali in the electrolytic cell module and improve the utilization rate of raw materials. An electrolytic cell module, used to electrolyze a mixture to produce hydrogen and oxygen under DC drive; The hydrogen separation and cooling module is used to separate and cool the hydrogen produced by electrolysis, and to remove moisture and impurities. The hydrogen purification and cooling module is used to further purify and cool hydrogen, ensuring a hydrogen purity of ≥99.97%. The oxygen separation and cooling module is used to separate and cool the oxygen produced by electrolysis, enabling safe venting.

[0048] The above scheme involves purging all oxygen, which is still wasteful. Further, an oxygen storage tank can be installed to store the oxygen produced as a byproduct of electrolysis. In northern regions with low winter temperatures, an oxygen-assisted combustion heating module can be installed to heat the electrolyzer to a certain extent. In winter or low-temperature environments, a small amount of oxygen can be burned with fuel to quickly heat the electrolyzer to the operating temperature, further addressing the problem of low hydrogen production efficiency at low temperatures.

[0049] Optionally, in this embodiment, the water replenishment module is directly connected to the hydrogen separation cooling module and the oxygen separation cooling module, so that while replenishing water to the system, it can also cool down the high-temperature alkaline solution.

[0050] The storage unit includes a high-pressure hydrogen storage module and a high-pressure hydrogen storage tank module for low-altitude aircraft, used to store high-purity hydrogen; wherein the storage tank of the low-altitude aircraft hydrogen storage tank module can be replaced independently.

[0051] The hydrogen diaphragm compressor module is connected to the hydrogen purification and cooling module, the high-pressure hydrogen storage module, and the high-pressure hydrogen storage tank module for low-altitude aircraft, respectively, for hydrogen pressurization, storage and refueling. The control module is controlled by a PLC and is electrically connected to each module to realize the automated operation and mode switching of the system; optionally, a touch control screen is configured for human-machine interaction.

[0052] The intelligent robotic arm module is used to automatically replace the high-pressure hydrogen storage tank for low-altitude aircraft; specifically, it is used to grab the 35MPa hydrogen storage tank for low-altitude aircraft and automatically replace the storage tank with the low-altitude aircraft without manual operation.

[0053] The auxiliary unit includes a rectifier power supply module, a mechanical ventilation module, a chiller module, and an air compressor module. The rectifier power supply module is electrically connected to the photovoltaic module, energy storage module, and electrolytic cell module to achieve stable power supply. The mechanical ventilation module is used for ventilation when the hydrogen concentration exceeds the standard. The chiller module provides cooling water for the modules that need to be cooled. The air compressor module provides instrument air for the pneumatic valves.

[0054] In this embodiment, the high-pressure hydrogen is specifically designed for 35 MPa hydrogen storage tank drones commonly used in the prior art. In other optional embodiments, the design can be adjusted according to the specific requirements of the drone.

[0055] Furthermore, the system has two operating modes: hydrogen production and storage, and hydrogen refueling. The control module automatically switches between these modes based on the pressure of the high-pressure hydrogen storage module: when the pressure of the high-pressure hydrogen storage module is lower than the preset high pressure, the system switches to hydrogen production and storage mode; when the pressure of the high-pressure hydrogen storage module reaches the preset high pressure, the system switches to hydrogen refueling mode.

[0056] Furthermore, the electrical energy generated by the photovoltaic module is distributed in two ways: one way is supplied to the electrolytic cell module after being stabilized by the rectifier power supply module; the other way is supplied to the energy storage module. When there is sufficient solar energy, the energy storage module supplies power to other devices except the rectifier power supply module, and when there is insufficient solar energy, it supplies power to all devices in the system.

[0057] Furthermore, foldable small wind power modules can be integrated on the top or side of the integrated unit to form a wind-solar complementary power supply with the photovoltaic module, in order to cope with the situation where solar energy is significantly affected by day and night and weather, and hydrogen production is unstable.

[0058] Furthermore, it can also include a hydrogen emergency power generation unit using proton exchange membrane fuel cells. This unit utilizes backup hydrogen stored in a 35MPa large storage module to provide temporary power when wind and solar power are insufficient, ensuring the operation of core equipment such as control modules and mechanical ventilation. In this case, an energy management submodule integrated into the control module prioritizes the use of photovoltaic power, supplemented by wind power when photovoltaic power is insufficient, and triggers hydrogen emergency power generation when both are insufficient.

[0059] Furthermore, the mechanical ventilation module is electrically connected to the hydrogen detector. When the hydrogen detector detects that the hydrogen concentration inside the system exceeds the safe range, the control module starts the exhaust fan of the mechanical ventilation module until the hydrogen concentration drops to the safe range.

[0060] Furthermore, the high-pressure hydrogen storage tank module for low-altitude aircraft includes at least one independently replaceable high-pressure hydrogen storage tank, and the intelligent robotic arm module can grasp the storage tank and complete the replacement operation with the low-altitude aircraft.

[0061] Furthermore, the alkali circulation module is used to realize the recycling of alkali in the electrolytic cell module, and the water replenishment module automatically replenishes purified tap water according to the liquid level of the water-alkali tank module.

[0062] Furthermore, the hydrogen purified and cooled by the hydrogen purification module has a purity of ≥99.97%, which meets the hydrogen standards for low-altitude aircraft.

[0063] The above-mentioned method for using the integrated hydrogen production and refueling machine applicable to low-altitude aircraft includes the following steps: The hydrogen production and storage process is as follows: Tap water is purified by the water purification module, then mixed with circulating alkali from the water replenishment module and the alkali circulation module before entering the electrolyzer module. The electrolyzer module produces hydrogen through electrolysis powered by the rectifier power supply module. The generated hydrogen is processed by the hydrogen separation and cooling module and the hydrogen purification and cooling module, then pressurized to a preset high pressure by the hydrogen diaphragm compressor module and stored in the high-pressure hydrogen storage module. The generated oxygen is treated by the oxygen separation and cooling module and then discharged into the atmosphere. The hydrogen refueling process is as follows: Hydrogen in the high-pressure hydrogen storage module is refueled through the hydrogen diaphragm compressor module to the high-pressure hydrogen storage tank module for low-altitude aircraft, where the pressure is lower than the preset high pressure. Refueling stops when the pressure of the storage tank reaches the preset high pressure. If all storage tanks in the high-pressure hydrogen storage tank module for low-altitude aircraft reach the preset high pressure, the hydrogen generated in the hydrogen production and storage mode is temporarily vented until there is a storage tank to be refueled.

[0064] Furthermore, during the operation of the electrolytic cell module, the control module controls the power source of the electrolytic cell module based on the data obtained by the photovoltaic module. When there is sufficient solar energy, the photovoltaic module directly supplies power to the rectifier power supply, and the excess electrical energy is stored in the energy storage module. When there is insufficient solar energy, the energy storage module automatically switches to supply power to the entire system.

[0065] Furthermore, when the remaining hydrogen amount of the low-altitude aircraft falls below a preset value, it sends a hydrogen refueling request to the integrated machine via wireless communication. After the control module receives the request, when the aircraft lands in the area designated by the integrated machine, the intelligent robotic arm module is activated to grab the full-pressure tank in the high-pressure hydrogen storage tank group, remove the old tank, and install a new tank for the low-altitude aircraft.

[0066] In a specific implementation, during hydrogen refueling, when the pressure of the 35MPa large storage module reaches 35MPa, and the control module detects that the pressure of any tank in the 35MPa low-altitude aircraft hydrogen storage tank group module is lower than 35MPa, the system switches to hydrogen refueling mode; the hydrogen diaphragm compressor module switches to refueling condition, and the hydrogen in the 35MPa large storage module is refueled to the tank to be refueled, and the refueling rate remains stable; when the tank pressure reaches 35MPa, the control module closes the refueling valve and switches to the next tank to be refueled, until all tanks reach 35MPa; The hydrogen-powered drone lands in the designated area of ​​the integrated unit and sends a replacement request to the control module via wireless communication; The control module controls the intelligent robotic arm module to move to the tank group module, grab the full-pressure tank, accurately position it to the drone tank installation position, and complete the replacement operation of disassembling the old tank and installing the new tank. After the replacement is completed, the intelligent robotic arm module puts the old tank back into the tank group module, the control module records the tank status, and refills the tank when the pressure of the old tank is lower than 35MPa.

[0067] In some optional implementations, the aircraft lands in the designated area of ​​the integrated machine using GPS / BeiDou positioning. The control module confirms the aircraft's tank installation position using visual sensors. The intelligent robotic arm module then grabs a fully pressurized tank from the 35MPa tank group, precisely moves it to the aircraft's tank installation position, disassembles the old tank, and installs the new tank, with the entire process taking less than 3 minutes. After the replacement is complete, the robotic arm returns the old tank to its refueling position in the tank group, and the control module records the pressure of the old tank for subsequent hydrogen refueling. The aircraft sends a tank installation confirmation signal, the control module indicates successful replacement, and the aircraft can take off. Simultaneously, the touch control screen updates the number of remaining fully pressurized tanks in the tank group.

[0068] This technology uses PLC control, which has a high degree of automation. In some expandable cases, AI algorithms are integrated into the control module to collect key data from various modules in real time, including electrolyzer voltage, current, compressor temperature, robotic arm repeatability accuracy, and hydrogen leakage concentration trend. This data is used to establish a fault prediction model, which can better provide early warning of the lifespan of vulnerable parts and identify abnormal operating trends.

[0069] When this technology is widely applied, a 5G communication module can be integrated into the control system to establish real-time interaction with multiple low-altitude aircraft regarding hydrogen refueling needs and resource status. The integrated system broadcasts the remaining number of fully pressurized storage tanks and the hydrogen production rate to aircraft within a certain radius. Based on their remaining battery power and flight mission, aircraft send hydrogen refueling reservation requests to the integrated system. The system sorts these requests by urgency and distance, generating an optimal refueling queue to avoid congestion caused by multiple aircraft waiting. At this point, the control system integrates a scheduling algorithm, combined with GPS positioning data, to plan the aircraft landing sequence.

[0070] The aforementioned integrated hydrogen production and refueling unit for low-altitude aircraft is not a fixed hydrogen refueling station. Its core characteristics are: mobile deployment, compact space, open and variable environment, and high requirements for automated operation. Traditional single hydrogen concentration monitoring has inherent shortcomings in this scenario: First, sudden changes in outdoor wind direction and airflow disturbances during aircraft takeoff and landing can cause brief fluctuations in concentration sensor readings, leading to frequent false alarms and interfering with automated processes. Second, there is a high risk of missed detection; in the early stages of a leak, hydrogen may be dispersed by the wind and fail to accumulate near a single sensor, making timely detection impossible. Third, the response logic is simplistic and cannot distinguish between a trace leak at the refueling interface and a serious leak in the storage tank itself, making it difficult to trigger differentiated automated response measures.

[0071] The multi-parameter dynamic monitoring and early warning system of the present invention is specifically designed to overcome these shortcomings.

[0072] Existing equipment operates unattended. In the event of a slow leak, a single sensor may fail to trigger an alarm, allowing hydrogen to accumulate within the equipment compartment and potentially create an explosive environment. This invention's system continuously monitors the hydrogen concentration, temperature, pressure, oxygen concentration, and humidity within the compartment. Even if the concentration is below the threshold due to ventilation, if the pressure sensor detects an abnormal drop in tank pressure, or the flow sensor shows a flow rate reading despite not detecting an output, the central processing module will use a component transport model to comprehensively assess the situation and identify the abnormal pattern. This could potentially trigger a level-two warning before the concentration reaches 1% LEL. This invention enables early detection of the risk before the leak reaches a dangerous concentration, alerting remote monitoring centers or maintenance personnel with early audible and visual alarms, preventing potential hazards from developing unnoticed.

[0073] The automated refueling / tank replacement phase for low-altitude aircraft (UAVs) is the riskiest and most demanding stage. The integrated intelligent robotic arm is physically connecting and disconnecting the high-pressure storage tank from the aircraft. In existing technologies, minute leaks at the moment of connection to the refueling interface are considered normal, but if a seal failure expands, it goes undetected; the robotic arm's movements may damage the pipeline, and traditional systems have a delayed response. With this invention, while the intelligent robotic arm performs gripping, alignment, and locking actions, the system focuses on a cluster of sensors near the refueling nozzle. Once locking is complete and pre-cooling and pressing begin, flow, pressure, and concentration data are strictly and synchronously collected. If a trace amount of hydrogen concentration (e.g., 0.5% LEL) is detected, but the pressure rise curve matches the flow curve perfectly, the model determines it as normal interface purging or a trace escape, and the system remains silent to avoid false alarms that could interrupt the automated process. If locking fails, high-pressure hydrogen leaks. The system will detect multi-parameter coordinated mutations within milliseconds: a sudden drop in pressure, abnormal flow, and a surge in concentration. The central processing module instantly determines it to be an emergency. The alarm control module not only activates audible and visual alarms and remote alerts, but its relay control submodule immediately outputs a signal to execute the following linked operations: First, it forces the hydrogen diaphragm compressor to stop; second, it closes the emergency shut-off valve at the outlet of the high-pressure large storage module; third, it sends a signal to the control module, commanding the intelligent robotic arm to detach and return to a safe position. This invention achieves a fully automated, millisecond-level safety closed loop from leak detection to gas source cutoff to evacuation of the actuator. In high-speed automated operations where personnel cannot intervene, this is the only reliable means to prevent mechanical damage, fire, and explosion.

[0074] Optionally, the relay control submodule not only triggers an emergency shutdown but also sends a structured shutdown command sequence to the PLC control system of the integrated hydrogen production and refueling machine. This includes: immediately cutting off the power to the electrolyzer; closing the outlet valve of the hydrogen buffer tank; initiating a nitrogen purging procedure to inertate the pipeline; and locking the intelligent robotic arm in a safe position to prevent malfunction. This linkage mechanism achieves a fully automated closed-loop safety response from leak detection to active suppression of the leak source, making it particularly suitable for unattended or automated refueling scenarios, significantly reducing the risks associated with delays caused by human intervention.

[0075] The system's warning thresholds and response logic are deeply coupled with the integrated machine's real-time operating mode. In hydrogen production mode, it focuses on early warning of minor leaks in areas such as the electrolyzer and purification unit, with threshold sensitivity. In refueling mode, the system anticipates high pipeline pressure and the potential presence of normal purge exhaust gas. Therefore, it temporarily activates another set of thresholds and judgment logic to distinguish between transient concentration fluctuations and genuine dangerous leaks through the time-series coupling relationship of pressure-flow-concentration, greatly reducing false alarms during refueling. In standby mode, the system focuses on monitoring the slow accumulation of background concentration to determine if a slow leak exists.

[0076] Furthermore, after the existing aircraft has been refitted, it is difficult to detect leaks in the equipment's own piping caused by operation. This invention's system can enter a self-test mode, and by monitoring the pressure retention rate of each pipe section and analyzing the background hydrogen concentration around key valve groups, it can determine the overall system's sealing integrity under static conditions. This ensures the equipment is in an absolutely safe state during service breaks, preparing it for the next operation.

[0077] The specific application scenarios of this invention are as follows: Scenario A (Normal refueling): The system is in Level 1 safety mode, and the display screen shows all parameters smoothly. Operators can focus on other tasks.

[0078] Scenario B (minor pipeline leak): During refueling, a clamp at a certain point loosened slightly. The hydrogen concentration sensor detected a slow rise in the local concentration to 1.2% LEL, while the temperature sensor in the same area showed a slight decrease. Synchronous data acquisition ensured the time correlation between the two signals. After fusion analysis by the central processing module, it was determined to be a Level 2 warning. A yellow audible and visual alarm immediately sounded on-site, and the HMI screen automatically displayed the alarm location and parameter trend graph. Maintenance personnel quickly located and tightened the clamp according to the prompts, eliminating the risk within minutes and preventing the concentration from accumulating due to continued leakage.

[0079] Scenario C (Accidental Rupture): A significant gas leak occurs at the tank connection due to an accident. The hydrogen concentration rapidly increases to 5% LEL within 2 seconds, the pressure gauge reading drops sharply, and the flow meter malfunctions. The component transport model of the central processing module instantly calculates the large-flow leakage trend and immediately classifies it as a Level 3 emergency. Simultaneously, the system triggers a strong audible and visual alarm, automatically sends an SMS to the administrator's mobile phone stating "Emergency Leakage, Location: Tank Area B," and uploads the data to the monitoring cloud platform. Most importantly, the relays activate within milliseconds, triggering the integrated emergency shutdown system to automatically cut off the electrolysis power supply, shut down the tank outlet valve and compressor, thus minimizing the leak's spread before personnel arrive on site and significantly improving overall safety.

[0080] This invention's system not only provides early warning of sudden leaks but also offers predictive maintenance support for integrated hydrogen production and refueling units by monitoring the baseline drift trends of various sensor data and the pressure decay rate of sealing components over a long period. For example, by analyzing the slow increase in pressure recovery time after a specific valve operation, the aging of the valve seals can be predicted, allowing maintenance to be scheduled before a leak occurs. Furthermore, all alarms, source tracing information, and handling records generated by the system are compiled into a structured log, which can periodically generate safety status assessment reports to optimize the integrated unit's operation and maintenance procedures and safety design, forming a complete safety closed loop from real-time monitoring to accurate early warning, source tracing and handling, and feedback optimization.

[0081] In summary, the early warning and automated response capabilities provided by this system enable unmanned, automated, and safe operation of mobile hydrogen production and refueling units in remote areas and rooftop platforms, significantly reducing operational manpower costs and safety monitoring pressure. Hydrogen-powered drones are highly valuable. During refueling, this system eliminates the risk of fire and explosion caused by leaks from ground equipment, directly protecting the safety of aircraft assets. As a key node in the low-altitude hydrogen refueling network, the safety and reliability of this integrated unit directly affect the aircraft's uptime and mission continuity. This system greatly reduces the risk of node downtime due to safety incidents, ensuring the stable operation of the entire low-altitude logistics, inspection, and other economic activities.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dynamic monitoring and early warning system for hydrogen leakage in an integrated hydrogen production and refueling machine, characterized in that, It includes a measurement unit, a synchronous data acquisition module, an analog signal processing module, a central processing module, an alarm control module, and a power supply module. Each module is electrically connected via wires or signal lines. The measurement unit is a multi-dimensional parameter acquisition component, including a hydrogen sensor, a temperature sensor, a pressure sensor, a flow sensor, an oxygen concentration sensor, and a humidity sensor, which are used to collect real-time data on hydrogen concentration, temperature, pressure, flow rate, oxygen concentration, and humidity around the hydrogen production and refueling integrated machine. The synchronous data acquisition module is connected to the measurement unit and is used to receive and synchronously transmit the raw data from each sensor in real time. The analog signal processing module is connected to the synchronous data acquisition module and is used to amplify and filter the original analog signal. The central processing module is connected to the analog signal processing module and has built-in component transport equation analysis logic for multi-parameter data fusion analysis and hydrogen escape risk identification. The alarm control module is connected to the central processing module and is used to trigger diversified early warning responses; The power module uses a 24V power supply and has a built-in power conversion submodule to provide stable power to each module.

2. The hydrogen leakage dynamic monitoring and early warning system for the integrated hydrogen production and refueling machine according to claim 1, characterized in that, The analog signal processing module uses a low-pass filtering algorithm to remove noise signals caused by environmental interference, and the amplification factor can be adaptively adjusted according to the strength of the sensor output signal.

3. The hydrogen leakage dynamic monitoring and early warning system for the integrated hydrogen production and refueling machine according to claim 1, characterized in that, The multi-parameter fusion analysis of the central processing module refers to the comprehensive calculation of hydrogen concentration, temperature, pressure, flow rate, oxygen concentration and humidity data based on the component transport equation, to identify hydrogen diffusion trends and escape risks.

4. The hydrogen leakage dynamic monitoring and early warning system for the integrated hydrogen production and refueling machine according to claim 1, characterized in that, The central processing module has built-in risk threshold determination logic, which accurately identifies potential hydrogen leakage risks by comparing the results of multi-parameter fusion analysis with preset thresholds.

5. The hydrogen leakage dynamic monitoring and early warning system for the integrated hydrogen production and refueling machine according to claim 1, characterized in that, The alarm control module is electrically connected to the central processing module and includes an audible and visual alarm unit, an SMS alarm unit, a remote communication alarm unit, and a relay control submodule. It has a built-in three-level safety level judgment logic, and the relay control submodule is linked with the emergency shutdown system of the integrated hydrogen production and hydrogen refueling machine. The central processing module, based on a preset weight allocation ratio and combined with the component transport equation, performs fusion analysis on multi-parameter data to predict hydrogen diffusion trends and determine the safety level based on the analysis results. The Level 1 safety status is characterized by no leakage, all parameters being within the normal range, the display unit showing safety, and the system maintaining a monitoring status. The Level 2 warning status is a minor leak, where the hydrogen concentration is ≥1%LEL or any auxiliary parameter exceeds the normal range by ±10%. The central processing module sends a warning signal, activates the audible and visual alarm unit, and the display unit highlights the abnormal parameter. A Level 3 emergency is a serious leak, where the hydrogen concentration is ≥4%LEL or any auxiliary parameter exceeds the normal range by ±20%. The central processing module sends an emergency signal and simultaneously activates the audible and visual alarm, SMS alarm, and remote communication alarm units. The relay control submodule triggers the emergency shutdown of the integrated hydrogen production and refueling machine.

6. A method for dynamic monitoring and early warning of hydrogen leakage based on the hydrogen leakage dynamic monitoring and early warning system of the integrated hydrogen production and hydrogen refueling machine according to any one of claims 1 to 5, characterized in that, Includes the following steps: Step 1: Power on the power module to supply power to all modules, and the system enters standby mode; Step 2: The sensors in the measurement unit are activated to collect real-time data on hydrogen concentration, temperature, pressure, flow rate, oxygen concentration, and humidity around the integrated hydrogen production and refueling unit. Step 3: The synchronous data acquisition module receives the raw data and transmits it synchronously to the analog signal processing module; Step 4: The analog signal processing module amplifies and filters the original signal, and then transmits the processed data to the central processing module. Step 5: The central processing module performs fusion analysis on multi-parameter data based on the component transport equation, assesses the operating status, and identifies the risk of hydrogen leakage; Step 6: If an abnormal risk is detected, the central processing module sends an early warning signal to the alarm control module, activating audible and visual alarms, SMS alarms, and remote communication alarms. At the same time, it triggers safety control measures through the relay control submodule until the risk is eliminated.

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