CN113983347A - 一种自动识别的加氢***和加氢方法 - Google Patents

一种自动识别的加氢***和加氢方法 Download PDF

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CN113983347A
CN113983347A CN202111365910.6A CN202111365910A CN113983347A CN 113983347 A CN113983347 A CN 113983347A CN 202111365910 A CN202111365910 A CN 202111365910A CN 113983347 A CN113983347 A CN 113983347A
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module
filling
information processing
hydrogenation
signal
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***
张伽博
孙志群
韩晓明
曲普
张鹏军
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North University of China
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North University of China
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Priority to CN202111365910.6A priority Critical patent/CN113983347A/zh
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Priority to US17/863,916 priority patent/US20230150811A1/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
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    • F17C5/00—Methods or apparatus for filling containers with liquefied, solidified, or compressed gases under pressures
    • F17C5/002—Automated filling apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
    • B67D7/04—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants
    • B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F17C5/00—Methods or apparatus for filling containers with liquefied, solidified, or compressed gases under pressures
    • F17C5/002—Automated filling apparatus
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    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
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    • B67D7/0401—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring fuels, lubricants or mixed fuels and lubricants arrangements for automatically fuelling vehicles, i.e. without human intervention
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Abstract

本发明属于氢气加注技术领域，具体涉及一种自动识别的加氢***和加氢方法。本发明包括地面定位模块、储氢模块、机械臂、加注模块、自动识别模块和信息处理模块；地面定位模块设有传感器；所述输氢管道与加注模块连接；所述储氢模块设于地面定位模块的尾端，储氢模块上连接有机械臂、信息处理模块和输氢管道，信息处理模块接收到传感器的信号后控制机械臂带动加注模块初步找准燃料汽车上加注接口的位置，自动识别模块识别加注接口的准确位置，信息处理模块驱动机械臂移动直至加氢枪头与加注接口对接完成，信息处理模块监测和控制加注模块的加注量以及压力。本发明减少了加注过程中人工的使用，提高加注效率；提高安全系数以及加注***的使用寿命。

Description

一种自动识别的加氢***和加氢方法
技术领域
本发明属于氢气加注技术领域，具体涉及一种自动识别的加氢***和加氢方法。
背景技术
随着全球环保意识的加强和燃料电池的快速发展，民用氢燃料汽车得到大量投放，氢燃料的加注需求激增，加氢站的数量与日俱增。目前的加氢***主要通过人工操作完成加注过程，加氢过程不仅缓慢，而且对于人工操作的安全性要求高。因此，加氢***进行自动化改造，对于加注效率、安全系数以及加注***使用寿命提升有重要意义。
发明内容
本发明要解决现有人工加氢不仅缓慢，而且对于人工操作的安全性要求高的问题，提供了一种自动识别的加氢***。
本发明采用如下的技术方案实现：一种自动识别的加氢***，包括地面定位模块、储氢模块、机械臂、加注模块、自动识别模块和信息处理模块；
所述地面定位模块设有传感器；所述输氢管道与加注模块连接；所述储氢模块设于地面定位模块的尾端，储氢模块上连接有机械臂、信息处理模块和输氢管道，机械臂的自由端连接有加注模块，机械臂带动加注模块进行移动和复位，加注模块上设有加氢枪头和自动识别模块；所述输氢管道与加注模块连接；
所述信息处理模块与地面定位模块的传感器、加注模块和自动识别模块电性连接，信息处理模块接收到传感器的信号后控制机械臂带动加注模块初步找准燃料汽车上加注接口的位置，然后自动识别模块识别加注接口的准确位置，并将信号传输给信息处理模块，信息处理模块驱动机械臂带动加氢枪头移动直至加氢枪头与加注接口对接完成，信息处理模块监测和控制加注模块的加注量以及压力。
进一步的，所述加注模块上设有报警装置，报警装置与信息处理模块电性连接，对加注过程中的燃料泄漏情况进行实时监测，并在加注过程中燃料泄漏时自动报警。
进一步的，所述报警装置包括信息采集卡、信号处理终端以及状态信息显示器；
所述加注模块内设有气体检测器和压力传感器，对加注过程中的氢气浓度以及压力进行实时检测，检测结果经过信号采集卡转变为数字信号传输至信息处理终端，信息处理终端对接收到的数字信号与不同等级的气体浓度设定数值和压力设定数值进行比对，将对应状态信号输出至状态信息显示器，状态显示器根据信号显示加注安全状态。
进一步的，所述报警装置的信息处理终端分为三种信号等级，分别为安全信号、警戒信号和危险信号；对应的状态显示器分为三种显示状态，分别为绿色、橙色和黄色；
当信息处理终端接收的信号为警戒信号以及危险信号时，信息处理终端将信号传输至信息处理模块，信息处理模块对应发出警戒报警和危险报警，发出危险报警的同时信息处理模块控制加注模块立即关闭加氢。
进一步的，所述自动识别模块包括双目识别摄像头，双目识别摄像头固定在加注模块的底部，双目识别摄像头与信息处理模块电性连接。
进一步的，所述信息处理模块上设有控制面板，控制面板用于接收以及储存氢气加注信息。
进一步的，所述加氢枪头与燃料汽车的加注接口匹配。
一种自动识别的加氢方法，当燃料汽车驶入加注区后，燃料汽车行驶至地面定位模块的传感器位置时，传感器将信号传输至信息处理模块；燃料汽车停止移动后，信息处理模块控制机械臂带动加注模块初步搜索加氢接口的位置，然后信息处理模块根据双目识别摄像头反馈的信号驱动机械臂移动，直至加氢枪头与加氢接口完成自动对正，并且进行对接和锁紧；对接完成后，信息处理模块根据接受到的加氢信息的信号向储氢模块释放氢气加注信号，进行加注；加注完成后，信息处理模块向储氢模块释放加注完成信号，储氢模块停止氢气供应，加注模块进行安全泄压，加氢枪头和加氢接口分离，各模块复位汽车驶离。
本发明相比现有技术的有益效果：
本申请识别到燃料汽车后，先初步搜索加注接口的位置，然后精确找准加注接口并完成对接，可以满足不同外形尺寸以及不同加氢口位置的汽车加氢需求，并且能够控制加注量以及压力，全程自动化完成氢气燃料的加注，减少了加注过程中人工的使用，提高加注效率；
另外，加注过程中，报警装置对燃料泄漏情况进行实时监测，并在燃料泄漏时自动报警并立即关闭加氢枪，防止气体继续外泄，提高安全系数以及加注***的使用寿命。
附图说明
图1为本加氢***的结构示意图；
图2为加注模块与自动识别模块的连接示意图；
图3为燃料汽车的加注接口的结构示意图；
图4加注模块进行实时监测和自动报警的流程示意图
图5为本加氢方法的流程示意图；
图中：1-燃料汽车，2-储氢模块，3-信息处理模块，4-机械臂，5-加注模块，6-自动识别模块，7-地面定位模块，8-加氢枪头，9-双目识别摄像头，10-输氢管道，11-加注接口。
具体实施方式
以下由特定的具体实施例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点及功效。
须知，本说明书所附图式所绘示的结构、比例、大小等，均仅用以配合说明书所揭示的内容，以供熟悉此技术的人士了解与阅读，并非用以限定本发明可实施的限定条件，故不具技术上的实质意义，任何结构的修饰、比例关系的改变或大小的调整，在不影响本发明所能产生的功效及所能达成的目的下，均应仍落在本发明所揭示的技术内容所能涵盖的范围内。同时，本说明书中所引用的如“上”、“下”、“左”、“右”、“中间”及“一”等的用语，亦仅为便于叙述的明了，而非用以限定本发明可实施的范围，其相对关系的改变或调整，在无实质变更技术内容下，当亦视为本发明可实施的范畴。
参照图1至图3，本发明提供一种技术方案：一种自动识别的加氢***，包括地面定位模块7、储氢模块2、机械臂4、加注模块5、自动识别模块6和信息处理模块3；
所述地面定位模块7设有传感器；所述输氢管道与加注模块5连接；所述储氢模块2设于地面定位模块7的尾端，储氢模块2上连接有机械臂4、信息处理模块3和输氢管道，机械臂4的自由端连接有加注模块5，机械臂4带动加注模块5进行移动和复位，加注模块5上设有加氢枪头8和自动识别模块6；所述输氢管道与加注模块5连接；
所述信息处理模块3与地面定位模块7的传感器、加注模块5和自动识别模块6电性连接，信息处理模块3接收到传感器的信号后控制机械臂4带动加注模块5初步找准燃料汽车1上加注接口11的位置，然后自动识别模块6识别加注接口11的准确位置，并将信号传输给信息处理模块3，信息处理模块3驱动机械臂4带动加氢枪头8移动直至加氢枪头8与加注接口11对接完成，信息处理模块3监测和控制加注模块5的加注量以及压力。
所述加注模块5上设有报警装置，报警装置与信息处理模块3电性连接，对加注过程中的燃料泄漏情况进行实时监测，并在加注过程中燃料泄漏时自动报警。
所述报警装置包括信息采集卡、信号处理终端以及状态信息显示器；
所述加注模块5内设有气体检测器和压力传感器，对加注过程中的氢气浓度以及压力进行实时检测，检测结果经过信号采集卡转变为数字信号传输至信息处理终端，信息处理终端对接收到的数字信号与不同等级的气体浓度设定数值和压力设定数值进行比对，将对应状态信号输出至状态信息显示器，状态显示器根据信号显示加注安全状态。
所述报警装置的信息处理终端分为三种信号等级，分别为安全信号、警戒信号和危险信号；对应的状态显示器分为三种显示状态，分别为绿色、橙色和黄色；
如图4所示，当信息处理终端接收的信号为警戒信号以及危险信号时，信息处理终端将信号传输至信息处理模块3，信息处理模块3对应发出警戒报警和危险报警，发出危险报警的同时信息处理模块3控制加注模块5立即关闭加氢，警戒报警和危险报警用不同的报警声音区分；若数值处于安全范围以内，信息处理终端输出安全信号，并由状态信息显示器接收信号，显示器以颜色形式显示安全状态（绿色）；若数值超出安全范围但未达到危险范围，即处于警戒范围，此时整个加注区域附近存在少量氢气泄漏，但不足以引发燃烧、***等安全事故，信息处理终端将警戒信号同时输出至信息处理模块3与状态信息显示器，由信息处理模块3发出警戒报警，同时状态信息显示器显示警戒状态（橙色）；若数值超出警戒范围，即处于危险范围，此时整个加注区域随时可能发生爆燃、***等严重的安全事故，信息处理终端将危险信号同时输出至信息处理模块3、加注模块5以及状态信息显示器，由信息处理模块3发出危险报警，加注模块5立即关闭加氢枪阀门，即堵塞气体通道，防止气体继续外泄，同时状态信息显示器显示危险状态（红色）。
所述自动识别模块6包括双目识别摄像头9，双目识别摄像头9固定在加注模块5的底部，双目识别摄像头9与信息处理模块3电性连接。
所述信息处理模块3上设有控制面板，控制面板用于接收以及储存氢气加注信息。
所述加氢枪头8与燃料汽车1的加注接口11匹配。
加注接口11设于燃料汽车1的侧面；压力传感器设置在所述燃料汽车1停放时车轮所在区域；储氢模块2储存和释放氢气燃料，设置在燃料汽车1的后方；信息处理模块3，处理地面定位模块7的定位信息、自动识别模块6的识别信息与机械臂4的移动信息；信息处理模块3处理整个加氢***的信息交流；加注模块5能够控制加氢枪头8的开锁与闭锁。
一种自动识别的加氢方法，燃料汽车1进行氢气燃料加注时，首先，燃料汽车1驶入加注区，当燃料汽车1靠近储氢模块2时，地面定位模块7的传感器对燃料汽车1移动情况进行识别，并将识别信号传输至信息处理模块3；
燃料汽车1停止移动后，信息处理模块3向加注模块5释放加氢对接信号，加注模块5开始氢气加注作业，首先，固定在机械臂4臂端的自动识别模块6开始运行，在机械臂4的牵引下，双目识别摄像头9开始绕车身四周移动，移动过程中对燃料汽车1的加氢接口11进行探测，成功识别到燃料汽车1的加氢接口11后，在机械臂4的牵引下，加氢枪头8与加氢接口11完成自动对正；
信息处理模块3释放连接信号，在加注模块5的作用下加氢枪头8与加氢接口11完成对接和锁紧；
信息处理模块3接收到对接完成信号后，释放氢气加注信号，储氢模块2接收信号后开始释放氢气燃料，燃料流经输氢管道10和加氢枪头8，进入燃料汽车1内的燃料容器；
氢气燃料加注完成时，由信息处理模块3释放加注完成信号，储氢模块2停止氢气供应，加注模块5进行安全泄压，压力降至安全范围后，在加注模块5作用下取消加氢枪头8和加氢接口11的锁定并由机械臂4牵引拔出加氢枪头8，机械臂4与加注模块5复位至初始状态，所述初始状态为停靠至储氢模块2的上方。此时，由信息处理模块3释放驶离信号，待燃料汽车1驶离，地面定位模块7给出信号，由信息处理模块3检查确认各模块复位状态，加注过程结束。
上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。

Claims (8)

1.一种自动识别的加氢***，其特征在于：包括地面定位模块（7）、储氢模块（2）、机械臂（4）、加注模块（5）、自动识别模块（6）和信息处理模块（3）；
所述地面定位模块（7）设有传感器；所述输氢管道（10）与加注模块（5）连接；所述储氢模块（2）设于地面定位模块（7）的尾端，储氢模块（2）上连接有机械臂（4）、信息处理模块（3）和输氢管道，机械臂（4）的自由端连接有加注模块（5），机械臂（4）带动加注模块（5）进行移动和复位，加注模块（5）上设有加氢枪头（8）和自动识别模块（6）；所述输氢管道（10）与加注模块（5）连接；
所述信息处理模块（3）与地面定位模块（7）的传感器、加注模块（5）和自动识别模块（6）电性连接，信息处理模块（3）接收到传感器的信号后控制机械臂（4）带动加注模块（5）初步找准燃料汽车（1）上加注接口（11）的位置，然后自动识别模块（6）识别加注接口（11）的准确位置，并将信号传输给信息处理模块（3），信息处理模块（3）驱动机械臂（4）带动加氢枪头（8）移动直至加氢枪头（8）与加注接口（11）对接完成，信息处理模块（3）监测和控制加注模块（5）的加注量以及压力。
2.根据权利要求1所述的一种自动识别的加氢***，其特征在于：所述加注模块（5）上设有报警装置，报警装置与信息处理模块（3）电性连接，对加注过程中的燃料泄漏情况进行实时监测，并在加注过程中燃料泄漏时自动报警。
3.根据权利要求2所述的一种自动识别的加氢***，其特征在于：所述报警装置包括信息采集卡、信号处理终端以及状态信息显示器；
所述加注模块（5）内设有气体检测器和压力传感器，对加注过程中的氢气浓度以及压力进行实时检测，检测结果经过信号采集卡转变为数字信号传输至信息处理终端，信息处理终端对接收到的数字信号与不同等级的气体浓度设定数值和压力设定数值进行比对，将对应状态信号输出至状态信息显示器，状态显示器根据信号显示加注安全状态。
4.根据权利要求3所述的一种自动识别的加氢***，其特征在于：所述报警装置的信息处理终端分为三种信号等级，分别为安全信号、警戒信号和危险信号；对应的状态显示器分为三种显示状态，分别为绿色、橙色和黄色；
当信息处理终端接收的信号为警戒信号以及危险信号时，信息处理终端将信号传输至信息处理模块（3），信息处理模块（3）对应发出警戒报警和危险报警，发出危险报警的同时信息处理模块（3）控制加注模块（5）立即关闭加氢。
5.根据权利要求4所述的一种自动识别的加氢***，其特征在于：所述自动识别模块（6）包括双目识别摄像头（9），双目识别摄像头（9）固定在加注模块（5）的底部，双目识别摄像头（9）与信息处理模块（3）电性连接。
6.根据权利要求5所述的一种自动识别的加氢***，其特征在于：所述信息处理模块（3）上设有控制面板，控制面板用于接收以及储存氢气加注信息。
7.根据权利要求6所述的一种自动识别的加氢***，其特征在于：所述加氢枪头（8）与燃料汽车（1）的加注接口（11）匹配。
8.一种基于权利要求1的加氢方法，其特征在于：当燃料汽车（1）驶入加注区后，燃料汽车（1）行驶至地面定位模块（7）的传感器位置时，传感器将信号传输至信息处理模块（3）；燃料汽车（1）停止移动后，信息处理模块（3）控制机械臂（4）带动加注模块（5）初步搜索加氢接口（11）的位置，然后信息处理模块（3）根据双目识别摄像头（9）反馈的信号驱动机械臂（4）移动，直至加氢枪头（8）与加氢接口（11）完成自动对正，并且进行对接和锁紧；对接完成后，信息处理模块（3）根据接受到的加氢信息的信号向储氢模块（2）释放氢气加注信号，进行加注；加注完成后，信息处理模块（3）向储氢模块（2）释放加注完成信号，储氢模块（2）停止氢气供应，加注模块（5）进行安全泄压，加氢枪头（8）和加氢接口（11）分离，各模块复位汽车驶离。
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