Solid-state hydrogen storage system vibration suppression and hydrogen safety control method for dual-arm operation body intelligent agent

Abstract

The application discloses a solid-state hydrogen storage system vibration suppression and hydrogen safety control method for a dual-arm operation body intelligent agent, relates to the technical field of body intelligent robot control and solid-state hydrogen storage safety control intersection, and through the construction of a full aging cycle tolerance threshold mapping library, the operation force domain dynamic correction is realized by combining the operation state collected in multiple dimensions, the performance attenuation of the adaptive component after service is no longer simply constrained by the rated output force of the mechanical arm; the safe operation interval is taken as the force control hard constraint, the tasks exceeding the limit are progressively split, the vibration transmission is suppressed from the source, the material fatigue and sealing disturbance are reduced, and the stability of the hydrogen storage structure is ensured; meanwhile, the vibration and hydrogen concentration change are verified in real time, the force domain is adaptively narrowed and the operation is re-planned on the basis of the multi-stage risk rules, the risk front-end intervention is realized; the boundary verification and alarm logic are matched, and the operation feasibility and operation safety are considered.

Description

Technical Field

[0001] This invention relates to the interdisciplinary field of embodied intelligent robot control and solid-state hydrogen storage safety control, specifically to a method for vibration suppression and hydrogen safety control of solid-state hydrogen storage systems for dual-arm embodied intelligent agents. Background Technology

[0002] With the development of intelligent operation and maintenance technology for hydrogen energy equipment, solid-state hydrogen storage devices, with their advantages of high hydrogen storage density and good safety, are gradually being applied in vehicle-mounted hydrogen energy systems and mobile hydrogen energy workstations. For repetitive tasks such as disassembly and assembly of solid-state hydrogen storage tanks, pipeline connection, and component maintenance, dual-arm androids are beginning to replace manual labor in on-site operations. During clamping, tightening, and alignment operations, the end effector of the dual arms outputs contact forces, which are transmitted to the solid-state hydrogen storage tank through the structure, easily inducing tank vibration. Solid-state hydrogen storage systems contain key vibration-sensitive components such as hydrogen storage materials and sealing flanges. Continuous vibration from operations accelerates component aging, and vibration disturbances at the sealing interface increase the risk of hydrogen leakage. Therefore, balancing vibration suppression and hydrogen safety during robotic operations has become a pressing practical problem to be solved in the intelligent operation and maintenance of solid-state hydrogen storage equipment.

[0003] Most existing robot operation control solutions focus on improving the force control accuracy of the robotic arm itself, without establishing a correlation constraint between the operating force and the system's tolerance capacity to address the risks of component damage and seal leakage in solid-state hydrogen storage systems. Conventional force control strategies only set the operating boundary based on the robotic arm's rated output force, without considering the fatigue accumulation of hydrogen storage materials and the performance degradation of seals due to vibration aging over the service life. They cannot dynamically adjust the robot's allowable operating force based on real-time vibration of the hydrogen storage tank, sealing stress, and hydrogen concentration. Some hydrogen safety monitoring technologies only provide passive alarms after leakage exceeds the limit, which is a post-event response measure and cannot pre-constrain the input excitation of the dual-arm operation. When the target force exceeds the system's tolerance limit, traditional control modes either directly refuse to execute the task or forcibly output the target force, exacerbating vibration impact. They lack a gradual operation dismantling mechanism and fail to achieve coordinated control of vibration suppression and hydrogen safety risks, making it highly susceptible to safety hazards such as hydrogen storage material damage and seal failure caused by robot operation.

[0004] In summary, when solid-state hydrogen storage systems are used in dual-arm robotic operation scenarios, there is a lack of an active control mechanism that can integrate multi-dimensional operating states and take into account both component fatigue damage and hydrogen leakage risks. Simply relying on the force control of the robotic arm itself or independent hydrogen leakage detection is insufficient to suppress the chain of safety problems caused by vibration at the source of operational excitation. Existing technologies cannot dynamically limit the operating force of the dual-arm end effector based on the tolerance characteristics of the hydrogen storage system throughout its entire aging cycle, nor can they adjust the operational strategy online when risk signs appear. Therefore, this invention addresses this by constructing a tolerance threshold mapping library, synchronously sensing multiple state parameters, dynamically correcting the force domain, adaptively decomposing operational steps, and implementing risk-level response. This allows for the control of vibration input at the source of operation, achieving coordinated protection against vibration and hydrogen safety. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a method for vibration suppression and hydrogen safety control of solid-state hydrogen storage systems for dual-arm embodied intelligent agents. This method establishes the transmission relationship between operating force and component damage by constructing a tolerance threshold mapping library; simultaneously collecting multi-dimensional state variables such as vibration, material fatigue, sealing stress, and hydrogen concentration; dynamically correcting the allowable operating force domain at the end of the dual arms; using the force domain as a hard constraint for force control; and splitting the operation into multiple progressive segments when the target force exceeds the limit; real-time monitoring of risk signs; graded narrowing of the force domain; increasing the sampling frequency; and re-splitting the remaining operations to achieve coordinated control of vibration suppression and hydrogen safety.

[0006] To address the aforementioned technical problems, this invention provides the following technical solution: a method for vibration suppression and hydrogen safety control of a solid-state hydrogen storage system for dual-arm embodied intelligent agents, the method comprising: S1. Pre-construct a solid-state hydrogen storage system tolerance threshold mapping library, calibrate the structural transmission mapping relationship between the fatigue damage threshold of hydrogen storage materials, the vibration tolerance threshold of seals and the operating force at the end of the dual arms, and form a benchmark of the allowable operating force domain covering different hydrogen storage states throughout the entire aging cycle. S2. Synchronously collect multi-dimensional operating status parameters of the solid hydrogen storage system through the corresponding status acquisition unit. The parameters include four types of state quantities: triaxial vibration acceleration of the hydrogen storage bed, cumulative fatigue of the hydrogen storage material, contact stress of the sealing interface, and hydrogen concentration at the sealing edge of the hydrogen storage cavity. S3. Based on the real-time collected hydrogen storage state parameters, call the tolerance threshold mapping library to obtain the corresponding reference force domain, combine the real-time state variables to complete the dynamic correction of the reference force domain, and output the maximum allowable operating force limit and safe operating range at the end of the dual arms. S4. The calculated allowable operating force range is sent to the dual-arm motion controller as a hard constraint boundary for dual-arm operation force control. When the target operating force of the operation to be performed exceeds the upper limit of the force range, the single-step operation is automatically split into multiple progressive operations. S5. Real-time verification of vibration transmission status and hydrogen concentration change trend. After identifying risk signs, further narrow the operating force range and simultaneously increase the sampling frequency of state quantities. When there are progressive operation sequences that have been split but not yet completed, the remaining operation steps are re-split according to the narrowed force range to form a control mechanism that coordinates vibration suppression and hydrogen safety.

[0007] Furthermore, a bench test system identical to the target dual-arm embodied intelligent agent's body structure was constructed, equipped with the same model of solid-state hydrogen storage system and dual-arm actuator. Vibration acquisition units were arranged on the surface of the hydrogen storage tank, and different directions and levels of operating forces were applied to the ends of the dual arms in stages, recording the vibration response amplitude of the corresponding hydrogen storage tank. Simultaneously, fatigue vibration tests of hydrogen storage materials and vibration aging tests of seals were carried out to obtain component damage evolution data under different vibration loads. Based on the three types of data—operating force, vibration response, and component damage—a transmission mapping relationship was established, and the corresponding allowable operating force value was derived in reverse according to the preset damage safety threshold, forming a multi-state dimension tolerance threshold mapping library.

[0008] Furthermore, the cumulative fatigue degree of the hydrogen storage material is obtained through online fatigue calculation, and the specific calculation formula is as follows: Where D represents the cumulative fatigue degree of the hydrogen storage material; This represents the actual number of actions corresponding to the i-th vibration amplitude. Let be the material fatigue limit number corresponding to the i-th vibration amplitude; The attitude correction coefficient corresponding to the i-th level vibration is determined based on the spatial angle deviation between the working posture of the dual-arm end effector and the preset calibration posture, and is used to correct the damage weight of vibration to hydrogen storage materials under different force transmission directions.

[0009] Furthermore, all types of status acquisition units are synchronously triggered and acquired using a unified clock source: the triaxial vibration acceleration acquisition unit is located at the geometric center of the side wall of the hydrogen storage tank, the sealing interface contact stress acquisition unit is located at uniformly distributed points around the tank's sealing flange, and the hydrogen concentration acquisition unit is located directly below the sealing flange; the signals output by all acquisition units are conditioned and then transmitted to a unified data processing unit. After filtering and feature extraction of the raw data, the data processing unit transmits the data to the main controller of the dual-arm embodied intelligent agent via the vehicle bus, providing synchronous status data support for subsequent force domain calculations.

[0010] Furthermore, the dynamic correction of the reference force domain adopts a multi-state quantity fusion correction method, and the correction calculation formula is as follows: ,in, This is the revised maximum allowable operating force. The upper limit of the reference force domain output by the tolerance threshold mapping library; This represents the deviation rate of the vibration acceleration from the reference value. This represents the rate of deviation of the sealing contact stress from its rated value. This represents the deviation rate of hydrogen concentration from the baseline value. , , These are the correction weighting coefficients for vibration, sealing, and hydrogen concentration, respectively, and α+β+γ=1; the lower limit of the safe operating range is the minimum operating force required to maintain basic operations.

[0011] Furthermore, the force domain parameters are updated at fixed intervals, with a full state quantity reading and correction calculation completed within each update cycle. The calculation process includes a force domain upper and lower limit boundary verification mechanism. This mechanism performs upper and lower limit boundary verification on the corrected upper limit of the allowable operating force: when the corrected upper limit of the allowable operating force exceeds the maximum value of the rated output force at the end of the dual arms, this maximum value is used as the final upper limit of the allowable operating force; when the corrected upper limit of the allowable operating force is lower than the minimum operating force required to maintain basic operations, this minimum operating force value is used as the final upper limit of the allowable operating force; when the corrected upper limit of the allowable operating force reaches the upper or lower limit boundary for multiple consecutive update cycles, a boundary continuous alarm is triggered; the calculated force domain parameters are then sent to the dual-arm motion controller.

[0012] Furthermore, the dual-arm motion controller sets the upper limit of the allowable operating force as a hard constraint threshold of the force control loop; during the dual-arm operation, the feedback value of the end effector force sensor is read in real time. When the end effector output force reaches a preset proportion of the upper limit of the allowable operating force, the dual-arm motion controller automatically reduces the force output growth rate. When the end effector output force reaches the upper limit of the allowable operating force, the dual-arm motion controller stops increasing the force output amplitude and maintains the current force level; the constraint process does not interrupt the operation execution throughout, only limiting the output amplitude of the force; the preset proportion is 85% to 95%.

[0013] Furthermore, the process of breaking down over-limit operations is executed by the task planning unit: After receiving the operation instruction, the task planning unit first analyzes the target operating force required for a single step operation, compares the target operating force with the upper limit of the allowable operating force, and directly executes the single step operation when the target operating force does not exceed the upper limit of the allowable operating force. When the target operating force exceeds the upper limit of the allowable operating force, it automatically generates a multi-stage progressive operation sequence. The operating force of each operation is controlled within the allowable force range, and a buffer dwell period is set between two adjacent operations to ensure that the cumulative force output of multiple operations is consistent with the target force effect of the original single step operation.

[0014] Furthermore, the risk symptom identification system employs multi-level judgment rules, which include at least two levels: a warning level and an alarm level. The judgment conditions for the warning level are: the cumulative duration for which the vibration acceleration amplitude continuously exceeds a preset acceleration threshold reaches a first preset threshold, or the hydrogen concentration rise rate reaches a second preset threshold. The judgment conditions for the alarm level are: the cumulative duration for which the vibration acceleration amplitude continuously exceeds a preset acceleration threshold reaches a third preset threshold, or the absolute amplitude of the hydrogen concentration reaches a fourth preset threshold. When a warning-level risk is identified, the operating force domain is narrowed and the sampling frequency of the vibration acquisition unit is increased. When an alarm-level risk is identified, the operating force domain is further narrowed and the sampling frequency of all state acquisition units is increased simultaneously.

[0015] Compared with existing technologies, this method for vibration suppression and hydrogen safety control in solid-state hydrogen storage systems for dual-arm embodied intelligent agents has the following advantages: I. This invention establishes a structural transmission relationship between the end-effector operating force and the damage and sealing performance degradation of hydrogen storage components by pre-constructing a tolerance threshold mapping library covering the entire aging cycle. Combined with a multi-dimensional state acquisition unit to synchronously acquire information on hydrogen storage bed vibration, material fatigue, sealing stress, and hydrogen concentration, it achieves dynamic correction of the allowable operating force range. It breaks away from the single constraint mode of the rated output force of the robotic arm and uses the tolerance capacity of the hydrogen storage system itself as the core basis for force control boundary, which can adapt to the performance changes of hydrogen storage materials and seals during service. The calculated safe operating range is used as the hard constraint condition of the dual-arm motion controller, and the operation tasks exceeding the force range are progressively decomposed. Under the premise of not interrupting the operation process, the amplitude of the force output is constrained, reducing the transmission of vibration to the hydrogen storage tank from the source of operation excitation, reducing the fatigue accumulation of hydrogen storage materials caused by vibration load, reducing the probability of disturbance of the sealing interface due to impact, and ensuring the working stability of the hydrogen storage body structure during dual-arm operation.

[0016] Second, this invention continuously verifies the vibration transmission state and hydrogen concentration change trend in real time, sets multi-level risk symptom judgment rules, and adaptively narrows the operating force domain according to different risk levels, while simultaneously adjusting the sampling frequency of each state acquisition unit. For the broken but incomplete work sequence, the remaining work steps are replanned based on the updated force domain boundary, realizing the coordinated linkage of vibration suppression and hydrogen safety protection. Unlike traditional hydrogen energy monitoring methods that can only achieve post-event alarms, this invention can complete the adjustment of the operation strategy at the stage of leakage and structural damage risk manifestation, and achieve pre-emptive intervention for potential safety hazards. The force domain parameter update process is equipped with boundary verification and alarm logic to avoid the force domain calculation result exceeding the output limit of the robotic arm or failing to meet the basic operation requirements, taking into account the feasibility of operation and safety, and improving the overall reliability of the dual-arm embodied intelligent agent in carrying out solid-state hydrogen storage system operation and maintenance.

[0017] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

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

[0019] Figure 1 This is the overall flowchart of this method; Figure 2 Flowchart for constructing the tolerance threshold mapping library for this method; Figure 3 This is a flowchart of the allowable operational force domain calculation and boundary verification process for this method. Detailed Implementation

[0020] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0021] Example 1 This embodiment utilizes a dual-arm embodied intelligent agent to complete the assembly of the sealing components of the solid hydrogen storage system tank. During the assembly process, the ends of the dual arms directly apply a clamping force to the flange of the hydrogen storage tank. The external force transmitted to the inside of the tank induces a vibration response in the hydrogen storage bed. The vibration accelerates the fatigue wear of the hydrogen storage material and also disturbs the original contact state of the sealing interface. If the force is not properly controlled, it will not only damage the internal hydrogen storage material but also destroy the sealing effect of the sealing interface, inducing the potential for hydrogen leakage. The entire control method runs through the entire assembly process, constraining the output behavior of the dual arms and taking into account both the quality of the assembly work and the safety of the hydrogen storage system operation.

[0022] S1. A pre-constructed tolerance threshold mapping library for solid-state hydrogen storage systems is built. A bench test system with the same structure as the target dual-arm embodied intelligent agent is constructed, equipped with the same model of solid-state hydrogen storage system and dual-arm actuator. Vibration acquisition units are arranged on the surface of the hydrogen storage tank. Different operating forces of different directions and levels are applied to the ends of the dual arms in stages, and the vibration response amplitude of the hydrogen storage tank is recorded. Simultaneously, fatigue vibration tests of hydrogen storage materials and vibration aging tests of seals are carried out to obtain component damage evolution data under different vibration load conditions. Based on the three types of data, namely operating force, vibration response, and component damage, a structural transmission mapping relationship is established. The corresponding allowable operating force value is derived by reverse derivation based on the preset damage safety threshold of 0.8, and a benchmark of allowable operating force domain covering different hydrogen storage states throughout the entire aging cycle is constructed. The entire mapping library is established by acquiring real component response data from a physical test bench. It can recreate the real process of external force from both arms being transmitted to the hydrogen storage tank, internal hydrogen storage material, and seals through the mechanical structure. It transforms the fatigue damage threshold of the hydrogen storage material and the vibration tolerance threshold of the seals into operational force constraints that can be recognized by both arms, covering all stages of the hydrogen storage system from brand new to late aging. In subsequent actual operations, it can directly match the benchmark boundary under the corresponding hydrogen storage state, avoiding the boundary adaptation deviation caused by directly using a uniform force value standard, and providing a reference basis that can be called upon for subsequent field operations.

[0023] S2, all state acquisition units are synchronously triggered and acquired using a unified clock source. The triaxial vibration acceleration acquisition unit is located at the geometric center of the side wall of the hydrogen storage tank, the sealing interface contact stress acquisition unit is located at uniformly distributed points around the tank's sealing flange, and the hydrogen concentration acquisition unit is located directly below the sealing flange. Four types of state variables are simultaneously acquired: triaxial vibration acceleration of the hydrogen storage bed, cumulative fatigue of the hydrogen storage material, sealing interface contact stress, and hydrogen concentration at the sealing edge of the hydrogen storage cavity. The cumulative fatigue of the hydrogen storage material is obtained through online fatigue calculation, and the specific calculation formula is as follows: Where D represents the cumulative fatigue degree of the hydrogen storage material; This represents the actual number of actions corresponding to the i-th vibration amplitude. Let be the material fatigue limit number corresponding to the i-th vibration amplitude; This represents the attitude correction coefficient corresponding to the i-th level of vibration. All signals output from the acquisition units are conditioned and sent to a unified data processing unit. The data processing unit performs raw data filtering and feature extraction, and transmits the data to the dual-arm android main controller via the vehicle bus, outputting synchronized state data. A unified clock source ensures that the acquisition times of the four types of state variables remain aligned, preventing time misalignment of state information across different dimensions and avoiding misjudgments caused by time mismatch between vibration data and hydrogen concentration data. The placement of each acquisition unit is aligned with the critical risk areas of the hydrogen storage system. The geometric center of the tank sidewall can capture the overall vibration level of the tank after being excited by external forces. Uniformly distributed measuring points around the flange can completely capture the circumferential contact stress distribution at the sealing interface. Measuring points below the flange can capture hydrogen gas escaping from the seal immediately. Signal conditioning and filtering remove invalid noise interference from the environment, extracting feature information that reflects the true operating state of the system. High-speed data interaction is achieved via the vehicle bus, ensuring the consistency of the timing of all state information received by the main controller, supporting reliable calculations in the subsequent force domain solution stage.

[0024] S3, call the tolerance threshold mapping library to obtain the reference force domain corresponding to the current state, call the dynamic correction calculation formula of the reference force domain to perform multi-state quantity fusion correction, and complete the dynamic correction of the reference force domain. The correction calculation formula is as follows: ,in, This is the revised maximum allowable operating force. The upper limit of the reference force domain output by the tolerance threshold mapping library; This represents the deviation rate of the vibration acceleration from the reference value. This represents the rate of deviation of the sealing contact stress from its rated value. This represents the deviation rate of hydrogen concentration from the baseline value. , , These are the correction weighting coefficients for vibration, sealing, and hydrogen concentration, respectively, with α+β+γ=1. The output shows the maximum allowable operating force and safe operating range at the end effector of the dual arms. The force domain parameters are updated at a fixed interval of 100ms. Each update cycle completes a full state reading and correction calculation, performs upper and lower limit boundary checks on the force domain, and performs upper and lower limit boundary checks on the corrected allowable operating force. If the corrected allowable operating force exceeds the maximum rated output force of the dual arms by 1200N, this maximum value is taken as the final allowable operating force limit; if the corrected allowable operating force is lower than the minimum operating force required to maintain basic operations by 150N, this minimum operating force is taken as the final allowable operating force limit. Once the corrected allowable operating force reaches the upper or lower limit boundary for multiple consecutive update cycles, a boundary continuous alarm is triggered, and the calculated force domain parameters are sent to the dual-arm motion controller. The baseline force domain retrieved from the mapping library only corresponds to standard test conditions. During on-site assembly operations, the system's real-time vibration, sealing stress, and hydrogen leakage risk will dynamically change. By using the dynamic correction calculation formula of the baseline force domain, all multi-dimensional real-time states are incorporated into the correction logic, allowing the output force domain boundary to dynamically change with the system's real-time operating conditions, rather than continuously using a fixed baseline obtained from static tests. The periodic update mechanism ensures that the force domain boundary can continuously iterate along with the evolution of the hydrogen storage system's state. Upper and lower limit boundary verification can avoid the calculated output values ​​exceeding the actual achievable range of the hardware, while also preventing insufficient force constraints from causing basic assembly actions to fail. When the boundary is touched continuously in a cycle, an alarm is triggered, allowing the upper-level system to perceive that the current operation is approaching the hardware or component damage limit, identify objective constraints in the assembly process in advance, and send the calculated force domain parameters to the motion controller, allowing the force constraints to directly act on the motion control loops of the two arms.

[0025] S4. The calculated allowable operating force domain is sent to the dual-arm motion controller as the hard constraint boundary for force control of the dual-arm operation. The dual-arm motion controller sets the upper limit of the allowable operating force as the hard constraint threshold of the force control loop. During the assembly operation, the dual arms continuously read the feedback values ​​from the end effector force sensor. When the end effector output force reaches the preset ratio corresponding to the upper limit of the allowable operating force, the dual-arm motion controller automatically reduces the force output growth rate. When the end effector output force reaches the upper limit of the allowable operating force, the dual-arm motion controller stops increasing the force output amplitude and maintains the current force level. The constraint process does not interrupt the assembly operation; it only limits the force output amplitude. The task planning unit receives the assembly operation instruction, parses the target operating force required for a single-step assembly operation, and compares the target operating force with the upper limit of the allowable operating force. When the target operating force exceeds the upper limit of the force range, the task planning unit automatically breaks down the single-step assembly operation into multiple progressive assembly operations. The operating force of each operation is controlled within the allowable force range of 150N-1200N. A buffer period is set between adjacent operations to ensure that the cumulative force output of the multiple operations is consistent with the target force output of the original single-step assembly operation. The hard constraint boundary is directly embedded in the force control loop. Compared with the instruction limitation of the upper-level software, it can limit the force output of the dual arms at the underlying hardware level, avoiding the risk of force overshoot caused by software instruction delay. Actively slowing down the force growth rate when approaching the upper limit of the force can eliminate the impact of the instantaneous surge of force output on the hydrogen storage system and reduce the instantaneous vibration amplitude caused by the impact. The entire operation will not directly interrupt the assembly process, ensuring that the assembly task can continue to move forward. The task planning unit breaks down the over-limit operation, transforming the originally applied large force into multiple segmented applications. The buffer period is left for the hydrogen storage tank and sealing interface to complete the stress redistribution. Each step of the operation will not exceed the force boundary that the system can withstand. The cumulative effect of multiple operations is equivalent to the original operation target. It will not reduce the final completion effect of the assembly operation, and can control the vibration and stress generated by each step of the operation within the range that the components can withstand.

[0026] S5 continuously verifies the vibration transmission status and hydrogen concentration change trend, and uses multi-level judgment rules to identify risk signs. These rules are divided into two levels: warning and alarm. The warning level is determined by: the cumulative duration of vibration acceleration exceeding the preset acceleration threshold of 2.5g reaching the first preset threshold of 3 seconds, or the hydrogen concentration rise rate reaching the second preset threshold of 80 ppm / min. The alarm level is determined by: the cumulative duration of vibration acceleration exceeding the preset acceleration threshold reaching the third preset threshold of 8 seconds, or the absolute hydrogen concentration amplitude reaching the fourth preset threshold of 400 ppm. When the warning level judgment condition is met, the operating force range is narrowed, and the sampling frequency of the vibration acquisition unit is increased. When the alarm level judgment condition is met, the operating force range is further narrowed, and the sampling frequency of all status acquisition units is increased simultaneously. If there are progressive assembly operation sequences that have been split but not yet completed within the system, the remaining assembly operation steps are re-split based on the narrowed force range to complete the assembly operation control that coordinates vibration suppression and hydrogen safety. Continuous tracking of vibration transmission and hydrogen concentration changes allows for the capture of slowly evolving risk trends, moving beyond instantaneous data-driven judgments. Two risk levels differentiate between varying degrees of danger. The early warning level indicates the system is trending towards unsafety; prioritizing vibration-related monitoring increases sampling density to more intensively capture vibration evolution, simultaneously tightening allowable force boundaries and proactively restricting operational activities. The alarm level indicates a significantly increased system risk; all status acquisition units increase sampling frequency to comprehensively understand the evolution of sealing stress, hydrogen concentration, and material vibration across multiple dimensions. Pre-arranged segmented assembly sequences will not continue to execute according to the old force domain; remaining steps are re-decomposed based on updated constraints, ensuring each subsequent assembly action adapts to the latest system safety boundaries. This achieves simultaneous control of both vibration suppression and hydrogen safety, continuously managing safety risks in a closed-loop manner throughout the assembly process. Figure 1 As shown.

[0027] Example 2 This embodiment targets a solid-state hydrogen storage system that has undergone multiple hydrogen charge-discharge cycles and whose components have shown signs of aging and wear. A dual-arm embodied intelligent agent performs maintenance and tightening of the sealing flange bolts. After multiple hydrogen charge-discharge cycles, the internal hydrogen storage material has accumulated fatigue damage, and the seals have aged, resulting in a decreased ability to withstand external forces and vibrations compared to brand-new components. When the dual arms perform tightening actions, the torque output is converted into clamping force and transmitted to the hydrogen storage tank flange. This external force is then transmitted along the tank structure to the internal hydrogen storage bed, easily triggering tank vibration, exacerbating fatigue accumulation in the hydrogen storage material, and disturbing the already aged sealing interface, causing deterioration of the sealing contact and potentially leading to hydrogen leakage. This control method is adapted to the objective reality of decreased component tolerance under aging conditions, reducing secondary damage to the aging hydrogen storage system during the tightening and maintenance process while completing the tightening and maintenance tasks.

[0028] S1. A pre-constructed tolerance threshold mapping library for solid-state hydrogen storage systems is built. A bench test system with the same structure as the target dual-arm embodied intelligent agent is constructed, equipped with the same model of solid-state hydrogen storage system and dual-arm actuator. Vibration acquisition units are deployed on the surface of the hydrogen storage tank. Different operating forces of different directions and levels are applied to the ends of the dual arms in stages, and the vibration response amplitude of the hydrogen storage tank is recorded. Simultaneously, fatigue vibration tests of hydrogen storage materials and vibration aging tests of seals are carried out to collect component damage evolution data under different vibration loads. Based on the three types of data—operating force, vibration response, and component damage—a structural transmission mapping relationship is established. According to the preset damage safety threshold of 0.7, the corresponding allowable operating force value is derived in reverse, and a benchmark of allowable operating force covering various hydrogen storage conditions throughout the entire aging cycle is established. The bench test simulates the entire aging process of components over time, obtaining the correlation between the operating force at the end of the dual-arm and the damage to hydrogen storage materials and seals under different aging levels. The fatigue damage threshold of the hydrogen storage material and the vibration tolerance threshold of the seals are converted into a force domain benchmark for dual-arm operation. This mapping library considers both brand-new operating conditions and aging conditions after multiple hydrogen charging and discharging cycles, distinguishing the differences in component tolerance at different aging stages. It avoids directly using the force standards of brand-new components to constrain the operation of aged hydrogen storage systems, providing a benchmark database for on-site maintenance and tightening operations of aged hydrogen storage systems. This ensures that the benchmark force domain obtained from subsequent on-site calculations closely matches the actual tolerance level of the components. Figure 2 As shown.

[0029] S2, all status acquisition units rely on a unified clock source for synchronous triggering and acquisition. The triaxial vibration acceleration acquisition unit is located at the geometric center of the side wall of the hydrogen storage tank, the sealing interface contact stress acquisition unit is located at uniformly distributed points around the tank's sealing flange, and the hydrogen concentration acquisition unit is located directly below the sealing flange. These units synchronously acquire four types of operational status parameters: triaxial vibration acceleration of the hydrogen storage bed, cumulative fatigue of the hydrogen storage material, sealing interface contact stress, and hydrogen concentration at the sealing edge of the hydrogen storage cavity. The cumulative fatigue of the hydrogen storage material is obtained through online fatigue calculation. After signal conditioning, the output signals from all acquisition units are sent to a unified data processing unit. The data processing unit performs raw data filtering and feature extraction, and then transmits the data to the dual-arm embodied intelligent body main controller via the vehicle bus, providing synchronized status data for subsequent force domain calculations. The unified clock source ensures that the acquisition times of the four types of information—vibration, material fatigue, sealing stress, and hydrogen concentration—are aligned. The risks of aging hydrogen storage systems are often due to the combined effects of multiple factors; time-aligned monitoring data can avoid false alarms from single-dimensional data and prevent asynchronous data from causing the controller to misjudge the system's aging risks. The measuring points are strategically positioned to target critical areas during maintenance. A measuring point at the geometric center of the tank sidewall captures the overall vibration output of the tank during tightening operations. Multiple circumferential sampling points on the flange capture uneven stress changes during tightening. A hydrogen concentration measuring point below the flange promptly detects trace amounts of hydrogen escaping from disturbed aging seals. Signal conditioning and filtering remove electromagnetic and environmental vibration noise from the maintenance site, extracting characteristic information reflecting the true state of components after aging. The onboard bus enables high-speed and reliable data transmission, ensuring the main controller receives synchronized status information across all dimensions, providing accurate and effective on-site data for calculating the force domain boundaries of the aging hydrogen storage system.

[0030] S3 calls the tolerance threshold mapping library to obtain the reference force domain corresponding to the current hydrogen storage state, runs the reference force domain dynamic correction calculation formula to implement multi-state quantity fusion correction, realizes dynamic correction of the reference force domain, and outputs the maximum allowable operating force upper limit and safe operating range of the dual-arm end effector. The force domain parameters are updated at a fixed period of 120ms. Each update cycle completes a round of full state quantity reading and correction calculation, performs upper and lower limit boundary verification of the force domain, and performs upper limit boundary verification and lower limit boundary verification of the corrected allowable operating force upper limit. When the corrected allowable operating force upper limit exceeds the maximum value of the rated output force of the dual-arm end effector (1200N), this maximum value is taken as the final allowable operating force upper limit; when the corrected allowable operating force upper limit is lower than the minimum operating force value required to maintain basic operation (200N), this minimum operating force value is taken as the final allowable operating force upper limit. Once the corrected allowable operating force upper limit reaches the upper limit boundary or lower limit boundary for several consecutive update cycles, a boundary continuous alarm is triggered, and the calculated force domain parameters are sent to the dual-arm motion controller. The baseline force domain retrieved from the mapping library originates from the standard operating conditions of bench tests. However, during on-site maintenance, the fatigue accumulation of hydrogen storage materials, stress shifts caused by the aging of seals, and the risk of trace hydrogen leakage are all constantly changing. Relying on the dynamic correction calculation formula of the baseline force domain, all multi-dimensional real-time states collected on-site are incorporated into the correction logic, allowing the force domain boundary to continuously adjust with the real-time operating conditions of the aging system, abandoning fixed static constraints. A fixed-cycle update mechanism continuously refreshes the force domain boundary as maintenance work progresses, while an upper and lower limit verification mechanism prevents the calculated output force from exceeding the hardware output limit of the dual arms, and also prevents overly stringent constraints from preventing the basic tightening action from being completed. When the boundary is touched for several consecutive cycles, it indicates that the current aging hydrogen storage system is very close to its damage limit. Continuous boundary alarms can report to the upper level that the current maintenance work is subject to the hard constraints of component aging. The calculated force domain parameters are sent to the motion controller, allowing the dynamically adjusted safety boundary to directly apply to the control process of the dual-arm maintenance work, such as... Figure 3 As shown.

[0031] S4. The calculated allowable operating force domain is sent to the dual-arm motion controller as the hard constraint boundary for force control in dual-arm maintenance operations. The dual-arm motion controller sets the upper limit of the allowable operating force as the hard constraint threshold of the force control loop. During the dual-arm maintenance and tightening operation, the controller continuously reads the feedback values ​​from the end effector force sensor. When the end effector output force reaches a preset proportion of the upper limit of the allowable operating force, the dual-arm motion controller automatically reduces the rate of force output increase. When the end effector output force reaches the upper limit of the allowable operating force, the dual-arm motion controller stops increasing the force output amplitude and maintains the current force level. The entire constraint process does not stop the maintenance operation; it only limits the force output amplitude. The task planning unit receives the maintenance operation instructions, analyzes the target operating force required for a single-step maintenance operation, and compares the target operating force with the upper limit of the allowable operating force. When the target operating force exceeds the upper limit of the force range, the task planning unit automatically breaks down the single-step maintenance operation into a multi-stage progressive maintenance operation sequence. The operating force of each stage is within the allowable force range of 200N-1200N. A buffer pause period is set between adjacent stages to ensure that the cumulative force output of the multiple stages is the same as the target force effect of the original single-step maintenance operation. Hard constraints are directly set in the bottom-level force control loop, which can avoid force overshoot caused by upper-level command delays. The aging hydrogen storage system has weak impact resistance; when the force approaches the upper limit, the force rise rate is actively slowed down to suppress the impact vibration generated during tightening, reducing secondary damage to the already aged hydrogen storage materials and seals. The operation will not be directly interrupted, ensuring that the tightening and maintenance task can continue without interruption, preventing incomplete flange tightening. The task planning unit breaks down the over-limit tightening action into segments, dividing the large one-time force into multiple small forces. The buffer period allows the aging sealing interface to redistribute stress. Each tightening action will not exceed the system's safety force boundary. The tightening effect required for maintenance is achieved by accumulating multiple operations. This not only completes the flange tightening maintenance but also avoids further aggravating component aging and damage during maintenance.

[0032] S5 continuously verifies the vibration conduction status and hydrogen concentration change trend, and enables multi-level judgment rules to identify risk signs. These rules include two levels: warning and alarm. The warning level is determined by: the cumulative duration of vibration acceleration exceeding the preset acceleration threshold of 2.0g reaching the first preset threshold of 4 seconds, or the hydrogen concentration rise rate reaching the second preset threshold of 60 ppm / min. The alarm level is determined by: the cumulative duration of vibration acceleration exceeding the preset acceleration threshold reaching the third preset threshold of 10 seconds, or the absolute hydrogen concentration amplitude reaching the fourth preset threshold of 300 ppm. When a warning-level risk sign is identified, the operating force range is narrowed, and the sampling frequency of the vibration acquisition unit is increased. When an alarm-level risk sign is identified, the operating force range is further narrowed, while the sampling frequency of all status acquisition units is increased. If there are progressive maintenance operation sequences that have been split but not yet completed in the system, the remaining maintenance operation steps are re-split based on the narrowed completed force range, constructing a maintenance operation control mechanism that coordinates vibration suppression and hydrogen safety. The risks of aging hydrogen storage system failures often accumulate gradually. Continuously tracking vibration transmission and hydrogen concentration changes can detect slowly evolving risk indicators, rather than relying solely on instantaneous values. A two-tiered risk level distinguishes the severity of risks. The warning level indicates that unsafe developments have already occurred during maintenance; in this case, vibration monitoring is prioritized, force domain boundaries are tightened, and the output behavior of the dual arms is restrained in advance. The alarm level indicates a significant increase in system risk; all monitoring units increase their sampling frequency to fully understand the entire process of vibration, sealing stress, and hydrogen concentration changes. Pre-arranged segmented maintenance sequences will no longer use old force domain conditions; remaining tightening steps are re-adjusted according to updated safety boundaries, ensuring that all subsequent maintenance actions are adapted to the latest safety status of the hydrogen storage system. This achieves a closed-loop control of vibration suppression and hydrogen safety during maintenance, continuously mitigating component damage and hydrogen leakage risks throughout the maintenance process.

[0033] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A method for vibration suppression and hydrogen safety control of a solid-state hydrogen storage system for dual-arm embodied intelligent agents, characterized in that, The method includes: S1. Pre-construct a solid-state hydrogen storage system tolerance threshold mapping library, calibrate the structural transmission mapping relationship between the fatigue damage threshold of hydrogen storage materials, the vibration tolerance threshold of seals and the operating force at the end of the dual arms, and form a benchmark of the allowable operating force domain covering different hydrogen storage states throughout the entire aging cycle. S2. Synchronously collect multi-dimensional operating status parameters of the solid hydrogen storage system through the corresponding status acquisition unit. The parameters include four types of state quantities: triaxial vibration acceleration of the hydrogen storage bed, cumulative fatigue of the hydrogen storage material, contact stress of the sealing interface, and hydrogen concentration at the sealing edge of the hydrogen storage cavity. S3. Based on the real-time collected hydrogen storage state parameters, call the tolerance threshold mapping library to obtain the corresponding reference force domain, combine the real-time state variables to complete the dynamic correction of the reference force domain, and output the maximum allowable operating force limit and safe operating range at the end of the dual arms. S4. The calculated allowable operating force range is sent to the dual-arm motion controller as a hard constraint boundary for dual-arm operation force control. When the target operating force of the operation to be performed exceeds the upper limit of the force range, the single-step operation is automatically split into multiple progressive operations. S5. Real-time verification of vibration transmission status and hydrogen concentration change trend. After identifying risk signs, further narrow the operating force range and simultaneously increase the sampling frequency of state quantities. When there are progressive operation sequences that have been split but not yet completed, the remaining operation steps are re-split according to the narrowed force range to form a control mechanism that coordinates vibration suppression and hydrogen safety.

2. The vibration suppression and hydrogen safety control method for a solid-state hydrogen storage system for dual-arm embodied intelligent agents according to claim 1, characterized in that, In S1, a bench test system with the same structure as the target dual-arm embodied intelligent agent is built. It is equipped with the same model of solid hydrogen storage system and dual-arm actuator. Vibration acquisition units are arranged on the surface of the hydrogen storage tank. Different directions and levels of operating forces at the ends of the dual arms are applied in stages, and the vibration response amplitude of the corresponding hydrogen storage tank is recorded. Simultaneously, fatigue vibration tests of hydrogen storage materials and vibration aging tests of seals are carried out to obtain component damage evolution data under different vibration loads. Based on the three types of data, namely operating force, vibration response and component damage, a transmission mapping relationship is established. Based on the preset damage safety threshold, the corresponding allowable operating force value is deduced in reverse, forming a multi-state dimension tolerance threshold mapping library.

3. The vibration suppression and hydrogen safety control method for a solid-state hydrogen storage system for dual-arm embodied intelligent agents according to claim 1, characterized in that, In S2, the cumulative fatigue degree of the hydrogen storage material is obtained through online fatigue calculation, and the specific calculation formula is as follows: Where D represents the cumulative fatigue degree of the hydrogen storage material; This represents the actual number of actions corresponding to the i-th vibration amplitude. Let be the material fatigue limit number corresponding to the i-th vibration amplitude; is the attitude correction coefficient corresponding to the i-th level vibration.

4. The vibration suppression and hydrogen safety control method for a solid-state hydrogen storage system for dual-arm embodied intelligent agents according to claim 1, characterized in that, In S2, various state acquisition units are synchronously triggered to acquire data using a unified clock source: the triaxial vibration acceleration acquisition unit is located at the geometric center of the side wall of the hydrogen storage tank, the sealing interface contact stress acquisition unit is located at uniformly distributed points around the tank sealing flange, and the hydrogen concentration acquisition unit is located directly below the sealing flange; the signals output by all acquisition units are conditioned and then transmitted to a unified data processing unit. After filtering and feature extraction of the raw data, the data processing unit transmits the data to the main controller of the dual-arm embodied intelligent agent via the vehicle bus, providing synchronous state data support for subsequent force domain calculation.

5. The method for vibration suppression and hydrogen safety control of a solid-state hydrogen storage system for dual-arm embodied intelligent agents according to claim 1, characterized in that, In S3, the dynamic correction of the reference force domain adopts a multi-state quantity fusion correction method, and the correction calculation formula is as follows: ,in, This is the revised maximum allowable operating force. The upper limit of the reference force domain output by the tolerance threshold mapping library; This represents the deviation rate of the vibration acceleration from the reference value. This represents the rate of deviation of the sealing contact stress from its rated value. This represents the deviation rate of hydrogen concentration from the baseline value. , , These are the correction weighting coefficients for vibration, sealing, and hydrogen concentration, respectively, and α+β+γ=1; the lower limit of the safe operating range is the minimum operating force required to maintain basic operations.

6. The vibration suppression and hydrogen safety control method for a solid-state hydrogen storage system for dual-arm embodied intelligent agents according to claim 1, characterized in that, In S3, the force domain parameters are updated at fixed intervals, and a full state quantity reading and correction calculation is completed once in each update cycle. The solution process sets up a force domain upper and lower limit boundary verification mechanism. The verification mechanism performs upper limit boundary verification and lower limit boundary verification on the corrected upper limit of the allowable operating force: when the corrected upper limit of the allowable operating force exceeds the maximum value of the rated output force at the end of the two arms, the maximum value is taken as the final upper limit of the allowable operating force. When the revised upper limit of permissible operating force is lower than the minimum operating force value required to maintain basic operations, the minimum operating force value shall be used as the final upper limit of permissible operating force. When the revised upper limit of allowed operation reaches the upper or lower limit boundary for multiple consecutive update cycles, a boundary persistence alarm is triggered. The calculated force domain parameters are sent to the dual-arm motion controller.

7. The method for vibration suppression and hydrogen safety control of a solid-state hydrogen storage system for dual-arm embodied intelligent agents according to claim 1, characterized in that, In S4, the dual-arm motion controller sets the upper limit of the allowable operating force as a hard constraint threshold of the force control loop; during the dual-arm operation, the feedback value of the end force sensor is read in real time. When the end output force reaches the preset ratio of the upper limit of the allowable operating force, the dual-arm motion controller automatically reduces the growth rate of the force output. When the end output force reaches the upper limit of the allowable operating force, the dual-arm motion controller stops increasing the force output amplitude and maintains the current force level. The constraint process does not interrupt the operation, only limiting the output amplitude of the force; the preset ratio is 85% to 95%.

8. The method for vibration suppression and hydrogen safety control of a solid-state hydrogen storage system for dual-arm embodied intelligent agents according to claim 1, characterized in that, In S4, the process of breaking down over-limit operations is executed by the task planning unit: After receiving the operation instruction, the task planning unit first parses out the target operating force required for a single step operation, compares the target operating force with the upper limit of the allowable operating force, and directly executes the single step operation when the target operating force does not exceed the upper limit of the allowable operating force. When the target operating force exceeds the upper limit of the allowable operating force, it automatically generates a multi-stage progressive operation sequence. The operating force of each operation is controlled within the allowable force range, and a buffer dwell period is set between two adjacent operations to ensure that the cumulative force output of multiple operations is consistent with the target force effect of the original single step operation.

9. The method for vibration suppression and hydrogen safety control of a solid-state hydrogen storage system for dual-arm embodied intelligent agents according to claim 1, characterized in that, In S5, risk symptom identification is set with multi-level judgment rules, which include at least two levels: warning level and alarm level. The judgment condition for the warning level is: the cumulative duration for which the vibration acceleration amplitude continuously exceeds the preset acceleration threshold reaches the first preset threshold, or the hydrogen concentration rise rate reaches the second preset threshold. The judgment condition for the alarm level is: the cumulative duration for which the vibration acceleration amplitude continuously exceeds the preset acceleration threshold reaches the third preset threshold, or the absolute amplitude of the hydrogen concentration reaches the fourth preset threshold. When a warning level risk is identified, the operating force domain is narrowed and the sampling frequency of the vibration acquisition unit is increased. When an alarm level risk is identified, the operating force domain is further narrowed and the sampling frequency of all state acquisition units is increased simultaneously.

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