Hydrogen exchange method for mobile hydrogen exchange station

Abstract

The application discloses a hydrogen exchange method of a mobile hydrogen exchange station, which comprises the following steps: system starting, positioning guidance, safety alignment, hydrogen exchange operation starting, safety detection and operation ending. The hydrogen exchange method of the mobile hydrogen exchange station disclosed by the application takes the mobile hydrogen exchange station main body as a benchmark, realizes synchronous positioning of the hydrogen vehicle and the operation vehicle, breaks the dependence of the traditional positioning mode on the fixed site and ground facilities, simultaneously simplifies the driver operation process, does not need manual accurate alignment, and only needs to drive into the operation area according to the guidance, so that the automatic positioning and hydrogen exchange operation can be completed, and the hydrogen exchange efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of automatic hydrogen exchange technology, and more specifically to a hydrogen exchange method for a mobile hydrogen exchange station. Background Technology

[0002] Hydrogen energy, as a clean and efficient secondary energy source, has been gradually promoted and applied in fields such as heavy-duty commercial vehicles and engineering vehicles. After the on-board high-pressure hydrogen storage tank is used up, it needs to be quickly replenished by exchanging hydrogen to meet the vehicle's continuous operation needs.

[0003] Currently, stationary hydrogen exchange stations are the mainstream hydrogen exchange model. These stations are typically built in fixed locations and include standardized hydrogen storage areas, hydrogen exchange machinery, and vehicle parking bays. The storage locations of hydrogen cylinders and vehicle parking positions are relatively fixed. After a vehicle enters the station, it stops using ground-level guides, lane markings, or visual guidance from the driver, and the hydrogen exchange equipment can retrieve and replace the hydrogen cylinder based on a pre-set location. However, these stationary hydrogen exchange stations have significant limitations: high construction costs, long deployment periods, and fixed, immovable locations, making it difficult to meet the immediate hydrogen exchange needs of vehicles operating in non-fixed scenarios such as mines, construction sites, field operations, and emergency rescue.

[0004] To expand the applicability of hydrogen swapping services, mobile hydrogen swapping stations have emerged. These stations can be flexibly deployed at work sites, using hydrogen transport vehicles to transport and move hydrogen cylinders, quickly providing hydrogen swapping services for various mobile work vehicles. However, during mobile hydrogen swapping operations, both the transport vehicle and the vehicle waiting for swapping are in a non-fixed, non-standardized moving state; their relative positions and parking postures are random and uncertain.

[0005] Existing positioning methods rely heavily on drivers' visual judgment, which is easily affected by factors such as ambient light, working field of vision, and operating experience. This not only results in low parking efficiency and poor alignment accuracy, but more importantly, the hydrogen exchange equipment cannot accurately obtain the storage position of the hydrogen storage cylinders on the hydrogen transport vehicle and the hydrogen cylinders on the operation vehicle. This makes it difficult to accurately grasp and replace the hydrogen storage cylinders, and it is prone to problems such as alignment deviation and grasping failure, which seriously affects the safety, stability and efficiency of hydrogen exchange operations.

[0006] Therefore, how to accurately and reliably locate the relative positions of both the hydrogen transport vehicle and the operating vehicle, as well as the hydrogen storage cylinder, in a scenario where both are in motion has become a pressing technical problem to be solved in the promotion and application of mobile hydrogen exchange stations. Summary of the Invention

[0007] The purpose of this invention is to solve the technical problems of low positioning accuracy, poor reliability, and low hydrogen exchange efficiency caused by the fact that both the hydrogen transport vehicle and the operating vehicle are in a mobile state and there is no fixed reference in the existing mobile hydrogen exchange station method.

[0008] To address the above problems, this invention discloses a hydrogen exchange method for a mobile hydrogen exchange station, comprising: S1. System Start-up: The main body of the mobile hydrogen exchange station is moved to the work site. After the system self-check is completed, it waits for the hydrogen transport vehicle and the work vehicle to enter the work area. S2. Positioning and Guidance: The hydrogen transport vehicle (loaded with full hydrogen tanks) and the work vehicle (waiting for hydrogen exchange) drive into the work area according to the guide line; S3. Safe alignment: The hydrogen transport vehicle and the working vehicle establish communication with the main body of the mobile hydrogen exchange station and send a location guidance instruction to the driver to guide the two vehicles to their respective designated working areas and complete the safe alignment. S4. Hydrogen swapping operation starts: The hydrogen swapping robot sequentially completes the operations of grabbing a full hydrogen tank, removing an empty tank from the work vehicle, installing a full tank, and returning the empty tank to the hydrogen transport vehicle.

[0009] Preferably, in step S1, system startup: the main body of the mobile hydrogen exchange station is moved to the work site, and after the system self-check is completed, it waits for the hydrogen transport vehicle and the work vehicle to enter the work area; it also includes S11. Deploy the adjustable support legs at the bottom of the main body of the mobile hydrogen exchange station; S12. Draw the work area and guide lines to guide vehicles into the work area on the ground on both sides of the main body of the mobile hydrogen exchange station. S13. The main body of the mobile hydrogen exchange station performs a system self-test to confirm that communication is normal and data transmission is smooth, and the system enters standby mode.

[0010] Preferably, S2, positioning guidance: the hydrogen transport vehicle (loaded with a full hydrogen tank) and the work vehicle (to be replaced with hydrogen) drive into the work area according to the guide line; it also includes: S21. The hydrogen transport vehicle enters the hydrogen transport vehicle operation area according to the guide line and establishes a communication connection with the main body of the mobile hydrogen exchange station. S22. The work vehicle drives into the hydrogen exchange work area according to the guide line and establishes a communication connection with the main body of the mobile hydrogen exchange station.

[0011] Preferably, step S3, safe alignment: the hydrogen transport vehicle and the operating vehicle establish communication with the main body of the mobile hydrogen exchange station and send a location guidance command to the driver, guiding both vehicles to their respective designated operating areas to complete safe alignment; it also includes: S31. Confirm that communication has been established with the hydrogen transport vehicle; S32. The main body of the mobile hydrogen exchange station obtains the basic parameters of the hydrogen transport vehicle and constructs a first coordinate system for the location of each hydrogen cylinder. S33. Start the scanning equipment and move it to the service location. Scan the hydrogen cylinders in the current service location. Based on the scanning results, send a positioning adjustment command to the hydrogen transport vehicle driver to guide the driver to adjust the vehicle position until the hydrogen cylinders on the hydrogen transport vehicle are within the grabbable area.

[0012] Preferably, step S3, safe alignment: the hydrogen transport vehicle and the operating vehicle establish communication with the main body of the mobile hydrogen exchange station and send a location guidance command to the driver, guiding both vehicles to their respective designated operating areas to complete safe alignment; it also includes: S34. Confirm that communication has been established with the work vehicle; S35. Start the scanning equipment to scan the position of the hydrogen cylinder of the work vehicle. Based on the scanning results, send the alignment adjustment command to the driver of the work vehicle to guide the driver to adjust the vehicle position until the work vehicle is in a workable position. S36. After the two vehicles are aligned, a parking lock command is sent to the driver to complete the safe alignment.

[0013] Preferably, step S32, where the mobile hydrogen exchange station acquires the basic parameters of the hydrogen transport vehicle and constructs a first coordinate system for the location of each hydrogen cylinder, further includes: S321. Obtain the basic parameters of the hydrogen transport vehicle, including the total number of compartments, hydrogen cylinder number, hydrogen cylinder specifications, and hydrogen capacity. S322. The first coordinate system is constructed by setting the direction from the front to the rear of the hydrogen transport vehicle as the positive X-axis and the direction perpendicular to the hydrogen transport vehicle and away from the main body of the mobile hydrogen exchange station as the positive Y-axis.

[0014] Preferably, step S33, which involves starting the scanning device, moving it to the service location, scanning the hydrogen cylinders in the service location, and sending a positioning adjustment command to the hydrogen transport vehicle driver based on the scanning results, guiding the driver to adjust the vehicle's position until the hydrogen cylinders on the hydrogen transport vehicle are within the graspable area, further includes: S331. Based on the obtained basic parameters of the hydrogen transport vehicle, the scanning device moves to the middle position of the service compartment. S332. Start the scanning equipment to scan the hydrogen cylinders in the current service compartment of the hydrogen transport vehicle. Based on the scanning results, calculate the deviation between the Y-coordinate position of the hydrogen cylinders in the current service compartment and the preset ideal Y-coordinate position. Dynamically adjust the hydrogen transport vehicle to ensure that the position of the hydrogen transport vehicle in the Y-coordinate is within the graspable area.

[0015] Preferably, step S35 involves activating the scanning equipment to scan the position of the hydrogen cylinders on the work vehicle, and based on the scan results, sending a positioning adjustment command to the work vehicle driver to guide the driver in adjusting the vehicle's position until the work vehicle is in a workable position; it also includes: S333. Start the scanning equipment to scan the hydrogen cylinders in the current service compartment. Based on the scanning results, calculate the deviation between the coordinate position of the hydrogen cylinders in the X direction and the preset ideal coordinate position in the X direction. Dynamically adjust the hydrogen transport vehicle to ensure that the position of the hydrogen transport vehicle in the X direction is within the graspable area.

[0016] Preferably, step S35, starting the scanning device, scanning the position of the hydrogen cylinder on the work vehicle, and sending a positioning adjustment command to the work vehicle driver based on the scanning results, guiding the driver to adjust the vehicle position until the work vehicle is in a workable position; also includes: S351. Start the scanning equipment to scan the hydrogen cylinder of the work vehicle. Based on the scanning results, calculate the deviation between the current coordinate position of the hydrogen cylinder in the Y direction and the preset ideal coordinate position in the Y direction. Dynamically adjust the work vehicle to ensure that the position of the work vehicle in the Y direction is within the graspable area.

[0017] Preferably, step S35, starting the scanning device, scanning the position of the hydrogen cylinder on the work vehicle, and sending a positioning adjustment command to the work vehicle driver based on the scanning results, guiding the driver to adjust the vehicle position until the work vehicle is in a workable position; also includes: S352. Start the scanning equipment to scan the hydrogen cylinder of the work vehicle. Based on the scanning results, calculate the deviation between the current coordinate position of the hydrogen cylinder in the X direction and the preset ideal coordinate position in the X direction. Dynamically adjust the work vehicle to ensure that the position of the work vehicle in the X direction is within the graspable area.

[0018] Preferably, the hydrogen exchange method for the mobile hydrogen exchange station provided by the present invention further includes: S5. Safety Inspection: After the hydrogen exchange is completed, the system performs a sealing test and a pressure test on the installed full hydrogen tank to confirm that the connection status meets the safety operation standards. S6. Operation completed: After passing the inspection, disconnect the communication connection, prompt the work vehicle to leave the work area, and prompt the hydrogen transport vehicle to leave after completing the empty tank collection, waiting for the next hydrogen exchange operation instruction. Attached Figure Description

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments: Figure 1 This is a flowchart of the steps of a hydrogen exchange method for a mobile hydrogen exchange station provided by the present invention; Figure 2 This is a diagram showing the operational area distribution of a hydrogen exchange method for a mobile hydrogen exchange station provided by the present invention. Figure 3 This is a waveform diagram of a complete and continuous hydrogen cylinder of length A, scanned from an ideal position in the hydrogen exchange operation area of ​​a mobile hydrogen exchange station provided by the present invention, showing the hydrogen exchange vehicle parked there. Figure 4 This is a schematic diagram showing the distribution of batteries in each compartment of the hydrogen transport vehicle provided in this embodiment of the invention, and the scanning component moving to the compartment that needs to be serviced. Figure 5yes Figure 4 The scanning component serves the current warehouse position and scans a waveform diagram of the ideal hydrogen cylinder length A. Figure 6 yes Figure 4 The scanning component serves the current warehouse location, the stopping deviation of the hydrogen transport vehicle in the X direction, and the waveform of the hydrogen cylinder with a length of A scanned from the hydrogen cylinder. Figure 7 yes Figure 4 The scanning component serves the current warehouse location, the stopping deviation of the hydrogen transport vehicle in the Y direction, and the waveform of the hydrogen cylinder with a length of A scanned from the hydrogen cylinder. Figure 8 This is a waveform diagram showing the length A of the hydrogen cylinder when the hydrogen transport vehicle is parked with its position significantly off-center in the positive X direction, according to an embodiment of the present invention. Figure 9 This is a waveform diagram of the hydrogen cylinder length A scanned when the hydrogen transport vehicle is parked with a position significantly biased towards the negative X direction, according to an embodiment of the present invention. Detailed Implementation

[0020] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0021] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. They are only for the convenience of describing the present invention and simplifying the description, 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 limiting the present invention.

[0022] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0023] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0024] like Figures 1 to 9 As shown, this invention discloses a hydrogen exchange method for a mobile hydrogen exchange station, comprising: S1. System Start-up: The main body of the mobile hydrogen exchange station is moved to the work site. After the system self-check is completed, it waits for the hydrogen transport vehicle and the work vehicle to enter the work area. S2. Positioning and Guidance: The hydrogen transport vehicle (loaded with full hydrogen tanks) and the work vehicle (waiting for hydrogen exchange) drive into the work area according to the guide line; S3. Safe alignment: The hydrogen transport vehicle and the working vehicle establish communication with the main body of the mobile hydrogen exchange station and send a location guidance instruction to the driver to guide the two vehicles to their respective designated working areas and complete the safe alignment. S4. Hydrogen swapping operation starts: The hydrogen swapping robot sequentially completes the operations of grabbing a full hydrogen tank, removing an empty tank from the work vehicle, installing a full tank, and returning the empty tank to the hydrogen transport vehicle.

[0025] Those skilled in the art will understand that this embodiment solves the technical problem of mobile hydrogen exchange stations lacking a fixed positioning benchmark. By using the main body of the mobile hydrogen exchange station as a benchmark, it achieves synchronous positioning of the hydrogen transport vehicle and the operating vehicle as dual moving targets, breaking the dependence of traditional positioning methods on fixed sites and ground facilities. At the same time, it simplifies the driver's operation process, eliminating the need for precise manual positioning. Drivers only need to follow the guidance to drive into the operating area to complete automatic positioning and hydrogen exchange operations, significantly improving hydrogen exchange efficiency.

[0026] Furthermore, S1, system startup: The main body of the mobile hydrogen exchange station is moved to the work site. After the system self-check is completed, it waits for the hydrogen transport vehicle and the work vehicle to enter the work area; it also includes S11. Deploy the adjustable support feet at the bottom of the mobile hydrogen exchange station; specifically, first, pull or drive the mobile hydrogen exchange station to the designated work site, adjust the adjustable support feet at the bottom of the main body to keep the hydrogen exchange station level and stable, serving as a fixed reference carrier for the entire positioning system.

[0027] S12. Mark the work area and guide lines for vehicles to enter the work area on the ground on both sides of the main body of the mobile hydrogen exchange station. Specifically, at the locations on both sides of the work area near the main body of the hydrogen exchange station, pre-set parking areas for hydrogen transport vehicles and parking areas for vehicles waiting to exchange hydrogen. The guide lines extend from outside the work area to the corresponding parking areas to guide drivers to enter the correct areas according to the markings.

[0028] S13. The mobile hydrogen exchange station performs a system self-check to confirm normal communication and smooth data transmission, then enters standby mode. Specifically, if neither the hydrogen transport vehicle nor the vehicle waiting to exchange hydrogen has entered the corresponding parking area, the system remains in standby mode. If either vehicle completes parking, the mobile hydrogen exchange station obtains the corresponding vehicle's information, confirms normal communication and smooth data transmission, and then triggers the positioning process. The information obtained for the hydrogen transport vehicle includes, but is not limited to, the number of storage compartments, the presence of hydrogen cylinders in each compartment, the cylinder number, specifications, and hydrogen capacity. For the vehicle waiting to exchange hydrogen, the information obtained includes, but is not limited to, vehicle authentication information (used to check if the vehicle has permission to enter), and hydrogen cylinder specifications (such as cylinder height, battery width, and charging parameters). This information is recorded in the corresponding vehicle's main unit and can be directly accessed. If either party's information verification fails, the system will issue an alarm, reminding staff to check the vehicle information. Verification will be retried after the problem is resolved.

[0029] Furthermore, S2, positioning guidance: the hydrogen transport vehicle (loaded with full hydrogen tanks) and the work vehicle (to be replaced with hydrogen) drive into the work area according to the guide line; it also includes: S21. The hydrogen transport vehicle enters the hydrogen transport vehicle operation area according to the guide line and establishes a communication connection with the main body of the mobile hydrogen exchange station. S22. The work vehicle drives into the hydrogen exchange work area according to the guide line and establishes a communication connection with the main body of the mobile hydrogen exchange station.

[0030] The vehicle information can be acquired wirelessly, such as via WiFi or Bluetooth, or via a wired connection for a more stable signal. Once positioning is complete, the system will automatically match interchangeable hydrogen cylinders based on the acquired specifications of both vehicles' hydrogen cylinders, generate a corresponding hydrogen exchange operation path and process plan, and automatically unlock the operating permissions of the hydrogen exchange robotic arm after confirming the plan's feasibility, awaiting the start command for the hydrogen exchange.

[0031] Furthermore, S3, safe alignment: The hydrogen transport vehicle and the operating vehicle establish communication with the main body of the mobile hydrogen exchange station and send location guidance instructions to the driver, guiding both vehicles to their respective designated operating areas to complete safe alignment; it also includes: S31. Confirm that communication has been established with the hydrogen transport vehicle; S32. The main body of the mobile hydrogen exchange station obtains the basic parameters of the hydrogen transport vehicle and constructs a first coordinate system for the location of each hydrogen cylinder. S33. Start the scanning equipment and move it to the service location. Scan the hydrogen cylinders in the current service location. Based on the scanning results, send a positioning adjustment command to the hydrogen transport vehicle driver to guide the driver to adjust the vehicle position until the hydrogen cylinders on the hydrogen transport vehicle are within the grabbable area.

[0032] Furthermore, S3, safe alignment: The hydrogen transport vehicle and the operating vehicle establish communication with the main body of the mobile hydrogen exchange station and send location guidance instructions to the driver, guiding both vehicles to their respective designated operating areas to complete safe alignment; it also includes: S34. Confirm that communication has been established with the work vehicle; S35. Start the scanning equipment to scan the position of the hydrogen cylinder of the work vehicle. Based on the scanning results, send the alignment adjustment command to the driver of the work vehicle to guide the driver to adjust the vehicle position until the work vehicle is in a workable position. S36. After the two vehicles are aligned, a parking lock command is sent to the driver to complete the safe alignment.

[0033] Furthermore, S32, the main body of the mobile hydrogen exchange station acquires the basic parameters of the hydrogen transport vehicle and constructs a first coordinate system for the location of each hydrogen cylinder; it also includes: S321. Obtain the basic parameters of the hydrogen transport vehicle, including the total number of compartments, hydrogen cylinder number, hydrogen cylinder specifications, and hydrogen capacity; the hydrogen cylinder specifications include length, width, and height. The hydrogen cylinders only differ in height, while the width and length are the same.

[0034] S322. The first coordinate system is constructed by setting the direction from the front to the rear of the hydrogen transport vehicle as the positive X-axis and the direction perpendicular to the hydrogen transport vehicle and away from the main body of the mobile hydrogen exchange station as the positive Y-axis.

[0035] Specifically, based on the information obtained, the following steps are executed: S3211, the main body of the mobile hydrogen exchange station first determines whether the hydrogen transport vehicle has at least one empty compartment. If so, continue to execute S3212; otherwise, the hydrogen exchange conditions are not met, the system gives a prompt and exits the hydrogen exchange operation. Under normal circumstances, the driver will check and ensure that there is at least one empty compartment before the hydrogen transport vehicle enters the work area.

[0036] S3212. Based on the obtained information, match the hydrogen storage compartments on the hydrogen transport vehicle with the specifications of the operating vehicle, and check whether the hydrogen capacity of the hydrogen cylinders in the matching compartments meets the hydrogen exchange setting value. If the hydrogen capacity meets the setting value, continue to execute S331; if the hydrogen capacity does not meet the setting value, it is considered that the compartment is occupied, and the compartment is skipped during hydrogen exchange. In addition, the compartments can also be set to a prohibited state according to human settings. The prohibited compartments are also considered to be occupied, and the compartments are skipped during hydrogen exchange.

[0037] The hydrogen transport vehicles are labeled N1, N2, N3...Nx sequentially from front to rear. In this embodiment, the total number of compartments on the hydrogen transport vehicle is 11, namely N1, N2, N3...N11. Based on the acquired information, compartment N1 is empty, while compartments N2, N3, N5, N8, and N10 are all compartments matching the specifications of the operating vehicle. The system then checks whether the hydrogen capacity of the corresponding compartments meets the set value. If only N2, N3, N5, N8, and N10 meet all the conditions for hydrogen exchange, the scanning equipment is activated and enters the working position. Specific operating steps are described in S331.

[0038] Furthermore, step S33 involves activating the scanning device to move to the service location, scanning the hydrogen cylinders in that location, and, based on the scan results, sending a positioning adjustment command to the hydrogen transport vehicle driver to guide the driver to adjust the vehicle's position until the hydrogen cylinders on the transport vehicle are within the graspable area; it also includes: S331. Based on the acquired basic parameters of the hydrogen transport vehicle, the scanning equipment moves to the middle position of the service bay. Specifically, the method for determining the service bay is as follows: S3311. The scanning equipment calculates the middle bay based on the total number of bays and the available bays, i.e., (N1+Nx) / 2. If the total number of bays is even, the rounded value is the initial target bay. If the initial target bay is not among the bays that the system determines meet the hydrogen exchange conditions, then a "bidirectional alternating increase / decrease" method is used. The adaptive retrieval logic sequentially searches adjacent warehouses until an available warehouse is found. Continuing with the example in step S3212, the total number of warehouses is 11, so the initial target warehouse is N6. However, N6 is not within the range of available warehouses determined by the system (available warehouses include N2, N3, N5, N8, and N10). So, the search is incremented to N7. N7 is also unavailable. At this point, the search is decremented from the initial target warehouse to N5. Obviously, N5 is within the range of warehouses that meet the hydrogen exchange conditions determined by the system. Therefore, the scanning device will move to the middle position of warehouse N5.

[0039] S332. Start the scanning equipment to scan the hydrogen cylinders in the current service compartment of the hydrogen transport vehicle. Based on the scanning results, calculate the deviation between the Y-coordinate position of the hydrogen cylinders in the current service compartment and the preset ideal Y-coordinate position. Dynamically adjust the hydrogen transport vehicle to ensure that the position of the hydrogen transport vehicle in the Y-coordinate is within the graspable area.

[0040] Furthermore, S35, the scanning equipment is activated to scan the position of the hydrogen cylinders on the work vehicle. Based on the scan results, a positioning adjustment command is sent to the driver of the work vehicle, guiding the driver to adjust the vehicle's position until the work vehicle is in a workable position; this also includes: S333. Start the scanning equipment to scan the hydrogen cylinders in the current service compartment. Based on the scanning results, calculate the deviation between the coordinate position of the hydrogen cylinders in the X direction and the preset ideal coordinate position in the X direction. Dynamically adjust the hydrogen transport vehicle to ensure that the position of the hydrogen transport vehicle in the X direction is within the graspable area.

[0041] Specifically, the travel distance of the scanning device itself is L, the width of the hydrogen cylinders on the working vehicle in the X direction is A, and the spacing between the hydrogen cylinders on the hydrogen transport vehicle in the X direction is B. The origin of the coordinate system is taken as the initial position of the scanning device, and L - A > 200 mm.

[0042] like Figure 5 As shown, when the hydrogen transport vehicle enters the work area and stops at the ideal position, the scanning equipment moves to the (N1 + Nx) / 2 compartment. The scanning equipment will then scan a complete and continuous waveform of length A. This waveform is positioned as the ideal waveform, and the center position of the current service compartment (which is also the center position of the hydrogen cylinder) is defined as the ideal center position xm. The position where the scanning equipment first scans the hydrogen cylinder is recorded as the first ideal edge position x1m, and the position where it last scans the hydrogen cylinder is recorded as the second ideal edge position x2m. After the scanning equipment reaches the ideal position, it begins scanning. At this point, the initial scanning position is defined as x0, and the position at the end of the scan is defined as xL; that is, xm = (x0 + xL) / 2, x1m = xm - A / 2, x2m = xm + A / 2.

[0043] If the scanning device scans as follows Figure 1 or Figure 5 The continuous waveform shown is the one with a battery width A, which represents the ideal waveform when the vehicle is parked in the ideal position. However, in reality, when a vehicle is parked within the pre-defined work area, it may be too far forward, too far back, too close to the main structure, or too far away. In such cases, alignment correction of the vehicle is necessary.

[0044] When the vehicle deviates from its ideal position in the X direction, such as Figure 6As shown, according to the formula Xp = ((x1 -x0) + (x2 - x0) - L) / 2, where Xp represents the deviation value, x1 is the actual position of the hydrogen cylinder when the scanning device first scans it, and x2 is the actual position of the hydrogen cylinder when the scanning device last scans it. That is, when the hydrogen cylinder is in the ideal position, the actual initial position x1 of the hydrogen cylinder is the same as the displacement of the scanning device. The displacement distance of the scanning device can be measured by a laser rangefinder located at the origin of the coordinate system, and the measured data will be acquired by the system. x2 is the actual final position of the hydrogen cylinder; in the ideal position, the actual final position x2 = x1 + A. If Xp is positive, it means that the hydrogen cylinder is slightly to the left on the X-axis relative to the ideal position. In this case, the system will feed back to the hydrogen transport vehicle, and the screen of the hydrogen transport vehicle will show that the current hydrogen transport vehicle is moving too far forward in the hydrogen transport vehicle's operating area and needs to reverse. Of course, the scanning device will scan in real time and synchronize the data with the currently stopped vehicle; conversely, if Xp is negative, the hydrogen transport vehicle will be stopped too far back and needs to move forward until the vehicle stops and meets the hydrogen exchange requirements in the X direction.

[0045] At the same time, when the hydrogen transport vehicle is parked in the ideal location, such as Figure 5 As shown, the distance in the Y direction corresponding to point x1m is denoted as y0. When the hydrogen transport vehicle is parked crookedly, as shown... Figure 7 As shown, the scanning device scans the distance in the Y direction corresponding to point x1, denoted as y1; the distance in the Y direction corresponding to point x2 is denoted as y2, and the deviation value in the Y direction is denoted as Yp = (y1 + y2) - y0. If Yp is positive, it means that the front of the hydrogen transport vehicle is too far from the main body of the mobile hydrogen exchange station, and the rear of the vehicle is too close to the main body of the mobile hydrogen exchange station; conversely, it means that the front of the vehicle is too close and the rear of the vehicle is too far away, that is, the hydrogen transport vehicle is parked crookedly. The system displays the current posture of the hydrogen transport vehicle on the screen, and the driver makes alignment adjustments based on the displayed information. Simultaneously, the coordinates of each storage location and the deviation values ​​Xp1-Xpn and Yp1-Ypn for each location are generated. If Xpn > Xpmax or Ypn > Ypmax (where Xpmax and Ypmax are the maximum allowable deviation values), the hydrogen truck's parking position exceeds the allowed range and an alarm is triggered; the equipment is paused and manual intervention is requested. The tilt angle of the hydrogen truck is θ = arcs((y2-y1) / A), and the coordinates of the storage location number are (XNn, YNn). Then: XNn = XNn-1 + B * cosθ; YNn = YNn-1 + B * sinθ (n > 1, an integer). For example, the coordinates of storage location N1 are (XN1, YN1), the coordinates of storage location Nn-1 are (XNn-1, YNn-1), and the coordinates of storage location Nn are (XNn, YNn). Storage location Nn-1 is the storage location preceding storage location Nn.

[0046] like Figure 5 and Figure 8As shown, if no waveform with a width similar to that of the hydrogen cylinder appears during the scanning stroke, and if the signal is continuous but no waveform with a complete length of A appears at the end of the scan, then the hydrogen truck is parked too far off in the positive X direction. The truck with the fixed scanning equipment should compensate in the positive X direction. The compensation value is x1-x1m=x1-(xm-A / 2).

[0047] like Figure 5 and Figure 9 As shown, if a waveform similar to the width of the hydrogen cylinder does not appear during the scanning stroke, and if the waveform jumps at the end point, the starting point is the waveform start point, but no complete waveform appears, then the hydrogen transport vehicle's parking position is too far off in the negative X direction. The large vehicle with the fixed scanning equipment should compensate in the negative X direction. The compensation value is x2m-x2=xm+A / 2-x2.

[0048] After compensation, restart the scanning and positioning process. Positioning is complete when a waveform of length A appears.

[0049] Furthermore, step S35, which involves activating the scanning device to scan the position of the hydrogen cylinders on the work vehicle, and sending a positioning adjustment command to the work vehicle driver based on the scan results, guides the driver to adjust the vehicle position until the work vehicle is in a workable position; also includes: S351. Start the scanning equipment to scan the hydrogen cylinder of the work vehicle. Based on the scanning results, calculate the deviation between the current coordinate position of the hydrogen cylinder in the Y direction and the preset ideal coordinate position in the Y direction. Dynamically adjust the work vehicle to ensure that the position of the work vehicle in the Y direction is within the graspable area.

[0050] Preferably, step S35, starting the scanning device, scanning the position of the hydrogen cylinder on the work vehicle, and sending a positioning adjustment command to the work vehicle driver based on the scanning results, guiding the driver to adjust the vehicle position until the work vehicle is in a workable position; also includes: S352. Start the scanning equipment to scan the hydrogen cylinder of the work vehicle. Based on the scanning results, calculate the deviation between the current coordinate position of the hydrogen cylinder in the X direction and the preset ideal coordinate position in the X direction. Dynamically adjust the work vehicle to ensure that the position of the work vehicle in the X direction is within the graspable area.

[0051] Specifically, the alignment method for the work vehicle can refer to that of the hydrogen exchange vehicle. Similarly, the vehicle is aligned in both the X and Y directions to ensure that it meets the system requirements. The specific implementation method will not be elaborated here.

[0052] Furthermore, the hydrogen swapping operation was initiated: the hydrogen swapping robot sequentially completed the operations of grabbing a full hydrogen tank, removing an empty tank from the work vehicle, installing a full tank, and returning the empty tank to the hydrogen transport vehicle.

[0053] Specifically, after the operating vehicle and hydrogen transport vehicle are successfully positioned, the laser scanning equipment descends into place; the main body of the mobile hydrogen exchange station adjusts its traveling trolley to the actual position in the X direction, the telescopic fork extends, and the lifting assembly, carrying the hydrogen exchange robot arm, descends above the hydrogen cylinder (battery) of the operating vehicle, with the robot arm's hook extending; the lifting assembly, carrying the gripper and hydrogen cylinder, rises to the original position; the telescopic fork retracts to the original position; the traveling trolley carries the hydrogen cylinder to the empty storage space; the telescopic fork extends in the opposite direction, and the lifting assembly, carrying the gripper and hydrogen cylinder, descends to place the hydrogen cylinder in the empty storage space; the hydrogen exchange robot arm's hook retracts; the lifting assembly's gripper rises to the original position. Position; The traveling trolley, with forks and gripper, moves in the X direction to the hydrogen cylinder in the full hydrogen compartment; simultaneously, the telescopic forks adjust their Y-axis position; the lifting assembly, with the hydrogen replacement robot arm, descends above the hydrogen cylinder, and the robot arm's hook extends; the lifting assembly, with the robot arm and hydrogen cylinder, rises back to the original position; the telescopic forks retract to the middle original position; the traveling trolley, with the battery, moves to the vehicle's X-axis position, and the telescopic forks extend to the vehicle's Y-axis position; the lifting assembly lowers the hydrogen cylinder; after descending to the correct position, the robot arm's hook opens; the lifting assembly, with the empty gripper, rises to the correct position; the telescopic forks retract to the original position; the hydrogen replacement trolley returns to the original position; hydrogen replacement complete.

[0054] Preferably, the hydrogen exchange method for the mobile hydrogen exchange station provided by the present invention further includes: S5. Safety Inspection: After the hydrogen exchange is completed, the system performs a sealing test and a pressure test on the installed full hydrogen tank to confirm that the connection status meets the safety operation standards. S6. Operation completed: After passing the inspection, disconnect the communication connection, prompt the work vehicle to leave the work area, and prompt the hydrogen transport vehicle to leave after completing the empty tank collection, waiting for the next hydrogen exchange operation instruction.

[0055] Those skilled in the art will understand that after the hydrogen exchange is completed, the system performs a seal test and a pressure test on the installed full hydrogen tank to confirm that the connection status meets the safety operation standards; after the test is passed, the communication connection is disconnected, the work vehicle is prompted to leave the work area, and the hydrogen transport vehicle is prompted to leave after completing the collection of empty tanks, waiting for the next hydrogen exchange operation instruction. These are all existing technologies in the art and will not be described in detail here.

[0056] While the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the invention to these descriptions. Various changes in form and detail can be made by those skilled in the art, including several simple deductions or substitutions, without departing from the spirit and scope of the invention.

Claims

1. A method for exchanging hydrogen at a mobile hydrogen exchange station, characterized in that, include: S1. System Start-up: The main body of the mobile hydrogen exchange station is moved to the work site. After the system self-check is completed, it waits for the hydrogen transport vehicle and the work vehicle to enter the work area. S2. Positioning and Guidance: The hydrogen transport vehicle and the work vehicle enter the work area according to the guide lines; S3. Safe alignment: The hydrogen transport vehicle and the working vehicle establish communication with the main body of the mobile hydrogen exchange station and send a location guidance instruction to the driver to guide the two vehicles to their respective designated working areas and complete the safe alignment. S4. Hydrogen swapping operation starts: The hydrogen swapping robot sequentially completes the operations of grabbing a full hydrogen tank, removing an empty tank from the work vehicle, installing a full tank, and returning the empty tank to the hydrogen transport vehicle.

2. The hydrogen exchange method for a mobile hydrogen exchange station as described in claim 1, characterized in that, S1, System Startup: The main body of the mobile hydrogen exchange station is moved to the work site. After the system self-check is completed, it waits for the hydrogen transport vehicle and the work vehicle to enter the work area; it also includes... S11. Deploy the adjustable support legs at the bottom of the main body of the mobile hydrogen exchange station; S12. Draw the work area and guide lines to guide vehicles into the work area on the ground on both sides of the main body of the mobile hydrogen exchange station. S13. The main body of the mobile hydrogen exchange station performs a system self-test to confirm that communication is normal and data transmission is smooth, and the system enters standby mode.

3. The hydrogen exchange method for a mobile hydrogen exchange station as described in claim 1, characterized in that, S2, Positioning Guidance: The hydrogen transport vehicle and the work vehicle enter the work area according to the guide line; it also includes: S21. The hydrogen transport vehicle enters the hydrogen transport vehicle operation area according to the guide line and establishes a communication connection with the main body of the mobile hydrogen exchange station. S22. The work vehicle drives into the hydrogen exchange work area according to the guide line and establishes a communication connection with the main body of the mobile hydrogen exchange station.

4. The hydrogen exchange method for a mobile hydrogen exchange station as described in claim 1, characterized in that, S3, Safe Alignment: The hydrogen transport vehicle and the operating vehicle establish communication with the main body of the mobile hydrogen exchange station and send location guidance instructions to the driver, guiding both vehicles to their respective designated operating areas to complete safe alignment; it also includes: S31. Confirm that communication has been established with the hydrogen transport vehicle; S32. The main body of the mobile hydrogen exchange station obtains the basic parameters of the hydrogen transport vehicle and constructs a first coordinate system for the location of each hydrogen cylinder. S33. Start the scanning equipment and move it to the service compartment. Scan the hydrogen cylinders in the current service compartment. Based on the scanning results, send a positioning adjustment command to the hydrogen transport vehicle driver to guide the driver to adjust the vehicle position until the hydrogen cylinders on the hydrogen transport vehicle are in the grabbable area. S34. Confirm that communication has been established with the work vehicle; S35. Start the scanning equipment to scan the position of the hydrogen cylinder of the work vehicle. Based on the scanning results, send the alignment adjustment command to the driver of the work vehicle to guide the driver to adjust the vehicle position until the work vehicle is in a workable position. S36. After the two vehicles are aligned, a parking lock command is sent to the driver to complete the safe alignment.

5. The hydrogen exchange method for a mobile hydrogen exchange station as described in claim 4, characterized in that, S32, the main body of the mobile hydrogen exchange station, acquires the basic parameters of the hydrogen transport vehicle and constructs a first coordinate system for the location of each hydrogen cylinder; it also includes: S321. Obtain the basic parameters of the hydrogen transport vehicle, including the total number of compartments, hydrogen cylinder number, hydrogen cylinder specifications, and hydrogen capacity. S322. The first coordinate system is constructed by setting the direction from the front to the rear of the hydrogen transport vehicle as the positive X-axis and the direction perpendicular to the hydrogen transport vehicle and away from the main body of the mobile hydrogen exchange station as the positive Y-axis.

6. The hydrogen exchange method for a mobile hydrogen exchange station as described in claim 4, characterized in that, S33, the scanning device is activated and moved to the service location, scanning the hydrogen cylinders in the current service location. Based on the scanning results, a positioning adjustment command is sent to the hydrogen transport vehicle driver to guide the driver to adjust the vehicle's position until the hydrogen cylinders on the hydrogen transport vehicle are within the graspable area; it also includes: S331. Based on the obtained basic parameters of the hydrogen transport vehicle, the scanning device moves to the middle position of the service compartment. S332. Start the scanning equipment to scan the hydrogen cylinders in the current service compartment of the hydrogen transport vehicle. Based on the scanning results, calculate the deviation between the Y-coordinate position of the hydrogen cylinders in the current service compartment and the preset ideal Y-coordinate position. Dynamically adjust the hydrogen transport vehicle to ensure that the position of the hydrogen transport vehicle in the Y-coordinate is within the graspable area.

7. The hydrogen exchange method for a mobile hydrogen exchange station as described in claim 4, characterized in that, S35. Activate the scanning equipment to scan the hydrogen cylinder position of the work vehicle. Based on the scan results, send a positioning adjustment command to the work vehicle driver, guiding the driver to adjust the vehicle position until the work vehicle is in a workable position; also includes: S333. Start the scanning equipment to scan the hydrogen cylinders in the current service compartment. Based on the scanning results, calculate the deviation between the coordinate position of the hydrogen cylinders in the X direction and the preset ideal coordinate position in the X direction. Dynamically adjust the hydrogen transport vehicle to ensure that the position of the hydrogen transport vehicle in the X direction is within the graspable area.

8. The hydrogen exchange method for a mobile hydrogen exchange station as described in claim 4, characterized in that, S35, starting the scanning equipment, scanning the hydrogen cylinder position of the work vehicle, and sending an alignment adjustment command to the work vehicle driver based on the scanning results, guiding the driver to adjust the vehicle position until the work vehicle is in a workable position; also includes: S351. Start the scanning equipment to scan the hydrogen cylinder of the work vehicle. Based on the scanning results, calculate the deviation between the current coordinate position of the hydrogen cylinder in the Y direction and the preset ideal coordinate position in the Y direction. Dynamically adjust the work vehicle to ensure that the position of the work vehicle in the Y direction is within the graspable area.

9. The hydrogen exchange method for a mobile hydrogen exchange station as described in claim 4, characterized in that, S35, starting the scanning equipment, scanning the hydrogen cylinder position of the work vehicle, and sending an alignment adjustment command to the work vehicle driver based on the scanning results, guiding the driver to adjust the vehicle position until the work vehicle is in a workable position; also includes: S352. Start the scanning equipment to scan the hydrogen cylinder of the work vehicle. Based on the scanning results, calculate the deviation between the current coordinate position of the hydrogen cylinder in the X direction and the preset ideal coordinate position in the X direction. Dynamically adjust the work vehicle to ensure that the position of the work vehicle in the X direction is within the graspable area.

10. The hydrogen exchange method for a mobile hydrogen exchange station as described in any one of claims 1-9, characterized in that, Also includes: S5. Safety Inspection: After the hydrogen exchange is completed, the system performs a sealing test and a pressure test on the installed full hydrogen tank to confirm that the connection status meets the safety operation standards. S6. Operation completed: After passing the inspection, disconnect the communication connection, prompt the work vehicle to leave the work area, and prompt the hydrogen transport vehicle to leave after completing the empty tank collection, waiting for the next hydrogen exchange operation instruction.

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