Hydrogen consumption system

Abstract

Provided is a hydrogen consumption system on which a hydrogen tank is detachably mounted, said hydrogen consumption system being capable of detecting an abnormality with higher accuracy while the hydrogen tank is mounted. A hydrogen consumption system according to the present invention comprises: a detachable hydrogen tank; a hydrogen consumption apparatus that consumes hydrogen in the hydrogen tank; and a control apparatus. The hydrogen tank includes a first connection part. The hydrogen consumption apparatus includes: a second connection part that is connected to the first connection part so that hydrogen is supplied to the hydrogen consumption apparatus; a movable part that moves the hydrogen tank; and a position sensor that detects a position of the movable part.

Description

Hydrogen Consumption System

[0001] The present disclosure relates to a system that consumes hydrogen as a supplied fuel.

[0002] Patent Document 1 discloses that a hydrogen tank is detachably mounted on a vehicle and includes a cylindrical hydrogen tank body and a handle formed on one longitudinal end of the hydrogen tank body. It further explains that the hydrogen tank includes a first connector formed on the other longitudinal end of the hydrogen tank body, which is connected to a second connector provided on the vehicle when the hydrogen tank body is attached to the vehicle, thereby enabling hydrogen to be supplied to the vehicle.

[0003] Japanese Patent Application Laid-Open No. 2023-056952

[0004] However, if the connector of the hydrogen tank and the connector of the hydrogen consuming device are not arranged coaxially (if the axes are misaligned), the connectors may not connect properly, which may result in connection problems such as poor sealing. Poor connection between the connector of the hydrogen tank and the connector of the hydrogen consuming device may cause problems such as poor hydrogen supply or hydrogen shutoff due to poor opening and closing of the hydrogen tank.

[0005] In consideration of the above problems, the present disclosure aims to provide a hydrogen consumption system equipped with a detachable hydrogen tank that can more accurately detect abnormalities when the hydrogen tank is installed.

[0006] That is, the present disclosure includes the following aspects: <1> A hydrogen consumption system having a detachable hydrogen tank, a hydrogen consumption device that consumes hydrogen from the hydrogen tank, and a control device, wherein the hydrogen tank has a first connection part, the hydrogen consumption device has a second connection part that connects to the first connection part to supply hydrogen to the hydrogen consumption device, a movable part that moves the hydrogen tank, and a position sensor that detects the position of the movable part, the control device controls the connection of the hydrogen tank to the hydrogen consumption device, the connection control includes an approaching step of moving the movable part carrying the hydrogen tank so that the first connection part and the second connection part are opposed to each other and spaced apart, after the approaching step, the control device obtains the position of the movable part from the position sensor and determines whether the position of the movable part is within a predetermined position range, and the control device determines that an abnormality has occurred if the position of the movable part is outside the predetermined position range.

[0007] <2> A hydrogen consumption system having a detachable hydrogen tank, a hydrogen consumption device that consumes hydrogen from the hydrogen tank, and a control device, wherein the hydrogen tank has a first connection part, the hydrogen consumption device has a second connection part that connects to the first connection part to supply hydrogen to the hydrogen consumption device, a movable part that moves the hydrogen tank, and a position sensor that detects the position of the movable part, the control device controls the connection of the hydrogen tank to the hydrogen consumption device, the connection control includes a connection step of connecting the first connection part and the second connection part by moving the movable part carrying the hydrogen tank, and after the connection step, the control device obtains the position of the movable part from the position sensor and determines whether the position of the movable part is within a predetermined position range, and the control device determines that there is an abnormality if the position of the movable part is outside the predetermined position range.

[0008] <3> The hydrogen consumption device has a pressure sensor that measures the pressure inside the hydrogen consumption device, and the control device, after the movement of the movable part, determines the position and acquires the pressure from the pressure sensor to determine whether the pressure is within a predetermined range, and the control device determines that there is an abnormality when at least one of the following conditions is met: the position of the movable part is outside the predetermined position range, or the pressure is outside the predetermined pressure range. A hydrogen consumption system as described in <1> or <2>.

[0009] <4> The hydrogen consumption system described in <3>, wherein the hydrogen consumption device has a motor that moves the movable part and a torque sensor that measures the torque of the motor, and the control device, after the movement of the movable part, performs the position determination, the pressure determination, and a torque determination by obtaining the torque of the motor from the torque sensor to determine whether the torque is within a predetermined torque range, and the control device determines that an abnormality has occurred when at least one of the following conditions is met: the position of the movable part is outside the predetermined position range, the pressure is outside the predetermined pressure range, and the torque is outside the predetermined torque range.

[0010] <5> A hydrogen consumption system as described in <4>, wherein, when there is a gravity component in the direction of approach of the first connection part to the second connection part, the control device, in the torque judgment, calculates a predetermined corrected torque range by correcting the predetermined torque range according to the magnitude of the gravity component, and determines whether the torque is within the predetermined corrected torque range.

[0011] <6> The hydrogen consumption system according to <5>, wherein the first connection part is an on-off valve, and the second connection part is a push rod.

[0012] According to the present disclosure, in a hydrogen consumption system equipped with a detachable hydrogen tank, an abnormality can be detected with high accuracy when the hydrogen tank is attached.

[0013] FIG. 1 is a diagram showing an example of the configuration of a hydrogen consumption system. FIG. 2 is an external view showing an example of the configuration of a hydrogen tank. FIG. 3 is a cross-sectional view showing an example of the configuration of a hydrogen tank taken along the direction of axis O. FIG. 4 is a diagram for explaining the on-off valve and second connection portion. FIG. 5 is a cross-sectional view showing an example of the mounting portion. FIG. 6 is a schematic diagram showing an example of the mounting portion. FIG. 7 is a diagram for explaining the control device. FIG. 8 is a diagram for explaining the connection position of the hydrogen tank. FIG. 9 is a flowchart for explaining the flow of hydrogen tank connection control S10 from the horizontal direction. FIG. 10 is a diagram for explaining hydrogen tank connection control S10. FIG. 11 is a diagram for explaining hydrogen tank connection control S10. FIG. 12 is a flowchart for explaining the flow of abnormality detection control S20 when the hydrogen tank is mounted horizontally according to form 1. FIG. 13 is a flowchart for explaining the flow of abnormality detection control S30 when the hydrogen tank is mounted horizontally according to form 2. FIG. 14 is a flowchart for explaining the flow of hydrogen tank connection control S40 from vertically above. FIG. 15 is a diagram for explaining hydrogen tank connection control S40. FIG. 16 is a diagram for explaining hydrogen tank connection control S40. Fig. 17 is a flowchart explaining the flow of control S50 for connecting a hydrogen tank from diagonally above. Fig. 18 is a diagram explaining control S50 for connecting a hydrogen tank. Fig. 19 is a diagram explaining control S50 for connecting a hydrogen tank. Fig. 20 is a flowchart explaining control S60 for detecting anomalies when a hydrogen tank is attached from vertically above according to form 3. Fig. 21 is a flowchart explaining control S70 for detecting anomalies when a hydrogen tank is attached from diagonally above according to form 4.

[0014] 1. Hydrogen Consumption System The present disclosure provides a hydrogen consumption system having a detachable hydrogen tank, a hydrogen consumption device that consumes hydrogen from the hydrogen tank, and a control device, wherein the hydrogen tank has a first connection part, the hydrogen consumption device has a second connection part that connects to the first connection part to supply hydrogen to the hydrogen consumption device, a movable part that moves the hydrogen tank, and a position sensor that detects the position of the movable part, the control device controls the connection of the hydrogen tank to the hydrogen consumption device, the connection control includes an approaching step in which the movable part carrying the hydrogen tank is moved to position the first connection part and the second connection part facing each other while being spaced apart, after the approaching step, the control device obtains the position of the movable part from the position sensor and determines whether the position of the movable part is within a predetermined position range, and the control device determines that an abnormality has occurred if the position of the movable part is outside the predetermined position range.

[0015] The hydrogen consumption system of the present disclosure includes a detachable hydrogen tank, a hydrogen consumption device that consumes hydrogen from the hydrogen tank, and a control device. The hydrogen consumption system of the present disclosure may be used in mobile vehicles such as vehicles, trains, ships, and aircraft, and stationary power generation systems such as fuel cell generators. Examples of vehicles include fuel cell vehicles and hydrogen engine vehicles.

[0016] FIG. 1 is a diagram showing an example of the configuration of a hydrogen consumption system. The hydrogen consumption system 10 shown in FIG. 1 includes a hydrogen tank 11, which is a hydrogen supply source, a hydrogen consumption device 20, which is a destination of the hydrogen supply, a control device 50, and an alarm device 60. The hydrogen consumption system 10 shown in FIG. 1 generates electricity by supplying hydrogen stored in the hydrogen tank 11 to a fuel cell 40 included in the hydrogen consumption device 20. Furthermore, in FIG. 1, the hydrogen tank 11 is configured to be detachable from the hydrogen consumption device 20. In FIG. 1, multiple (three) hydrogen tanks 11 are provided, and each hydrogen tank 11 is filled with hydrogen. In FIG. 1, the three hydrogen tanks 11 are denoted by reference numerals 11a, 11b, and 11c to distinguish them from one another. These hydrogen tanks 11 may all have the same capacity, or tanks of different capacities may be included. This is explained in detail below.

[0017] [Hydrogen Tank] A hydrogen tank (sometimes referred to as a tank) is a container that stores the fuel (hydrogen in this embodiment) to be supplied in a liquid or gaseous state. Hydrogen is supplied from the hydrogen tank to the hydrogen consuming device. The hydrogen consuming system may include at least one hydrogen tank, and may include multiple (n) hydrogen tanks. n may be an integer of 2 or greater, with no particular upper limit. The hydrogen tank may be detachable, and any known hydrogen tank may be used. The allowable pressure of the hydrogen tank is not particularly limited, but examples include tanks that can store hydrogen at an allowable pressure of more than 20 MPa and not more than 70 MPa, from the perspective of being able to supply more hydrogen while being compact to maintain portability. The hydrogen tank may be provided with an exterior body that forms the outer shell of the hydrogen tank, and a handle that can be gripped when attaching or detaching the hydrogen tank to the hydrogen consuming device.

[0018] Figures 2 and 3 are diagrams for explanation. Figure 2 is an external view showing an example of the configuration of a hydrogen tank. Figure 3 is a cross-sectional view showing an example of the configuration of a hydrogen tank taken along the direction of axis O. The hydrogen tank 11 shown in Figures 2 and 3 has a liner 12, a reinforcing layer 13, a mouthpiece 14, and an on-off valve 15 as a first connection part. Each component will be explained below.

[0019] [Liner] The liner is a hollow member that defines the interior space of the hydrogen tank. The liner 12 shown in FIG. 3 is cylindrical. In FIG. 3, the liner 12 has a body portion 12a with a generally uniform diameter, with openings at both ends narrowed by dome-shaped side ends 12b, and a nozzle 14 is disposed at the narrowed opening 12c. The liner may be made of any material capable of retaining the contents (e.g., hydrogen) contained in the interior space without leakage, and any known material may be used. Specific examples include nylon resin, polyethylene-based synthetic resin, stainless steel, and metals such as aluminum. Among these, the liner may be made of synthetic resin to reduce the weight of the hydrogen tank. The thickness of the liner is not particularly limited, but may be 0.5 mm to 3.0 mm.

[0020] [Reinforcing Layer] The reinforcing layer 13 shown in FIG. 3 is formed by laminating multiple layers of fibers, with the fibers impregnated with a cured resin. The fiber layers are formed by wrapping multiple layers of fiber bundles around the outer periphery of the liner 12 to a predetermined thickness. The thickness of the reinforcing layer 13 and the number of turns of the fiber bundles are determined based on the required strength and are not particularly limited, but are approximately 10 mm to 30 mm. The fiber bundles of the reinforcing layer 13 are, for example, carbon fibers, and the fiber bundles are bundled into a strip shape with a predetermined cross-sectional shape (e.g., a rectangular cross-section). Although not particularly limited, the cross-sectional shape may be rectangular with a width of approximately 6 mm to 20 mm and a thickness of approximately 0.1 mm to 0.3 mm. The amount of carbon fiber contained in the fiber bundles is also not particularly limited, but may be, for example, approximately 36,000 carbon fibers. The resin impregnated and cured into the fibers (fiber bundles) in the reinforcing layer 13 is not particularly limited as long as it can increase the strength of the fibers. Examples of such resins include thermosetting resins that harden when heated, such as epoxy resins containing amine- or anhydride-based curing accelerators and rubber-based toughening agents, and unsaturated polyester resins. Other examples include resin compositions that use epoxy resin as the base agent and harden by mixing a curing agent into the base agent. In this case, the resin composition, which is a mixture of the base agent and the curing agent, reaches and penetrates the fiber layer between the time of mixing and hardening, and automatically hardens. If necessary, a protective layer may be disposed around the outer periphery of the reinforcing layer 13. When provided, the protective layer may be formed, for example, by wrapping glass fiber around the fiber and impregnating it with resin. The impregnated resin can be considered the same as the reinforcing layer 13. This provides impact resistance to the hydrogen tank 11. The thickness of the protective layer is not particularly limited, but may be approximately 1.0 mm to 1.5 mm.

[0021] [Jug] The jug 14 shown in Figures 2 and 3 is a component attached to each of the two openings 12c of the liner 12. It is located at each end of the liner 12 in the direction of the axis O. It functions as an opening that connects the inside and outside of the hydrogen tank 11, and an on-off valve 15 is attached to one of the openings. Therefore, the jug 14 has a circular cross-sectional hole in which the on-off valve 15 is disposed. The inner surface of the hole is provided with a female thread that corresponds to the male thread of the on-off valve 15. The on-off valve 15 is fixed to the jug 14 by mating the female thread with the male thread of the on-off valve 15. The inner surface of the hole also has a smooth sealing surface on the inside (high-pressure side) of the hydrogen tank 11, closer to the female thread. A sealing member attached to the outer periphery of the on-off valve 15 comes into contact with this sealing surface, thereby sealing the inside of the hydrogen tank 11. The material constituting the jug 14 is not particularly limited as long as it has the required strength, but examples include stainless steel and aluminum.

[0022] [First Connection Portion] The hydrogen tank has a first connection portion (a connection portion on the hydrogen tank side) that is connected to the hydrogen consumption device. The first connection portion may be an on-off valve or the like. Examples of the on-off valve include a solenoid valve.

[0023] The on-off valve 15 shown in FIGS. 2 and 3 is held in a hole in the nozzle 14 so as to bridge the inside and outside of the hydrogen tank 11. The on-off valve 15 is disposed in one of two nozzles 14 provided at both longitudinal ends of the hydrogen tank 11. A stopper 14a is disposed on the other nozzle 14 to seal it. FIG. 4 is a diagram for explaining the on-off valve and the second connection portion. FIG. 4 is a diagram including the on-off valve 15 and its vicinity in FIG. 3, showing the on-off valve 15 separated from the second connection portion 42 of the hydrogen consumption device 20 (described later). The on-off valve 15 has a shaft portion disposed inside the hole in the nozzle 14, and the outer peripheral surface of the shaft portion is provided with a male thread that mates with the female thread of the nozzle 14, thereby fixing the on-off valve 15 to the hole in the nozzle 14. A sealing member (not shown) is disposed on the outer peripheral surface of the on-off valve 15, and this sealing member is disposed so as to contact the sealing surface on the inner surface of the hole in the nozzle 14 to achieve airtightness (sealing).

[0024] The on-off valve 15 shown in FIG. 4 has a valve element 16 and an insertion portion 17. The valve element 16 shown in FIG. 4 is a switching valve that allows and restricts communication between the inside and outside of the hydrogen tank 11. When the valve is closed, the valve element 16 is biased to restrict the communication, and by pressing the valve element 16 against the biasing force, the valve element 16 moves and allows the communication. In this embodiment, since communication is switched by pressing and releasing the pressure on the valve element 16, a means for pressing the valve element 16 is required. Therefore, the hydrogen consumption device 20 is provided with a means (push rod 43) for pressing the valve element 16, as described below. The on-off valve 15 shown in FIG. 4 has an insertion portion 17 that houses the valve element 16 and into which the push rod 43 is inserted. Therefore, the insertion portion 17 has an insertion hole 17a into which the push rod 43 is inserted and which leads to the valve element 16.

[0025] [Hydrogen Consumption Device] The hydrogen consumption device is a device that receives and consumes hydrogen from the hydrogen tank. The hydrogen consumption device 20 shown in Figure 1 includes an attachment portion 21, a fuel cell 40, a supply flow path 41, a second connection portion 42, an injector 45, and a pressure sensor 46. Each portion will be described below.

[0026] The mounting portion is the portion where the hydrogen tank is stored when the hydrogen tank is connected to the hydrogen consumption device. The mounting portion includes at least a movable portion and a position sensor, and may also include a storage hole, a movement prevention member, an actuator, a torque sensor, etc. as necessary.

[0027] Fig. 5 is a cross-sectional view showing an example of the mounting portion. Fig. 6 is a schematic diagram showing an example of the mounting portion. Fig. 5 shows a cross-section of the mounting portion 21 when the hydrogen tank 11 is mounted thereon and the on-off valve 15 of the hydrogen tank 11 is connected to the push rod 43 of the second connection portion 42. Fig. 6 also shows a schematic diagram of the components provided in and around the mounting portion 21. The mounting portion 21 shown in Figs. 5 and 6 includes a storage hole 22, a base 23, a lock pin 24, a stepping motor 25, a position sensor 26, and a torque sensor 27.

[0028] [Storage Hole] The storage hole 22 shown in Figure 5 is a space in which the hydrogen tank 11 is stored, has an opening 22a through which the hydrogen tank 11 can be inserted and removed, and is a space surrounded by an inner wall 22b. A second connection part 42 (push rod 43) is disposed at a bottom 22c of the storage hole 22, which is on the opposite side from the opening 22a. The storage holes 22 shown in Figure 5 are provided in three vertical stages, but the number of storage holes 22 is not particularly limited.

[0029] [Movable Part] The movable part moves the hydrogen tank. The movable part moves the first connection part of the hydrogen tank in a direction approaching and moving away from the second connection part of the hydrogen consumption device. The movable part moves the hydrogen tank between a hydrogen supply stop position, a hydrogen supply standby position, and a hydrogen supply start position. The movable part may have an engagement recess (positioning hole) that can engage with the movement preventing member. The movable part may have at least one engagement recess, or may have two, or may have three or more engagement recesses. The movable part may have a first engagement recess and a second engagement recess as the engagement recesses, in order of proximity to the second connection part, at a predetermined interval in the direction in which the movable part moves. The engagement recess may be provided at any position on the movable part. When the hydrogen tank is disposed on the upper surface side of the movable part, the engagement recess may be provided on the lower surface side of the movable part. The specific shape of the engagement recess is not particularly limited as long as it is configured to allow the lock pin to engage and disengage, and may be a recess or a groove. The engagement recess may be a depression, groove, or the like provided in the movable part, or may be a concave accessory attached to the movable part. The width of the engagement recess (the size in the direction in which the movable part moves) may be greater than the width of the lock pin. This allows the movable part to move within the range of the width of the engagement recess even when the lock pin protrudes so as to enter the inside of the engagement recess.

[0030] The movable part may be the base 23 shown in Figures 1, 5, and 6. The base 23 is a member on which the hydrogen tank 11 is placed and fixed. The base 23 is arranged inside and below the storage hole 22. The base 23 is arranged to be movable in the depth direction of the storage hole 22 (the direction connecting the opening 22a and the bottom 22c, the direction in which the on-off valve 15 of the hydrogen tank 11 approaches and moves away from the second connection part 42 (push rod 43), the direction of arrow T in Figure 6). The on-off valve 15 of the hydrogen tank 11 and the second connection part 42 are arranged opposite and coaxially. The means for movement is not particularly limited, but examples include a combination of rails and wheels.

[0031] 5 and 6 further has a first engagement recess 23a and a second engagement recess 23b on its underside (the surface facing the inner wall 22b). The first engagement recess 23a and the second engagement recess 23b are not particularly limited in their specific shapes as long as they are configured to allow the lock pin 24 to be engaged and disengaged, and may be a depression or a groove (a groove extending in the direction toward / away from the plane of the paper in FIG. 6).

[0032] 5 and 6, the width of the first engagement recess 23a and the second engagement recess 23b (the size in the direction in which the base 23 moves) is greater than the width of the lock pin 24. In other words, even when the lock pin 24 is protruding so as to enter the inside of the first engagement recess 23a and the second engagement recess 23b, the base 23 can move within the range of the width of the first engagement recess 23a and the second engagement recess 23b. The first engagement recess 23a is on the side closer to the push rod 42, and the second engagement recess 23b is on the opening 22a side, and they are arranged with a predetermined distance in the direction in which the base 23 moves. This distance is set to a size that allows for attachment / detachment control, which will be described later.

[0033] [Movement-Preventing Member] The hydrogen consumption device may have a movement-preventing member that locks the movable part at a predetermined position when restricting movement of the hydrogen tank. The movement-preventing member forcibly stops the movement of the movable part by locking. The movement-preventing member is disposed at a predetermined position on the movement path of the movable part. The predetermined position may be a hydrogen supply start position, a hydrogen supply standby position, or both. In lock control, the movement-preventing member locks the movable part at a predetermined position, setting it in a locked state that restricts movement of the hydrogen tank, and in unlock control, releases the lock of the movable part, setting it in an unlocked state that allows movement of the hydrogen tank. The movement-preventing member is electrically connected to a control device. Based on an input signal, the control device drives the movement-preventing member to switch between a locked state that restricts movement of the hydrogen tank and an unlocked state that allows movement of the hydrogen tank. The movement-preventing member may be movable in accordance with the movement of the movable part. The movement of the movement-preventing member may be controlled by an actuator. The movement-preventing member may be a lock pin or the like. The locking pin may be a solenoid locking pin.

[0034] 5 and 6 is a pin arranged so as to be able to protrude and retract from the inner wall 22b, and when protruding, it enters the inside of the first engaging recess 23a and the second engaging recess 23b and can engage with the first engaging recess 23a and the second engaging recess 23b. On the other hand, the lock pin 24 is arranged so as not to engage with the first engaging recess 23a and the second engaging recess 23b when retracted. The lock pin 24 is electrically connected to the control device 50, and its protrusion and retraction are controlled based on signals from the control device 50.

[0035] [Actuator] The hydrogen consuming device may have at least one actuator. The hydrogen consuming device may have a plurality (n) of actuators corresponding to a plurality (n) of movable parts that move a plurality (n) of hydrogen tanks. The actuator is not particularly limited as long as it can control the movement of the movable parts. The actuator may be a motor or the like. In this case, the movable part moves the hydrogen tank by controlling the motor. The motor may be a stepping motor or the like.

[0036] The stepping motor 25 shown in Figure 6 is a power source that moves the base 23 via gears. The specific form of the stepping motor is not particularly limited, and any known stepping motor can be used. The stepping motor 25 is electrically connected to a control device 50, and the rotation angle and rotation speed are controlled based on signals from the control device 50, thereby precisely controlling the movement of the base 23.

[0037] [Sensors] The hydrogen consuming device may have sensors such as a position sensor, a torque sensor, a motor temperature sensor, an acceleration sensor, an angle sensor, and a pressure sensor. The specific form of the sensor is not particularly limited, and known sensors can be used.

[0038] 6 detects the position of the base 23 (the position in the direction of movement of the base 23). The specific form of the position sensor 26 is not particularly limited and a known sensor can be used, for example, a sensor that optically detects the position of the base 23. The position sensor 26 is electrically connected to the control device 50 and is configured to be able to transmit the measured position of the base 26 to the control device 50 as a signal.

[0039] [Torque Sensor] The torque sensor 27 shown in Fig. 6 detects the torque of the stepping motor 25. A known torque sensor can be used as the torque sensor 27. The torque sensor 27 shown in Fig. 6 is electrically connected to the control device 50 and is configured to be able to transmit the measured torque to the control device 50 as a signal.

[0040] [Hydrogen Consuming Device] The hydrogen consuming apparatus may include a hydrogen consuming device, such as a fuel cell, a hydrogen engine, or a combustion unit of a hydrogen burner.

[0041] 1 is a device that consumes supplied hydrogen, and generates electricity by receiving a supply of hydrogen from the hydrogen tank 11 and a supply of air from an air hole (not shown). The specific configuration of the fuel cell 40 is not particularly limited, and a known configuration can be used.

[0042] [Supply Flow Path] The hydrogen consuming device may have a supply flow path (hydrogen piping). The supply flow path is a path that guides hydrogen from the hydrogen tank to the hydrogen consuming device and is composed of piping. The supply flow paths extending from each hydrogen tank may merge to form a single supply flow path, and the supply flow path may be connected to the hydrogen consuming device.

[0043] 1 is a path that conducts hydrogen from the hydrogen tank 11 to the fuel cell 40 and is made up of pipes. In Fig. 1, each of the hydrogen tanks 11a, 11b, and 11c is connected to the fuel cell 40. Here, pipes 41a, 41b, and 41c extending from the hydrogen tanks 11a, 11b, and 11c, respectively, join together to form a single pipe 41d, which is connected to the fuel cell 40.

[0044] [Second Connection Portion] The hydrogen consuming device has a second connection portion (connection portion on the hydrogen consuming device side). If the hydrogen consuming system is equipped with multiple hydrogen tanks, the hydrogen consuming device may have multiple second connection portions corresponding to the first connection portions of the multiple hydrogen tanks. The second connection portion is connected to the first connection portion of the hydrogen tank and forms a flow passage (communication) with the hydrogen tank. The second connection portion may be a push rod, etc.

[0045] 4-5 and 8 is disposed at the portion of supply flow path 41 that connects to hydrogen tank 11, and connects to insertion portion 17 provided on opening / closing valve 15 of hydrogen tank 11, while also operating to open and close valve body 16 of hydrogen tank 11. As can be seen in Figure 4, second connecting portion 42 has a push rod 43.

[0046] 4 to 6 and 8 is a member that can press against the valve element 16 provided on the on-off valve 15 of the hydrogen tank 11, and in this embodiment is rod-shaped and capable of pressing against the valve element 16 with its tip. Therefore, the push rod 43 is configured so that it can be inserted into an insertion hole 17a formed in the insertion portion 17 of the on-off valve 15. Furthermore, the push rod 43 is configured to form a flow path that allows hydrogen to flow from the inside of the hydrogen tank 11 to the supply flow path 41 when the on-off valve 15 is opened by pressing against the valve element 16.

[0047] [Injection] The hydrogen consuming device may have an injector. The injector is arranged in the supply flow path between the second connection part and the hydrogen consuming device and controls the supply of hydrogen to the hydrogen consuming device. The specific form of the injector is not particularly limited, but examples include a check valve and a flow rate control valve.

[0048] The injector 45 shown in FIG. 1 is disposed in the supply flow path 41 (supply flow path 41 d in this embodiment) between the second connection portion 42 and the fuel cell 40 , and controls the supply of hydrogen to the fuel cell 40 .

[0049] [Pressure Sensor] The hydrogen consuming device may have a pressure sensor. The pressure sensor measures the pressure inside the hydrogen consuming device. The pressure sensor may be provided in each supply flow path so as to correspond to the internal pressure of each hydrogen tank, or may measure the pressure inside each supply flow path (pressure inside the piping).

[0050] 1 is a pressure gauge provided in each of the supply flow paths 41 a, 41 b, and 41 c, and measures the pressure inside each of the supply flow paths 41 a, 41 b, and 41 c (pressure inside the piping) so as to correspond to the internal pressure of each of the hydrogen tanks 11 a, 11 b, and 11 c. In this embodiment, the specific form of the pressure sensor 46 is not particularly limited, but it is configured to be able to transmit the obtained pressure value data to the control device 50.

[0051] [Control Device] The control device is a device that controls the connection of the first connection part (open / close valve, etc.) of the hydrogen tank to the second connection part (push rod, etc.) of the hydrogen consumption device, and controls the detection of abnormalities, etc. The control device may be an ECU (electronic control unit), etc.

[0052] 7 is a diagram illustrating the control device. The control device 50 is configured to be able to communicate with the lock pin 24, the stepping motor 25, the position sensor 26, the torque sensor 27, the injector 45, the pressure sensor 46, and the alarm device 60. As conceptually shown in FIG. 7, the control device 50 includes a CPU (Central Processing Unit) 51 that serves as a processor and performs calculations, a RAM (Random Access Memory) 52 that serves as a work area, a ROM (Read-Only Memory) 53 that serves as a recording medium, a receiving unit 54 that serves as an interface for receiving information into the control device 50 whether wired or wireless, and a transmitting unit 55 that serves as an interface for sending information from the control device 50 to the outside whether wired or wireless. Therefore, the control device 50 is configured such that the position sensor 26, torque sensor 27, and pressure sensor 46 are connected to the receiver 54 to receive information, and the lock pin 24, stepping motor 25, injector 45, and alarm device 60 are connected to the transmitter 55 to transmit signals to these devices for their operation. The control device 50 stores a program that performs calculations for hydrogen tank connection control (described later) and transmits operation signals to each device, as well as a program that calculates the presence or absence of an abnormality during the connection control. The control device 50 utilizes a CPU 51, RAM 52, and ROM 53 as hardware resources, and programs that work together. Specifically, the CPU 51 executes the computer program stored in the ROM 53 in the RAM 52, which functions as a work area, to perform the desired control. Information acquired or generated by the CPU 51 is stored in the RAM 52. Alternatively, a separate recording medium may be provided inside or outside the control device 50, storing the program and various data thereon. Specific control content will be described later. Such a control device 50 is typically configured by a computer.

[0053] 7 is a device that notifies the outside of predetermined information by sound, light, image, video, etc. The specific form of the notification device 60 is not particularly limited and known devices can be used, but examples include a speaker for sound, lighting for light, and a display for images and videos. The notification device 60 is electrically connected to the control device 50 and issues a notification based on a command from the control device 50.

[0054] 2. Hydrogen Tank Attachment / Detachment Control The control device performs at least connection control (mounting control) of the hydrogen tank attachment / detachment control for the hydrogen consumption device. Attachment / detachment control includes connection control and detachment control.

[0055] 2.1 Hydrogen Tank Connection Control The connection control includes an approach process and a connection process, through which the first connection portion of the hydrogen tank is connected to the second connection portion of the hydrogen consumption device. The control device may perform an origin learning process by engaging the lock pin with the first engagement recess when the hydrogen tank is inserted into the hydrogen consumption device and the movable part is positioned at the hydrogen supply stop position. The control device may perform a position correction process by engaging the lock pin with the second engagement recess when the movable part is moved from the hydrogen supply stop position to the hydrogen supply standby position.

[0056] (Approaching Step) The approaching step is a step of moving the movable part carrying the hydrogen tank so that the first connection part and the second connection part are positioned facing each other while being spaced apart. The distance by which the first connection part and the second connection part are separated is not particularly limited as long as the first connection part and the second connection part do not come into contact with each other. In the approaching step, the first connection part and the second connection part are positioned facing each other, and may be positioned coaxially from the viewpoint of reducing the occurrence of connection failures. In the present disclosure, "coaxially" means that the first connection part and the second connection part are positioned in a straight line in a direction in which they can be connected. When the first connection part and the second connection part are facing each other, they are positioned so that they can be connected when the distance between them is reduced.

[0057] When the hydrogen tank is inserted into the hydrogen consumption device and placed in the hydrogen supply stop position, the control device moves the hydrogen tank from the hydrogen supply stop position to the hydrogen supply standby position as an approaching step of the connection control, and the first connection part and the second connection part may be positioned facing each other but spaced apart, or may be positioned coaxially. In the approaching step, the hydrogen tank may be moved from the hydrogen supply stop position to the hydrogen supply standby position by moving the movable part. The approaching step allows the hydrogen tank to be placed in a position where it is ready to supply hydrogen to the hydrogen consumption device.

[0058] In the hydrogen consuming device, the hydrogen tank is inserted, attached, detached, etc. Inserting the hydrogen tank refers to the operation of placing the hydrogen tank at the position where attachment of the hydrogen tank begins (hydrogen supply stop position). Specifically, it may be the operation of inserting the hydrogen tank manually or by an actuator into the storage hole of the attachment part of the hydrogen consuming device from outside the hydrogen consuming system. Attaching the hydrogen tank refers to the operation of connecting the hydrogen tank and the hydrogen consuming device so that the hydrogen tank can supply hydrogen to the hydrogen consuming device. Specifically, it refers to the operation of manually or by an actuator moving the hydrogen tank from the hydrogen supply stop position to a position (hydrogen supply standby position) where accurate alignment for connecting the first connection part of the hydrogen tank and the second connection part of the hydrogen consuming device begins, and then manually or by an actuator moving the hydrogen tank from the hydrogen supply standby position to a position (hydrogen supply start position) where the first connection part of the hydrogen tank and the second connection part of the hydrogen consuming device are connected, and connecting the pair of connections together. Detaching a hydrogen tank means an operation of manually or by an actuator disconnecting the first connection part of the hydrogen tank from the second connection part of the hydrogen consumption device, and manually or by an actuator moving the hydrogen tank from the hydrogen supply start position to the hydrogen supply standby position, and an operation of manually or by an actuator moving the hydrogen tank from the hydrogen supply standby position to the hydrogen supply stop position so that the hydrogen tank can be removed outside the hydrogen consumption system.

[0059] The hydrogen supply stop position is a position where attachment of the hydrogen tank to the hydrogen consuming device begins and where the hydrogen tank can be removed from the hydrogen consuming system. Specifically, it is a position where the hydrogen tank is manually inserted into the storage hole of the attachment part of the hydrogen consuming device from outside the hydrogen consuming system. The hydrogen supply stop position may be a position farther from the second connection part of the hydrogen consuming device in the direction of movement of the movable part than the hydrogen supply standby position. The hydrogen supply standby position may be a position where the hydrogen tank and the hydrogen consuming device are not connected in a state where the hydrogen tank can supply hydrogen to the hydrogen consuming device and is waiting for hydrogen supply. It may be a position closer to the second connection part of the hydrogen consuming device in the direction of movement of the movable part than the hydrogen supply stop position and where the first connection part of the hydrogen tank and the second connection part of the hydrogen consuming device are not connected. For example, it may be a position where accurate alignment for connecting the first connection part of the hydrogen tank and the second connection part of the hydrogen consuming device begins. The position where accurate alignment begins may be a position where the first connection part and the second connection part are arranged facing each other with a space between them, or a position where the first connection part and the second connection part are arranged facing each other on the same axis with a space between them.The hydrogen supply start position may be any position where the hydrogen tank and the hydrogen consumption device are connected so that the hydrogen tank can supply hydrogen to the hydrogen consumption device, specifically, any position where the first connection part of the hydrogen tank and the second connection part of the hydrogen consumption device are connected.

[0060] (Connection process) The connection process is a process of connecting the first connection part and the second connection part by moving the movable part on which the hydrogen tank is placed. The connection process may be a process of connecting the first connection part and the second connection part by moving the movable part on which the hydrogen tank is placed after the approach process, thereby shortening the separation distance. In the connection process, the hydrogen tank may be moved from a hydrogen supply standby position to a hydrogen supply start position. The connection process allows the hydrogen tank and the hydrogen consumption device to be connected in a state where the hydrogen tank can supply hydrogen to the hydrogen consumption device.

[0061] In the approaching step and the connecting step, the control device may cause the movable part to move the hydrogen tank in the axial direction of the first connecting part and the second connecting part. In this disclosure, the axial direction of the first connecting part and the second connecting part means the direction in which the first connecting part and the second connecting part can be connected.

[0062] The means for moving the movable part is not particularly limited, and the movable part may be manually pushed into or pulled out of the hydrogen consumption device using a member such as a lever, or the movement of the movable part may be controlled by an actuator. When an actuator is used, if there is a gravity component in the direction in which the first connection part approaches the second connection part, the output of the actuator may be adjusted according to the magnitude of the gravity component. If the first connection part is located diagonally above or vertically above the second connection part, the output of the actuator may be decreased according to the magnitude of the gravity component in the connecting step. On the other hand, if the first connection part is located diagonally below or vertically below the second connection part, the output of the actuator may be increased according to the magnitude of the gravity component in the connecting step. Note that if the first connection part is located horizontally with the second connection part, the output of the actuator does not need to be adjusted. If there is a gravity component in the direction in which the first connection part approaches the second connection part, the control device may adjust the output of the actuator of the movable part that moves the hydrogen tank according to the magnitude of the gravity component. The control device may detect the presence and magnitude of the gravity component using, for example, an acceleration sensor, an angle sensor, or the like. The angle sensor detects the angle θ between the installation surface of the second connection portion and a line in the approach direction of the first connection portion to the second connection portion. The angle θ corresponds to the insertion angle of the hydrogen tank into the hydrogen consumption device. The control device may, for example, prepare a first map in advance showing the correlation between the insertion angle of the hydrogen tank into the hydrogen consumption device and a gravity component, and detect the presence and magnitude of the gravity component by comparing the angle θ detected by the angle sensor with the first map. The control device may, for example, prepare a correlation equation between the actuator output and the gravity component, and adjust the actuator output based on the correlation equation. The control device may, for example, prepare a second map in advance showing the correlation between the actuator output and the gravity component, and adjust the actuator output by comparing the magnitude of the detected gravity component with the second map. The control device may, for example, prepare a third map in advance showing the correlation between the actuator output, the mass of the hydrogen tank, and the gravity component, and adjust the actuator output by comparing the mass of the hydrogen tank and the magnitude of the detected gravity component with the third map.The control device may preset the actuator output corresponding to each predetermined angle range, for example, when the insertion angle of the hydrogen tank into the hydrogen consumption device is 0°, 0°<θ≦15°, 15°<θ≦30°, 30°<θ≦45°, 45°<θ≦60°, 60°<θ≦75°, 75°<θ<90°, or 90°, and switch the actuator output depending on the predetermined angle range that the angle θ detected by the angle sensor falls into. For example, in the case of a hydrogen consumption device that is designed, due to its structure, so that the angle when the hydrogen tank is inserted into the hydrogen consumption device is 30°, the control device may preset the actuator output to an output that takes into account the gravity component when the angle θ is 30°.

[0063] In the approaching step and the connecting step, the control device may restrict movement of the hydrogen tank by a movement preventing member that locks the movable part at a predetermined position. In the approaching step and the connecting step, the control device may restrict movement of the movable part by engaging an engaging recess provided on the movable part with a lock pin.

[0064] 2.2. Hydrogen Tank Desorption Control The control device may perform desorption control as part of the control of attaching and detaching the hydrogen tank to the hydrogen consumption device. Desorption control includes a disconnection process and a separation process. The disconnection process is a process of moving the hydrogen tank relative to the hydrogen consumption device from the hydrogen supply start position to the hydrogen supply standby position. The disconnection process releases the connection between the hydrogen consumption device and the hydrogen tank. The separation process is a process of moving the hydrogen tank relative to the hydrogen consumption device from the hydrogen supply standby position to the hydrogen supply stop position. The separation process makes the hydrogen tank removable from the hydrogen consumption device. The detached state of the hydrogen tank and the connected state of the hydrogen tank are explained below.

[0065] 4, when the hydrogen tank 11 is placed in the mounting portion 21 of the hydrogen consumption device 20 and before it is connected to the second connection portion 42 of the hydrogen consumption device 20, the push rod 43 and the on-off valve 15 are separated, and the on-off valve 15 is closed by the valve body 16 of the hydrogen tank 11. Note that the position of the hydrogen tank 11 in the detached state may be either the hydrogen supply standby position or the hydrogen supply stop position.

[0066] 2.4. Connection State of Hydrogen Tank Figure 8 is a diagram illustrating the connection state of the hydrogen tank. As shown in Figure 8, when the hydrogen tank 11 is placed in the mounting portion 21 of the hydrogen consumption device 20 and connected to the second connection portion 42 of the hydrogen consumption device 20, the push rod 43 is inserted into the insertion hole 17a of the insertion portion 17, and the valve body 16 is pressed. This allows hydrogen to flow from the inside of the hydrogen tank 11 through the push rod 43 to the supply flow path 41, allowing hydrogen to be supplied to the fuel cell 40. Note that the position of the hydrogen tank 11 in the connected state is the hydrogen supply start position. Note that hydrogen is supplied to the fuel cell 40 when the injector 45, which is electrically connected to the control device 50, is operated in response to a command from the control device 50.

[0067] 2.5. Hydrogen Tank Connection Control from the Horizontal Direction Figure 9 is a flowchart explaining the flow of hydrogen tank connection control S10 from the horizontal direction. Figures 10 and 11 are diagrams for explaining hydrogen tank connection control S10. The arrows in Figures 10 and 11 indicate the direction of movement of the base 23. As can be seen from Figure 9, hydrogen tank connection control S10 comprises steps S11 to S17. Each step is explained below.

[0068] As a premise, as shown in Figure 10(a), the base 23 is placed in an initial position when the hydrogen tank 11 is inserted so that it is spaced apart from the push rod 43, and a lock pin 24 is inserted into the first engagement recess 23a to restrict movement. The hydrogen tank 11 is then placed and fixed in a predetermined position on the base 23. The on-off valve 15 of the hydrogen tank 11 and the push rod 43 are arranged coaxially facing each other at a distance. There are no particular limitations on the fixing method, but examples include tightening with a band, or providing irregularities on the outer surface of the hydrogen tank 11 and providing corresponding irregularities on the surface of the base 23, and combining these irregularities.

[0069] [Step S11] Connection Start Command In step S11, a command to start connecting the hydrogen tank 11 is input to the control device 50. The command to start the connection may be, for example, a signal sent to the control device 50 when a user operates a switch or when the hydrogen tank 11 is placed on the base 23.

[0070] [Step S12] Origin Learning In step S12, origin learning is performed. Specifically, as shown in Figure 10(b), the control device 50 operates the stepping motor 25 to move the base 23 to a position where the lock pin 24 contacts the wall of the first engagement recess 23a that is on the second engagement recess 23b side. The control device 50 then sets this position as the origin (hydrogen supply stop position) of the base 23. There are no particular limitations on the means for detecting contact, and it can be done, for example, by position detection using the position sensor 26 or torque value detection using the torque sensor 27.

[0071] [Step S13] Releasing the lock by the lock pin (lock-off control) In step S13, the lock by the lock pin 24 is released. Specifically, in response to a command from the control device 50, the lock pin 24 is released from the first engagement recess 23a as shown in FIG.

[0072] [Step S14] Movement to Hydrogen Supply Standby Position In step S14, the base 23 moves from the hydrogen supply stop position to the hydrogen supply standby position. The hydrogen supply standby position is a position where the on-off valve 15 of the hydrogen tank 11 is not yet connected to the push rod 43, but is positioned near the push rod 43. In step S14, the control device 50 activates the stepping motor 25 to move the base 23 closer to the push rod 43. This movement positions the base 23 so that the lock pin 24 can be inserted into the second engagement recess 23b, as shown in Figure 11(a).

[0073] [Step S15] Locking with Lock Pin (Lock-on Control) In step S15, the lock pin 24 is inserted into the second engagement recess 23b to lock the base 23. Specifically, in response to a command from the control device 50, the lock pin 24 protrudes toward the second engagement recess 23b and is positioned inside the second engagement recess 23b as shown in FIG.

[0074] [Step S16] Position Correction In step S16, position correction is performed. Specifically, as shown in Figure 11 (c), the control device 50 operates the stepping motor 25 to move the base 23 to a position where the lock pin 24 contacts the wall of the second engagement recess 23b that is on the first engagement recess 23a side. This corrects the hydrogen supply standby position. There are no particular limitations on the means for detecting contact, and it can be done, for example, by position detection using the position sensor 26 or torque value detection using the torque sensor 27.

[0075] [Step S17] Movement to Hydrogen Supply Start Position In step S17, the base 23 moves from the hydrogen supply standby position to the hydrogen supply start position, the on-off valve 15 connects to the push rod 43, and the hydrogen tank 11 and the supply flow path 41 are connected. Specifically, as shown in FIG. 11(d), the control device 50 operates the stepping motor 25 to move the base 23 closer to the push rod 43, so that the push rod 43 is inserted into the insertion hole 17a of the on-off valve 15 and presses the valve body 16. This results in the state shown in FIG. 8. In step S17, the lock pin 24 is inserted inside the second engagement recess 23b, limiting the amount of movement of the base 23 and preventing it from moving too far. Note that when detaching the hydrogen tank 11 from the hydrogen consumption device 20, steps S11 to S17 can be performed in reverse order.

[0076] [Effects, etc.] According to the hydrogen consumption system 10 described above, when attaching or detaching the hydrogen tank 11, it is possible to prevent poor hydrogen supply or hydrogen shutoff due to poor contact between the on-off valve 15 of the hydrogen tank 11 and the second connection part 42 (push rod 43) of the hydrogen consumption device 20. More specifically, rather than placing the hydrogen tank 11 on the base 23 and then directly connecting the hydrogen tank 11 to the push rod 43 as shown in Figure 10(a), by performing control to establish a hydrogen supply standby position as shown in steps S14 to S16, positioning is performed in two stages, improving positioning accuracy and achieving the above-mentioned effects. Furthermore, by limiting the movement of the base 23 with the lock pin 24, it is possible to improve the accuracy of the origin and correction during positioning, and to suppress deterioration in positioning control performance due to manufacturing variations and deterioration over time.

[0077] 2.6. Hydrogen Tank Connection Control from Vertically Above Figure 14 is a flowchart illustrating the process of hydrogen tank connection control S40 from vertically above. Figures 15 and 16 are diagrams for explaining hydrogen tank connection control S40. The arrows in Figures 15 and 16 indicate the direction of movement of the base 23. As can be seen from Figure 14, hydrogen tank connection control S40 includes steps S41 to S47. As a premise, as shown in Figure 15(a), the base 23 is positioned in the initial position when the hydrogen tank 11 is inserted so that it is spaced apart from the push rod 43, and the lock pin 24 is inserted into the first engagement recess 23a to restrict movement. The hydrogen tank 11 is then positioned and fixed in a predetermined position on the base 23. The on-off valve 15 of the hydrogen tank 11 and the push rod 43 are positioned coaxially, facing each other at a distance. Each step is explained below.

[0078] [Step S41] Connection Start Command In step S41, a command to start connecting the hydrogen tank 11 is input to the control device 50. The control device 50 estimates in advance the gravity component Fg1 applied in the connection direction of the hydrogen tank 11 from the torque value of the stepping motor 25.

[0079] [Step S42] Origin Learning In step S42, origin learning is performed. Specifically, as shown in Figure 15(b), with the lock pin 24 inserted into the first engagement recess 23a, the control device 50 adjusts the torque value of the stepping motor 25 to zero, and moves (lowers) the base 23 to a position where the weight of the hydrogen tank 11 causes the lock pin 24 to contact the wall of the first engagement recess 23a that is on the second engagement recess 23b side. The control device 50 then sets this position as the origin of the base 23 (hydrogen supply stop position).

[0080] [Step S43] Releasing the lock by the lock pin (lock-off control) In step S43, the lock by the lock pin 24 is released. Specifically, in response to a command from the control device 50, the lock pin 24 is released from the first engaging recess 23a as shown in FIG.

[0081] [Step S44] Movement to Hydrogen Supply Standby Position In step S44, the base 23 moves from the hydrogen supply stop position to the hydrogen supply standby position. In step S24, the control device 50 activates the stepping motor 25 to move (lower) the base 23 closer to the push rod 43. At this time, the control device 50 adjusts the torque command value for the stepping motor 25 to decrease by the amount of the gravity component Fg1 estimated in advance. This movement positions the lock pin 24 so that it can be inserted into the second engagement recess 23b, as shown in Figure 16(a).

[0082] [Step S45] Locking with Lock Pin (Lock-on Control) In step S45, the lock pin 24 is inserted into the second engagement recess 23b to lock the base 23. Specifically, in response to a command from the control device 50, the lock pin 24 protrudes toward the second engagement recess 23b and is positioned inside the second engagement recess 23b as shown in FIG.

[0083] [Step S46] Position Correction In step S46, position correction is performed. Specifically, as shown in Figure 16(c), the control device 50 operates the stepping motor 25 to move (raise) the base 23 to a position where the lock pin 24 contacts the wall of the second engagement recess 23b that is on the first engagement recess 23a side. At this time, the control device 50 adjusts the torque command value sent to the stepping motor 25 to increase it by the amount of the gravity component Fg1 estimated in advance. This corrects the hydrogen supply standby position.

[0084] [Step S47] Movement to Hydrogen Supply Start Position In step S47, the base 23 moves from the hydrogen supply standby position to the hydrogen supply start position, the on-off valve 15 connects to the push rod 43, and the hydrogen tank 11 and the supply flow path 41 are connected. Specifically, as shown in Figure 16(d), the control device 50 operates the stepping motor 25 to move (lower) the base 23 closer to the push rod 43, and the push rod 43 is inserted into the insertion hole 17a of the on-off valve 15 and presses the valve body 16. At this time, the control device 50 adjusts the torque command value for the stepping motor 25 to decrease by the amount of the previously estimated gravity component Fg1. When detaching the hydrogen tank 11 from the hydrogen consumption device 20, steps S41 to S47 can be performed in reverse order.

[0085] 2.6. Hydrogen Tank Connection Control from Diagonally Above Figure 17 is a flowchart illustrating the flow of the hydrogen tank connection control S50 from diagonally above. Figures 18 and 19 are diagrams for explaining the hydrogen tank connection control S50. The arrows in Figures 18 and 19 indicate the movement direction of the base 23. As can be seen from Figure 17, the hydrogen tank connection control S50 includes steps S51 to S57. Each step is explained below. As a premise, as shown in Figure 18(a), the base 23 is positioned in the initial position when the hydrogen tank 11 is inserted so that it is spaced apart from the push rod 43, and the lock pin 24 is inserted into the first engagement recess 23a to restrict movement. The hydrogen tank 11 is then positioned and fixed in a predetermined position on the base 23. The on-off valve 15 of the hydrogen tank 11 and the push rod 43 are positioned coaxially facing each other at a distance. Each step is explained below.

[0086] [Step S51] Connection Start Command In step S51, a command to start connecting the hydrogen tank 11 is input to the control device 50. The control device 50 estimates in advance the gravity component Fg2 that will be applied in the connection direction of the hydrogen tank 11 from the torque value of the stepping motor 25. Here, the value of the gravity component Fg2 that will be applied when controlling the connection of the hydrogen tank from diagonally above is smaller than the value of the gravity component Fg1 that will be applied when controlling the connection of the hydrogen tank from the vertical direction.

[0087] [Step S52] Origin Learning In step S52, origin learning is performed. Specifically, as shown in Figure 18(b), with the lock pin 24 inserted into the first engagement recess 23a, the control device 50 adjusts the torque value of the stepping motor 25 to zero, and moves (lowers) the base 23 to a position where the weight of the hydrogen tank 11 causes the lock pin 24 to contact the wall of the first engagement recess 23a that is on the second engagement recess 23b side. The control device 50 then sets this position as the origin of the base 23 (hydrogen supply stop position).

[0088] [Step S53] Releasing the lock by the lock pin (lock-off control) In step S53, the lock by the lock pin 24 is released. Specifically, in response to a command from the control device 50, the lock pin 24 is released from the first engaging recess 23a as shown in Figure 18(c).

[0089] [Step S54] Movement to Hydrogen Supply Standby Position In step S54, the base 23 moves from the hydrogen supply stop position to the hydrogen supply standby position. In step S24, the control device 50 activates the stepping motor 25 to move (lower) the base 23 closer to the push rod 43. At this time, the control device 50 adjusts the torque command value for the stepping motor 25 to decrease by the amount of the gravity component Fg2 estimated in advance. This movement positions the lock pin 24 so that it can be inserted into the second engagement recess 23b, as shown in Figure 19(a).

[0090] [Step S55] Locking with Lock Pin (Lock-on Control) In step S55, the lock pin 24 is inserted into the second engagement recess 23b to lock the base 23. Specifically, in response to a command from the control device 50, the lock pin 24 protrudes toward the second engagement recess 23b and is positioned inside the second engagement recess 23b as shown in FIG.

[0091] [Step S56] Position Correction In step S56, position correction is performed. Specifically, as shown in Figure 19(c), the control device 50 operates the stepping motor 25 to move (raise) the base 23 to a position where the lock pin 24 contacts the wall of the second engagement recess 23b that is on the first engagement recess 23a side. At this time, the control device 50 adjusts the torque command value sent to the stepping motor 25 to increase it by the amount of the gravity component Fg2 estimated in advance. This corrects the hydrogen supply standby position.

[0092] [Step S57] Movement to Hydrogen Supply Start Position In step S57, the base 23 moves from the hydrogen supply standby position to the hydrogen supply start position, the on-off valve 15 connects to the push rod 43, and the hydrogen tank 11 and the supply flow path 41 are connected. Specifically, as shown in Figure 19(d), the control device 50 operates the stepping motor 25 to move (lower) the base 23 closer to the push rod 43, and the push rod 43 is inserted into the insertion hole 17a of the on-off valve 15 and presses the valve body 16. At this time, the control device 50 adjusts the torque command value for the stepping motor 25 to decrease by the amount of the previously estimated gravity component Fg2. Note that when detaching the hydrogen tank 11 from the hydrogen consumption device 20, the above steps S51 to S57 can be performed in reverse order.

[0093] The connection control of the present disclosure can also control the connection of a hydrogen tank from an obliquely downward direction and from a vertically downward direction.

[0094] 3. Abnormality Detection Control The present disclosure is configured to be able to perform control (hereinafter, sometimes referred to as "abnormality detection control") to detect and report an abnormality when a malfunction occurs when connecting a hydrogen tank to a hydrogen consumption device. As the abnormality detection control, the control device performs at least a position determination after at least one of the approaching process and the connecting process, and further performs at least one of a pressure determination and a torque determination as necessary. For example, the following cases can be mentioned. As the abnormality detection control, the control device may perform a position determination after the approaching process, and if no abnormality is detected in the abnormality detection control after the approaching process, may further perform a position determination after the connecting process. As the abnormality detection control, the control device may perform a position determination and a pressure determination after the approaching process, and if no abnormality is detected in the abnormality detection control after the approaching process, may further perform a position determination and a pressure determination after the connecting process. The control device may perform a position determination and a torque determination as the abnormality detection control after the approaching step, and if no abnormality is detected in the abnormality detection control after the approaching step, further perform a position determination and a torque determination after the connecting step. The control device may perform a position determination, a pressure determination, and a torque determination as the abnormality detection control after the approaching step, and if no abnormality is detected in the abnormality detection control after the approaching step, further perform a position determination, a pressure determination, and a torque determination after the connecting step. The control device may not perform the abnormality detection control after the approaching step, and may perform a position determination and a pressure determination as the abnormality detection control after the connecting step. The control device may not perform the abnormality detection control after the approaching step, and may perform a position determination and a torque determination as the abnormality detection control after the connecting step. The control device may not perform the abnormality detection control after the approaching step, and may perform a position determination and a pressure determination as the abnormality detection control after the connecting step. The control device may not perform the abnormality detection control after the approaching step, and may perform a position determination and a torque determination as the abnormality detection control after the connecting step.

[0095] (Position determination) In the position determination, the control device acquires the position of the movable part from the position sensor and determines whether the position of the movable part is within a predetermined position range. If the position of the movable part is outside the predetermined position range, the control device determines that the connection of the hydrogen tank is abnormal. If the position of the movable part is within the predetermined position range, the control device determines that the connection of the hydrogen tank is normal. The position of the movable part after the approach process may be within a predetermined hydrogen supply standby position range. The position of the movable part after the connection process may be within a predetermined hydrogen supply start position range.

[0096] (Pressure determination) In pressure determination, the control device acquires the pressure of the hydrogen consumption device from the pressure sensor and determines whether the pressure is within a predetermined range. The predetermined range of pressure of the hydrogen consumption device may be set appropriately depending on the number of hydrogen tanks attached to the hydrogen consumption device, etc. When performing pressure determination in addition to position determination, the control device determines that the connection of the hydrogen tank is abnormal if at least one of the following conditions is met: the position of the movable part is outside the predetermined position range, or the pressure of the hydrogen consumption device is outside the predetermined pressure range. When performing pressure determination in addition to position determination, the control device determines that the connection of the hydrogen tank is normal if the position of the movable part is within the predetermined position range and the pressure of the hydrogen consumption device is within the predetermined pressure range.

[0097] (Torque Determination) Torque determination can be performed when a motor is used as the actuator. In the torque determination, the control device acquires the motor torque from a torque sensor and determines whether the torque is within a predetermined torque range. The predetermined range of motor torque may be set from a data group obtained in advance by measuring the motor torque in a normal state. In the torque determination, if there is a gravity component in the direction of approach of the first connection part to the second connection part, the control device may calculate a predetermined corrected torque range by correcting the predetermined torque range according to the magnitude of the gravity component, and determine whether the motor torque is within the predetermined corrected torque range. When the control device performs pressure determination and torque determination in addition to position determination, it determines that the connection of the hydrogen tank is abnormal if at least one of the following conditions is met: the position of the movable part is outside a predetermined position range, the pressure of the hydrogen consumption device is outside a predetermined pressure range, or the torque of the motor is outside a predetermined torque range. When the control device performs pressure and torque determination in addition to position determination, it determines that the connection of the hydrogen tank is normal if the position of the movable part is within a predetermined position range, the pressure of the hydrogen consumption device is within a predetermined pressure range, and the torque of the motor is within a predetermined torque range. Specific examples of abnormality detection control are explained below.

[0098] 3.1. Abnormality Detection Control When Hydrogen Tank is Installed Horizontally 3.1.1. Mode 1 Fig. 12 is a flowchart illustrating the flow of abnormality detection control S20 when a hydrogen tank is installed horizontally according to Mode 1. Each step will be explained below.

[0099] [Step S21] Movement to Hydrogen Supply Standby Position In step S21, after steps S11 to S14 described above, the control device 50 causes the stepping motor 25 to move the hydrogen tank 11 from the hydrogen supply stop position to the hydrogen supply standby position.

[0100] [Step S22] Abnormality Determination at Hydrogen Supply Standby Position In step S22, the control device 50 obtains position information of the base 23 from the position sensor 26 and obtains the pressure value in the supply flow path 41 from the pressure sensor 46 to determine whether the position of the base 23 is within a predetermined first position range (sometimes referred to as the first predetermined range) and whether the pressure value in the supply flow path 41 is within a predetermined first pressure range (sometimes referred to as the first predetermined range). The specific value of the predetermined first position range for the base position is not particularly limited, but it is a range that is considered to be an appropriate position for the hydrogen supply standby position (e.g., a range in which the on-off valve 15 is in a closed state and the on-off valve 15 and the push rod 43 are positioned close to each other for rapid movement to the hydrogen supply start position). The specific value of the predetermined first pressure range for the pressure value in the supply flow path 41 is not particularly limited, but it is a range of pressure values ​​that is appropriate for the hydrogen supply standby position (e.g., a pressure range in which the on-off valve 15 is in a closed state and therefore there is no communication with the hydrogen tank 11). If no hydrogen tanks are installed in the hydrogen consuming device and a first hydrogen tank is to be installed, the predetermined first pressure range of the pressure value in the supply flow path 41 may be a predetermined atmospheric pressure range. If one or more hydrogen tanks are already installed in the hydrogen consuming device and a second or subsequent hydrogen tank is to be installed, the predetermined first pressure range of the pressure value in the supply flow path 41 may be a predetermined pressure range corresponding to the number of hydrogen tanks already installed. If the base position is within the predetermined first position range and the pressure value in the supply flow path 41 is within the predetermined first pressure range in step S22, the control device 50 determines Yes and proceeds to step S23. If at least one of the conditions of the base position being outside the predetermined first position range and the pressure value in the supply flow path 41 being outside the predetermined first pressure range is met in step S22, the control device 50 determines No and proceeds to step S25.

[0101] [Step S23] Movement to hydrogen supply start position If the answer is Yes in step S22, in step S23, the base 23 moves from the hydrogen supply standby position to the hydrogen supply start position via steps S15 to S17 described above, and if normal, the push rod 43 presses the valve body 16, connecting the hydrogen tank 11 and the supply flow path 41.

[0102] [Step S24] Determining Abnormality at the Hydrogen Supply Start Position In step S24, after the base 23 has moved to the hydrogen supply start position, the control device 50 acquires position information for the base 23 from the position sensor 26 and acquires the pressure value in the supply flow path 41 from the pressure sensor 46 to determine whether the position of the base 23 is within a predetermined second position range (sometimes referred to as the second predetermined range) and whether the pressure value in the supply flow path 41 is within a predetermined second pressure range (sometimes referred to as the second predetermined range). The specific value of the predetermined second position range for the base position is not particularly limited, but it is a range that is considered to be an appropriate position for the hydrogen supply start position (for example, a range of positions where the push rod 43 is considered to be pressing against the valve body 16 of the on-off valve 15). The specific value of the predetermined second pressure range for the pressure value in the supply flow path 41 is not particularly limited, but it is a range of pressure values ​​that is appropriate for the hydrogen supply start position (for example, a range of pressure values ​​where the on-off valve 15 is considered to be in an open state and therefore communication with the hydrogen tank 11 is possible). In step S24, if the base position is within the range of the predetermined second position and the pressure value in the supply flow path 41 is within the range of the predetermined second pressure, the control device 50 determines that there are no abnormalities and terminates the abnormality detection control S20. In step S24, if at least one of the conditions that the base position is outside the range of the predetermined second position and the pressure value in the supply flow path 41 is outside the range of the predetermined second pressure is satisfied, the control device 50 determines that there are no abnormalities and proceeds to step S25.

[0103] [Step S25] Emergency Shutdown In step S25, if the answer is No in step S22 or step S24, the control device 50 performs an emergency shutdown of the hydrogen consumption system 10. If the answer is No in each of these steps, there is concern that there is an abnormality in the hydrogen consumption system 10, so the hydrogen consumption system 10 is brought to an emergency shutdown from the perspective of ensuring safety.

[0104] [Step S26] Identifying Abnormal Mode In step S26, after the emergency stop is performed in step S25 and safety is ensured, the control device 50 performs a calculation to identify the abnormal mode (classify the type of abnormality). The abnormal mode is a calculation to identify what type of abnormality is expected to occur. Specifically, for example, it is as follows.

[0105] In abnormal mode A1, when the base position is outside the range of the predetermined first position in step S22 and the pressure value in the supply flow path 41 is within the range of the predetermined first pressure, it is possible that the base position is misaligned. This suggests that there is some kind of malfunction in the equipment that moves the base 23. In abnormal mode A2, when the base position is outside the range of the predetermined first position in step S22 and the pressure value in the supply flow path 41 is outside the range of the predetermined first pressure, it is possible that the base position is misaligned and the pressure in the supply flow path 41 is rising. This suggests that the push rod 43 is pressing the valve body 16 even though it is in the hydrogen supply standby position.

[0106] In abnormal mode B1, when the base position is within the predetermined second position range in step S24 but the pressure value in the supply flow path 41 is outside the predetermined second pressure range, it is possible that the internal pressure of the supply flow path 41 does not increase even though the hydrogen supply is at the start position. This is likely due to insufficient residual pressure in the hydrogen tank 11, a hydrogen leak, or a malfunction of the on-off valve 15 (not opening). In abnormal mode B2, when the base position is outside the predetermined second position range in step S24 and the pressure value in the supply flow path 41 is within the predetermined second pressure range, it is possible that the base position is misaligned. This is likely due to some malfunction of the device that moves the base between the hydrogen supply standby position and the hydrogen supply start position. In abnormal mode B3, when the base position is outside the predetermined second position range in step S24 and the pressure value in the supply flow path 41 is outside the predetermined second pressure range, it is possible that the base position is misaligned and the internal pressure of the supply flow path 41 does not increase even though the hydrogen supply is at the start position. This is presumably because an abnormality in the moving equipment of the base 23 or the on-off valve 15 has caused the valve to not open even though it is at the hydrogen supply start position.

[0107] The classification of abnormality modes described above is an example, and even if the value is outside the specified range, the expected abnormality will change depending on whether it is outside the range on the upper side or the lower side, so various other abnormality modes can be set in addition to those described above.

[0108] [Step S27] Notification In step S27, the control device 50 controls the notification device 60 to notify the emergency shutdown of the hydrogen consumption system 10 and the abnormal mode calculated in step S26.

[0109] 13 is a flowchart illustrating the flow of the abnormality detection control S30 when the hydrogen tank is mounted horizontally according to mode 2. Each step will be explained below.

[0110] [Step S31] Movement to Hydrogen Supply Standby Position In step S31, after steps S11 to S14 described above, the control device 50 causes the stepping motor 25 to move the hydrogen tank 11 from the hydrogen supply stop position to the hydrogen supply standby position.

[0111] [Step S32] Determining Abnormality at the Hydrogen Supply Standby Position In step S32, the control device 50 acquires position information of the base 23 from the position sensor 26, the pressure value in the supply flow path 41 from the pressure sensor 46, and the torque of the stepping motor 25 from the torque sensor 27, and determines whether the position of the base 23 is within a predetermined first position range, whether the pressure value in the supply flow path 41 is within a predetermined first pressure range, and whether the torque of the stepping motor 25 is within a predetermined first torque range (sometimes referred to as the first predetermined range). The specific value of the first predetermined torque range is not particularly limited, but it is a range of torque necessary for moving the base 23 and pressing the valve body 16 at the hydrogen supply standby position, and a torque range that does not result in an overload state. In step S32, if the base position is within the predetermined first position range, the pressure value in the supply flow path 41 is within the predetermined first pressure range, and the torque of the stepping motor 25 is within the predetermined first torque range, the control device 50 determines Yes and proceeds to step S33. In step S32, if at least one of the following conditions is met: the base position is outside the range of a predetermined first position, the pressure value in the supply flow path 41 is outside the range of a predetermined first pressure, and the torque of the stepping motor 25 is outside the range of a predetermined first torque, the control device 50 will answer No and proceed to step S35.

[0112] [Step S33] Movement to hydrogen supply start position If the answer is Yes in step S32, in step S33, the base 23 moves from the hydrogen supply standby position to the hydrogen supply start position via steps S15 to S17 described above, and if normal, the push rod 43 presses the valve body 16, connecting the hydrogen tank 11 and the supply flow path 41.

[0113] [Step S34] Determining Abnormality at the Hydrogen Supply Start Position In step S34, after the base 23 has moved to the hydrogen supply start position, the control device 50 obtains position information for the base 23 from the position sensor 26, the pressure value in the supply flow path 41 from the pressure sensor 46, and the torque of the stepping motor 25 from the torque sensor 27, and determines whether the position of the base 23 is within a predetermined second position range, whether the pressure value in the supply flow path 41 is within a predetermined second pressure range, and whether the torque of the stepping motor 25 is within a predetermined second torque range (sometimes referred to as the second predetermined range). The specific value of the second predetermined torque range is not particularly limited, but is a torque range that is necessary to move the base 23 and press the valve body 16 at the hydrogen supply start position, and that does not result in an overload state. In step S34, if the base position is within the predetermined second position range, and the pressure value in the supply flow path 41 is within the predetermined second pressure range, and the torque of the stepping motor 25 is within the predetermined second torque range, the control device 50 determines that there are no abnormalities and terminates the abnormality detection control S30. In step S34, if at least one of the conditions that the base position is outside the predetermined second position range, the pressure value in the supply flow path 41 is outside the predetermined second pressure range, and the torque of the stepping motor 25 is outside the predetermined second torque range is satisfied, the control device 50 determines that there are no abnormalities and proceeds to step S35.

[0114] [Step S35] Emergency Shutdown In step S35, if the answer is No in step S32 or step S34, the control device 50 performs an emergency shutdown of the hydrogen consumption system 10. If the answer is No in each of these steps, there is concern that there is an abnormality in the hydrogen consumption system 10, so the hydrogen consumption system 10 is brought to an emergency shutdown from the perspective of ensuring safety.

[0115] [Step S36] Identifying Abnormal Mode In step S36, after the emergency stop is performed in step S35 and safety is ensured, the control device 50 performs a calculation to identify the abnormal mode (classify the type of abnormality). The abnormal mode is a calculation to identify what type of abnormality is expected to occur. Specifically, for example, it is as follows.

[0116] Abnormal mode A11 is considered to be an increase in torque when the torque of the stepping motor 25 is outside the predetermined first torque range in step S32, the base position is within the predetermined first position range, and the pressure value in the supply flow path 41 is within the predetermined first pressure range. This is assumed to be due to some malfunction in the equipment moving the base, resulting in increased friction. Abnormal mode A12 is considered to be an increase in torque and displacement of the hydrogen tank when the torque of the stepping motor 25 is outside the predetermined first torque range in step S32, the base position is outside the predetermined first position range, and the pressure value in the supply flow path 41 is within the predetermined first pressure range. This is assumed to be due to some malfunction in the equipment moving the base 23. Abnormal mode A13 is considered to be an increase in torque, displacement of the hydrogen tank, and increase in pressure in the supply flow path 41 when the base position is outside the predetermined first position range in step S32, the pressure value in the supply flow path 41 is outside the predetermined first pressure range, and the torque of the stepping motor 25 is outside the predetermined first torque range. This is presumably due to some malfunction occurring in the device that moves on the base 23 (such as the push rod 43 pressing against the valve body 16 even though it is in the hydrogen supply standby position).

[0117] Abnormal mode B11 occurs when, in step S34, the torque of the stepping motor 25 is within the predetermined second torque range, the base position is within the predetermined second position range, and the pressure value in the supply flow path 41 is outside the predetermined second pressure range. This indicates that the pressure in the supply flow path 41 is insufficient even though the hydrogen supply start position is reached. This is likely due to insufficient residual pressure in the hydrogen tank 11 or a hydrogen leak. Abnormal mode B12 occurs when, in step S34, the torque of the stepping motor 25 is outside the predetermined second torque range, the base position is within the predetermined second position range, and the pressure value in the supply flow path 41 is within the predetermined second pressure range. This is likely due to an increase in torque. This is likely due to some kind of malfunction in the equipment that moves the base 23, causing increased friction. Abnormal mode B13 is considered to be due to insufficient torque of the stepping motor 25 and insufficient pressure in the supply flow path 41 when the torque of the stepping motor 25 is outside the predetermined second torque range, the base position is within the predetermined second position range, and the pressure value in the supply flow path 41 is outside the predetermined second pressure range in process S34. This is considered to be due to insufficient contact between the push rod 43 and the valve body 16, insufficient torque to push the push rod 43, and poor contact between the on-off valve 15 and the push rod 43. Abnormal mode B14 is considered to be due to an increase in torque and misalignment of the hydrogen tank when the torque of the stepping motor 25 is outside the predetermined second torque range, the base position is outside the predetermined second position range, and the pressure value in the supply flow path 41 is within the predetermined second pressure range in process S34. This is considered to be due to some kind of malfunction in the equipment that moves the base 23. In abnormal mode B15, when the torque of the stepping motor 25 is outside the predetermined second torque range in process S34, the base position is outside the predetermined second position range, and the pressure value in the supply flow path 41 is outside the predetermined second pressure range, it is assumed that the valve will not open due to a malfunction of the equipment that moves the base or a malfunction of the opening / closing valve 15.

[0118] The classification of abnormal modes described above is an example, and even if the value is outside the specified range, the expected abnormality will change depending on whether it is outside the range on the upper side or the lower side, so various other abnormality modes can be set in addition to those described above.

[0119] [Step S37] Notification In step S37, the control device 50 controls the notification device 60 to notify the emergency shutdown of the hydrogen consumption system 10 and the abnormal mode calculated in step S36.

[0120] 3.2. Abnormality detection control when a hydrogen tank is attached vertically from above 3.2.1. Mode 3 Figure 20 is a flowchart illustrating the flow of abnormality detection control S60 when a hydrogen tank is attached vertically from above according to Mode 3. Each step is explained below.

[0121] [Step S61] Movement to hydrogen supply standby position In step S61, after steps S41 to S44 described above, the control device 50 moves the hydrogen tank 11 from the hydrogen supply stop position to the hydrogen supply standby position using the stepping motor 25. Also in step S61, the control device 50 estimates the amount of torque change tg1 of the stepping motor 25 due to gravity in the vertical direction, corrects the predetermined torque range used in torque judgment by the amount of torque change tg1, and calculates a predetermined corrected first torque range at the hydrogen supply standby position and a predetermined corrected second torque range at the hydrogen supply start position.

[0122] [Step S62] Determining Abnormality at the Hydrogen Supply Standby Position In step S62, the control device 50 obtains position information of the base 23 from the position sensor 26, the pressure value in the supply flow path 41 from the pressure sensor 46, and the torque of the stepping motor 25 from the torque sensor 27, and determines whether the position of the base 23 is within a predetermined first position range, whether the pressure value in the supply flow path 41 is within a predetermined first pressure range, and whether the torque of the stepping motor 25 is within a predetermined corrected first torque range. The specific value of the predetermined range of the corrected first torque is not particularly limited, but it is a torque range that takes into account vertical gravity and is necessary to move the base 23 and press the valve body 16 at the hydrogen supply standby position, and a torque range that does not result in an overload state. In step S62, if the base position is within the predetermined first position range, the pressure value in the supply flow path 41 is within the predetermined first pressure range, and the torque of the stepping motor 25 is within the predetermined corrected first torque range, the control device 50 determines "Yes" and proceeds to step S63. In step S62, if at least one of the following conditions is met: the base position is outside the range of a predetermined first position, the pressure value in the supply flow path 41 is outside the range of a predetermined first pressure, and the torque of the stepping motor 25 is outside the range of a predetermined corrected first torque, the control device 50 will answer No and proceed to step S65.

[0123] [Step S63] Movement to hydrogen supply start position If the answer is Yes in step S62, in step S63, the base 23 moves from the hydrogen supply standby position to the hydrogen supply start position via steps S45 to S47 described above, and if normal, the push rod 43 presses the valve body 16, connecting the hydrogen tank 11 and the supply flow path 41.

[0124] [Step S64] Determining Abnormality at Hydrogen Supply Start Position In step S64, after the base 23 has moved to the hydrogen supply start position, the control device 50 obtains position information for the base 23 from the position sensor 26, the pressure value in the supply flow path 41 from the pressure sensor 46, and the torque of the stepping motor 25 from the torque sensor 27, and determines whether the position of the base 23 is within a predetermined second position range, whether the pressure value in the supply flow path 41 is within a predetermined second pressure range, and whether the torque of the stepping motor 25 is within a predetermined corrected second torque range. Here, the specific value of the predetermined range of the corrected second torque is not particularly limited, but is a range of torque that takes into account gravity in the vertical direction and is necessary to move the base 23 and press the valve body 16 at the hydrogen supply start position, and a torque range that does not result in an overload state. In step S64, if the base position is within the predetermined second position range, and the pressure value in the supply flow path 41 is within the predetermined second pressure range, and the torque of the stepping motor 25 is within the predetermined corrected second torque range, the control device 50 determines that there are no abnormalities and terminates the abnormality detection control S60. In step S64, if at least one of the conditions that the base position is outside the predetermined second position range, the pressure value in the supply flow path 41 is outside the predetermined second pressure range, and the torque of the stepping motor 25 is outside the predetermined corrected second torque range is met, the control device 50 determines that there are no abnormalities and proceeds to step S65.

[0125] [Step S65] Emergency Shutdown In step S65, if the answer is No in step S62 or step S64, the control device 50 performs an emergency shutdown of the hydrogen consumption system 10. If the answer is No in each of these steps, there is concern that there is an abnormality in the hydrogen consumption system 10, so the hydrogen consumption system 10 is brought to an emergency shutdown from the perspective of ensuring safety.

[0126] [Step S66] Identifying Abnormal Mode In step S66, after the emergency stop is performed in step S65 and safety is ensured, the control device 50 performs a calculation to identify the abnormal mode (classify the type of abnormality). The abnormal mode is a calculation to identify what type of abnormality is expected to occur. Specific examples of the abnormal mode include the above-mentioned abnormal modes A11 to A13, B11 to B15, etc.

[0127] [Step S67] Notification In step S67, the control device 50 controls the notification device 60 to notify the emergency shutdown of the hydrogen consumption system 10 and the abnormal mode calculated in step S66.

[0128] 3.3. Abnormality Detection Control When Hydrogen Tank is Installed Diagonally from Above 3.3.1. Mode 4 Figure 21 is a flowchart illustrating the flow of abnormality detection control S70 when a hydrogen tank is installed diagonally from above according to Mode 4. Each step will be explained below.

[0129] [Step S71] Movement to hydrogen supply standby position In step S71, after steps S51 to S54 described above, the control device 50 moves the hydrogen tank 11 from the hydrogen supply stop position to the hydrogen supply standby position using the stepping motor 25. Also in step S71, the control device 50 estimates the torque change tg2 of the stepping motor 25 due to gravity in the oblique direction, corrects the predetermined torque range used in torque judgment by the magnitude of the torque change tg2, and calculates a predetermined corrected third torque range at the hydrogen supply standby position and a predetermined corrected fourth torque range at the hydrogen supply start position.

[0130] [Step S72] Determining Abnormality at the Hydrogen Supply Standby Position In step S72, the control device 50 obtains position information of the base 23 from the position sensor 26, the pressure value in the supply flow path 41 from the pressure sensor 46, and the torque of the stepping motor 25 from the torque sensor 27, and determines whether the position of the base 23 is within a predetermined first position range, whether the pressure value in the supply flow path 41 is within a predetermined first pressure range, and whether the torque of the stepping motor 25 is within a predetermined corrected third torque range. The specific value of the predetermined range of the corrected third torque is not particularly limited, but it is a torque range that takes into account gravity in the diagonal direction and is necessary to move the base 23 and press the valve body 16 at the hydrogen supply standby position, and a torque range that does not result in an overload state. In step S72, if the base position is within the predetermined first position range, the pressure value in the supply flow path 41 is within the predetermined first pressure range, and the torque of the stepping motor 25 is within the predetermined corrected third torque range, the control device 50 determines "Yes" and proceeds to step S73. In step S72, if at least one of the following conditions is met: the base position is outside the range of a predetermined first position, the pressure value in the supply flow path 41 is outside the range of a predetermined first pressure, and the torque of the stepping motor 25 is outside the range of a predetermined corrected third torque, the control device 50 will answer No and proceed to step S75.

[0131] [Step S73] Movement to hydrogen supply start position If the answer is Yes in step S72, in step S73, the base 23 moves from the hydrogen supply standby position to the hydrogen supply start position via steps S55 to S57 described above, and if normal, the push rod 43 presses the valve body 16, connecting the hydrogen tank 11 and the supply flow path 41.

[0132] [Step S74] Determining Abnormality at Hydrogen Supply Start Position In step S74, after the base 23 has moved to the hydrogen supply start position, the control device 50 obtains position information for the base 23 from the position sensor 26, the pressure value in the supply flow path 41 from the pressure sensor 46, and the torque of the stepping motor 25 from the torque sensor 27, and determines whether the position of the base 23 is within a predetermined second position range, whether the pressure value in the supply flow path 41 is within a predetermined second pressure range, and whether the torque of the stepping motor 25 is within a predetermined corrected fourth torque range. Here, the specific value of the predetermined range of the corrected fourth torque is not particularly limited, but is a range of torque that takes into account gravity in the diagonal direction and is necessary to move the base 23 and press the valve body 16 at the hydrogen supply start position, and a torque range that does not result in an overload state. In step S74, if the base position is within the predetermined second position range, and the pressure value in the supply flow path 41 is within the predetermined second pressure range, and the torque of the stepping motor 25 is within the predetermined corrected fourth torque range, the control device 50 determines that there are no abnormalities and terminates the abnormality detection control S70. In step S74, if at least one of the conditions that the base position is outside the predetermined second position range, the pressure value in the supply flow path 41 is outside the predetermined second pressure range, and the torque of the stepping motor 25 is outside the predetermined corrected fourth torque range is met, the control device 50 determines that there are no abnormalities and proceeds to step S75.

[0133] [Step S75] Emergency Shutdown In step S75, if the answer is No in step S72 or step S74, the control device 50 performs an emergency shutdown of the hydrogen consumption system 10. If the answer is No in each of these steps, there is concern that there is an abnormality in the hydrogen consumption system 10, so the hydrogen consumption system 10 is brought to an emergency shutdown from the perspective of ensuring safety.

[0134] [Step S76] Identifying Abnormal Mode In step S76, after the emergency stop is performed in step S75 and safety is ensured, the control device 50 performs a calculation to identify the abnormal mode (classify the type of abnormality). The abnormal mode is a calculation to identify what type of abnormality is expected to occur. Specific examples of the abnormal mode include the above-mentioned abnormal modes A11 to A13, B11 to B15, etc.

[0135] [Step S77] Notification In step S77, the control device 50 controls the notification device 60 to notify the emergency shutdown of the hydrogen consumption system 10 and the abnormal mode calculated in step S66.

[0136] 3.4 Effects, etc. The hydrogen consumption system 10 equipped with the anomaly detection control described above can quickly and accurately detect anomalies when installing the hydrogen tank 11. Furthermore, including the process of identifying the anomaly mode makes it possible to determine the type of anomaly, which contributes to speeding up the resolution of the anomaly.

[0137] 10...hydrogen consumption system, 11...hydrogen tank, 12...liner, 13...reinforcing layer, 14...mouthpiece, 15...on-off valve, 16...valve body, 17...insertion portion, 20...hydrogen consumption device, 21...mounting portion, 22...storage hole, 23...base, 24...lock pin, 25...stepping motor, 26...position sensor, 27...torque sensor, 40...fuel cell, 41...supply flow path, 42...second connection portion, 43...push rod, 45...injection, 46...pressure sensor, 50...control device, 51...CPU, 52...RAM, 53...ROM, 54...receiving portion, 55...transmitting portion, 60...alarm device

Claims

1. A hydrogen consumption system having a detachable hydrogen tank, a hydrogen consumption device that consumes hydrogen from the hydrogen tank, and a control device, wherein the hydrogen tank has a first connection part, the hydrogen consumption device has a second connection part that connects to the first connection part to supply hydrogen to the hydrogen consumption device, a movable part that moves the hydrogen tank, and a position sensor that detects the position of the movable part, the control device controls the connection of the hydrogen tank to the hydrogen consumption device, the connection control includes an approach process of moving the movable part carrying the hydrogen tank so that the first connection part and the second connection part are positioned opposite each other and spaced apart, after the approach process, the control device obtains the position of the movable part from the position sensor and performs a position determination of whether the position of the movable part is within a predetermined position range, and the control device determines that an abnormality has occurred if the position of the movable part is outside the predetermined position range.

2. A hydrogen consumption system having a detachable hydrogen tank, a hydrogen consumption device that consumes hydrogen from the hydrogen tank, and a control device, wherein the hydrogen tank has a first connection part, the hydrogen consumption device has a second connection part that connects to the first connection part to supply hydrogen to the hydrogen consumption device, a movable part that moves the hydrogen tank, and a position sensor that detects the position of the movable part, the control device controls the connection of the hydrogen tank to the hydrogen consumption device, the connection control includes a connection step of connecting the first connection part and the second connection part by moving the movable part carrying the hydrogen tank, and after the connection step, the control device obtains the position of the movable part from the position sensor and determines whether the position of the movable part is within a predetermined position range, and the control device determines that an abnormality has occurred if the position of the movable part is outside the predetermined position range.

3. The hydrogen consumption device has a pressure sensor that measures the pressure within the hydrogen consumption device, and the control device, after the movement of the movable part, performs the position determination and obtains the pressure from the pressure sensor to determine whether the pressure is within a predetermined range, and the control device determines that an abnormality has occurred when at least one of the following conditions is met: the position of the movable part is outside the predetermined position range, or the pressure is outside the predetermined pressure range. A hydrogen consumption system as described in claim 1 or 2.

4. The hydrogen consumption system of claim 3, wherein the hydrogen consumption device has a motor that moves the movable part and a torque sensor that measures the torque of the motor, and the control device, after the movement of the movable part, performs the position determination, the pressure determination, and a torque determination by obtaining the torque of the motor from the torque sensor to determine whether the torque is within a predetermined torque range, and the control device determines that an abnormality has occurred when at least one of the following conditions is satisfied: when the position of the movable part is outside the predetermined position range, when the pressure is outside the predetermined pressure range, and when the torque is outside the predetermined torque range.

5. A hydrogen consumption system as described in claim 4, wherein, when there is a gravity component in the direction of approach of the first connection part to the second connection part, the control device, in the torque judgment, calculates a predetermined corrected torque range by correcting the predetermined torque range according to the magnitude of the gravity component, and judges whether the torque is within the predetermined corrected torque range.

6. The hydrogen consumption system according to claim 5, wherein the first connection part is an on-off valve, and the second connection part is a push rod.

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